Programmable Multi-Axis Controller.
It is a family of high-performance servo motion controllers capable of commanding up to eight axes of motion simultaneously with a high level of sophistication.
There are five hardware versions of PMAC: the PMAC-PC, the PMAC-Lite, the PMAC-VME, the PMAC-STD and the Mini-PMAC. These cards differ from each other in their form factor, the nature of the bus interface, and in the availability of certain I/O ports. - Motorola's Digital Signal Processor (DSP) DSP56k is the CPU for PMAC, and it handles all the calculations for all eight axes. - The registers in PMAC's "DSPGATE" Gate-Array ICs are mapped into the memory space of PMAC's processor. Each DSPGATE contains four consecutively numbered channels; there may be up to 4 DSPGATEs in a PMAC system, for up to 16 channels. - There are two types of servo "DSPGATE" Gate-Array ICs: The PMAC(1) type that only allows the control of analog amplifiers with ±10 Volts command signals and the PMAC2 type that is also capable of digital direct PWM or stepper command signals. - Each PMAC channel provided by a PMAC(1) DSPGATE has one DAC output, one encoder input and four dedicated flag inputs: two end-of-travel limits, one home input and one amplifier fault input. - Any PMAC can control up to eight motors or axis as long as enough channels are provided. Every PMAC contains one DSPGATE, which has channels 1 through 4 (Mini-PMAC has only two channels). If Option 1 is ordered (not available on PMAC-Lite or Mini-PMAC), a second DSPGATE is provided, which has channels 5 through 8. If Accessory 24 is ordered (not available on PMAC-STD), a third DSPGATE is provided, which has channels 9 through 12. If Accessory 24 Option 1 is ordered as well (not available on PMAC-STD), a fourth DSPGATE is provided, which has channels 13 through 16. - PMAC has its own memory and microprocessor. Therefore, any version of PMAC may run as a standalone controller or a host computer may command it either over a serial port or over a bus port.
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