產品delta tau pmac運動控制器1-power overview2011

1、Power PMAC The 7th Generation!April 2011Power PMAC CPU Capabilities800 MHz, 1 GHz operating frequencies Full 32/64-bit architectureHardware 64-bit (double-precision) floating-point implementationVery high-speed calculations (5 x Turbo PMAC floating-point)Huge dynamic range and resolution (100K x Tur

2、bo PMAC)Support for very large memory1 GB 2 GB DDRAM active memory with error correction64 MB NOR Flash for standard firmware512 MB built-in NAND flash for user code/settingsInterface for “USB stick” NAND flashInterface for “SD card” NAND flashBuilt-in USB2.0, Ethernet 100 Mbps or 1Gbps interfacesDi

3、rect connection and DMA optimize data streamingOptional direct video interfacePower PMAC CPU Block DiagramPower PMACCPU800Mhz - 1.0GhzDDR21GB or 2GBRAM w/ ECCRemovable SOCDIMM16M Motion Prog Buffer (adjustable)8M PPmac Memory Map (Fixed)1M User Shared Memory (adjustable)AMDNOR Boot Flash 64MBContain

4、s everything necessary to bootLinux RTOS KernelLattice CPLDUBUS I/F*Can be used as SATA or PCIe (x1)USB Hub/Card ReaderSD/MMC Expansion Slot(User Expansion)Soldered Down NAND Flash 2 or 8GB Contains Complete Operating System Filesplus Add on products ie. IEC1131, EPICSNC Application,Ethercat, etc .U

5、ser Interface SoftwareUSB 2.0 HostExpansion Port(User Expansion)USB 2.0 Device1G Eth1G EthRS232Laptop or PCUSB 2.0PCIe (x1)PCIe (x4)SATADisk DriveEthercat,Powerlink,Modbus, etcPC Commi.e. -Web, TCP SocketsUp to x2 32GB SDHC Memory Card (User Programs)UBUSKeyboard,Mouse, RS232,Hard Drive,Memory Stick

6、 etc.RS232EthernetEthernetUSBUSBVideo CardVision System CardFieldbus Cards, etc. Power PMAC Operating EnvironmentFull real-time operating system (Linux with real-time kernel)Dedicated controller runs in the RT Linux environmentHard-real-time tasks operate on interruptsPhase: commutation and current

7、loopServo: interpolation, position/velocity loopCalc: motion programs, foreground PLC programs pare (new!): highest priority for fast list updatingOther tasks operate in general-purpose OSBackground PLCs, status update, command processingShared-memory access for RTOS, GPOS, and host communicationsFu

8、ll file-management systemPrograms, tables, gathered data etc. can be transmitted and stored as filesPower PMAC Integrated Development Environment (IDE)WindowsTM PC applicationXP, Vista, or 7Advanced editor with built-in debugging featuresExtensive project and resource-management featuresIntegrated G

9、NU C pilerInteractive terminal windowMany status and setup windowsTuning and plotting graphics screensCan incorporate windows into user applications with Visual StudioTMTerminalIntellisenseWatchMotor StatusVelocityF.E.PositionProjectUser Written CodeMessage WindowPower PMAC Embedded Web ServerAny co

10、mputer with web browser can communicateLaptop with direct connectionOver company network*From anywhere in world over Internet*HTTP and FTP supportedMany standard windows built inTerminal, position, watchBackup and restoreTuning and plottingStatus reportingBasic editor/downloaderUser can add own wind

11、ows for easy HMI implementation* Must arrange to get through any firewallsPower PMAC Script LanguageEasy-to-use but powerful programming language for machine and motion controlBuilds on Turbo PMAC language, with significant enhancementsAutomatic type-matching of different variable formatsFixed-point

12、 and floating-point formatsSingle-bit to 64-bit lengthsBoth “synchronous” motion programs and “asynchronous” PLC programsMotion program calculations automatically sequenced move by movePLC program calculations are “free running”Math and logic are C-like (not BASIC-like)Permits more power and flexibi

13、lityAdvanced built-in debugging featuresBreak points, cycle counters, single-stepAvailable for both motion and PLC programsPower PMAC Script Language Math and LogicAbility to mix all variable and data types freelyOver 24 mathematical functions (e.g. sin, sqrt, cbrt, exp, abs)Trig functions in radian

14、s (e.g. cos, atan2) or degrees (e.g. cosd, atan2d)Random number generators with repeatable or non-repeatable seeds12 math/logic operators (+, - ,* ,/ ,%, &, |, , , , =, =, , !)Logical structures: while, do.while, if, else, switchSubroutines in motion and PLC programs: gosub, callsub, callcallsub (in

15、 same program) and call (to separate program) permit local variables in subroutines (true argument pass and return)Argument passing thru “G-code” letter/number format supportedPower PMAC Built-In Data StructuresMain technique for user access to Power PMAC registersWill largely replace I and M-variab

16、le useFor hardware and software registers, control and status elementsKey setup elements saved to flash memory (like I-variables)Accessible from Script & C programs, on-line commands“Intellisense” listing of elements in IDE windows (terminal, editor)Major structures defined:Sys, Motorx., Coordx., Ga

17、teni.Chanj., CompTablem. etc.Indexable for easy program accesse.g.: MotorNum.JogSpeed = 133.3333Note that index numbers start at 0 (C convention)!User can substitute own name for structure elemente.g.: #define M2VjMotor2.JogSpeedUser can define M-variable to any structure elemente.g.: ptr Mtr2Vjog-M

18、otor2.JogSpeedRunning C Code on Power PMACGNU public-domain piler built into Power PMAC IDEAdvanced editing/debugging features in IDECode can be for both real-time (e.g. servo) and non-real-time (e.g. PLC) tasksCan use automatically generated C code: e.g.:IEC-61131 graphical programming for PLCsMATL

19、AB/Simulink Real Time WorkshopTM for servos, etc.Supplied header files give access to Power PMAC data structures through shared-memory interfaceFor I/O, C-language access is to full registers only; must subsequently mask out to get partial-register elementsStructure names in C are case-sensitive (un

20、like in Script)Supplied API gives access to Power PMAC function callsC subroutines automatically called in phase, servo and real-time interruptC subroutines automatically called in background between PLC scansIndependent C applications run under GPOSPower PMAC Motor CalculationsMotor calculations do

21、ne in 64-bit floating-point math(These were 48-bit fixed-point calculations in Turbo PMAC)Trajectory interpolation, servo loop closure, phase commutationHigher resolution permits more complex algorithms without adding too much “quantization noise”Increased dynamic range eliminates rollover & saturat

22、ion concernsWith hardware floating-point implementation, still faster than fixed-point calculations in fastest Turbo PMAC (1.5x)Increased flexibility to add custom algorithmsServo, commutation, compensation, etc.Up to 256 motors controlled from 1 CPU at 2kHz update rateCPU with large internal memory

23、 requiredNetworked connection (e.g. MACRO) to machine required1D, 2D, & 3D compensation tables with 1st or 3rd-order interpolationPower PMAC Coordinate SystemsUp to 128 independent coordinate systems (up from 16)Up to 32 independent axes per coordinate system (up from 9)Names: A, B, C, U, V, W, X, Y

24、, Z, AA, BB, HH, LL, MM, ZZMultiple motors can be assigned to same axis (e.g. gantry)Two full Cartesian axis sets per coordinate systemX/Y/Z with I/J/K vectors, XX/YY/ZZ with II/JJ/KK vectorsFor circular interpolation, tool radius compensationMotors can be assigned to C.S. axes in two ways:Simple ax

25、is-definition statements (e.g. #1-1000X)Forward and inverse-kinematic subroutinesReal-time reporting of axis data possible Position (command and actual), velocity, following errorReported in user engineering unitsValid for either method of C.S. definitionPower PMAC Motion TrajectoriesAll move modes

26、of Turbo PMAC supportedEnhancements to all move modesPoint-to-point, triggered, alterable (jog, home, rapid)Jerk limits added (as well as acceleration and velocity)Ability to alter destination at up to servo rateTraditional blended (linear, circle)Jerk limits addedAll feature times (Ta, Ts, Tm) have

27、 floating-point resolution, can even go below servo period (but would be skipped over)Separate accel and decel rates/times Better optimized lookahead calculationsModern splined/contouring (pvt, spline)Ability to use lookahead (pvt)Ability to program like traditional linear mode (with F vector feedra

28、te) Ability to change on the fly between traditional blended and pvt modesGood for custom accel/decel profilesPower PMAC PLC Program EnhancementsExpanded math and logic capabilities of Power PMAC ScriptSubroutine and subprogram calls addedLocal variables permit true argument passingAbility to comman

29、d axis motion directlyrapid-mode point-to-point or triggered movesCan break into ongoing move at any pointProgram execution does not pause until move over (unlike motion programs)“Direct” motor (e.g. jog1+) and C.S. (e.g. abort1) commandsNo need to pass through text command queueImproved debugging f

30、eaturesAutomatic cycle counters can be put on instructionsBreakpoint capability (on specified cycle count)Single-step capabilityPMAC3 ASIC: DSPGATE3Combines all features of existing ASICs (Servo, MACRO, and I/O)4 servo channels plus 32 digital I/O points, plus 32-node MACRO3 servo channels each alte

31、rnately configurable as 32 added I/O pointsBuilt-in resolver excitation generator (add external DAC only)Built-in sin/cos encoder/resolver 16-bit interpolator (add external ADCs only)Built-in 12-bit hardware 1/T interpolator for servo, capture, & compareWhole-count and fractional-count info combined

32、 into single registerSupport for multiple serial encoder protocols (e.g. SSI, EnDat, Yaskawa)MLDT timer at 600 MHz (4.7m resolution, no averaging)PWM counter at 300 MHz (1.5 extra bits over PMAC2 resolution)Multiple PWM frequencies supported on a single ASIC4-phase PWM output each axis (direct support for steppers)Pulse-frequency output: pulse-and-direction or quadrature, 0-100% duty cycle32-node MACRO inter