Structural Characteristics
- Substrate material: High-temperature FR4 industrial printed circuit board
- Form factor: Standard full-length ISA industrial board, metal EMI shielding mounting bracket
- On-board hardware layout: Dual DSP motion processing core, Ethernet PHY transceiver, isolated encoder feedback circuit banks
- Terminal interface: Screw terminal breakout header for motor drive signals, encoder feedback, limit switch inputs
- Part identifier marking: Permanent silkscreen part number 603871-106 on PCB silkscreen layer
- Dimensions: 330 mm (L) × 120 mm (H) full ISA board footprint
- Net weight: 0.37 kg
Technical Specifications
- Host Communication Interface: 10/100 Mbps auto-negotiate Ethernet TCP/IP (ETH suffix designation)
- Motion Processing Cores: Dual 32-bit floating-point DSP processors for trajectory and servo loop calculation
- Maximum Controlled Axis Count: 8 independent coordinated motion axes per single controller board
- Servo Loop Update Rate: 10 kHz minimum closed-loop servo cycle refresh frequency
- Encoder Feedback Support: Incremental quadrature encoders, sine/cosine analog encoders, serial absolute encoders
- Output Signal Format: ±10 V analog torque/velocity command signals for servo drives
- Program Memory Storage: 1 MB flash non-volatile motion program memory, 4 MB real-time data RAM
- ISA Bus Interface: 16-bit ISA expansion bus for auxiliary host data transfer
- Operating Temperature Range: 0 °C to +55 °C
- Isolation Rating: 1500 V DC galvanic isolation between host bus and field I/O circuits
Functional Features
- Ethernet TCP/IP host communication supporting multi-controller network synchronization across machine cells
- Full coordinated multi-axis linear, circular, helical, spline interpolation for CNC machining trajectories
- Electronic gearing, cam profiling, flying cut, and rigid tapping specialized motion algorithms preloaded
- On-board limit switch, home sensor, and emergency stop hardware fault detection circuits
- Native PMAC motion programming language compatibility plus G-code CNC program execution support
- Independent digital I/O expansion bus connection for remote machine safety and auxiliary sensor signals
- Real-time data streaming over Ethernet for host PC HMI plotting and process data recording
Working Principle
Dual DSP cores execute split motion processing tasks: primary DSP calculates trajectory interpolation path setpoints for all configured axes; secondary DSP runs closed-loop servo control loops by comparing encoder position feedback against trajectory target positions. Analog ±10 V command signals transmit torque/velocity setpoints to external servo amplifiers. Ethernet PHY transceiver handles bidirectional TCP/IP communication with host industrial PC to receive motion program commands and transmit real-time axis position, velocity, and fault status data. Isolated field I/O circuit banks process limit, home, and emergency stop discrete signals, triggering controlled axis deceleration and shutdown upon safety signal activation. ISA bus provides secondary low-speed auxiliary data transfer for legacy industrial PC host compatibility.
Advantage Highlights
- Dual floating-point DSP architecture separates trajectory and servo processing to eliminate control loop latency
- Integrated high-speed Ethernet interface removes ISA bus bandwidth limitations for large motion data sets
- 8-axis simultaneous coordinated control reduces total controller hardware count for multi-gantry automation
- Universal encoder feedback compatibility supports all standard industrial position sensing hardware
- Open architecture programming accepts both proprietary PMAC motion code and standard CNC G-code programs
Applicable Industries
5-axis CNC machine tools, aerospace composite trimming equipment, semiconductor wafer handling robotics, laser cutting gantry systems, precision coordinate measuring machines, automated optical inspection positioning stages
Installation Requirements
- Insert board into full-length 16-bit ISA expansion slot inside industrial PC chassis; secure metal shielding bracket with mounting screw
- Connect Cat5e shielded Ethernet cable to RJ45 port with maximum cable length 100 m to host network switch
- Terminate all differential encoder signal cables with 120 Ω line resistors at controller terminal header
- Earth connect PCB metal shielding bracket to PC chassis protective earth for EMI noise suppression
- Install Delta Tau PMAC software suite on host PC for motion program editing and axis tuning configuration
Usage Precautions
- Power down industrial PC completely before inserting or removing PMAC2A-ETH controller board
- Maintain separate cable routing for analog command signals and high-current motor power wiring
- Calibrate servo loop PID gain parameters per axis mechanical load to prevent resonance vibration
- Do not stack multiple ISA boards without chassis forced air cooling above +45 °C ambient temperature
- Back up all motion programs to external storage prior to controller firmware flash upgrade operations
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