1. Power PMAC – The 7th Generation! November 2013

2. What is Power PMAC?
A general-purpose embedded computer with a hard real-time operating system
Can run standard C applications
A built-in software application for dedicated motion and machine control
Can execute Script language controller programs
Sequenced motion programs
Asynchronous “PLC” programs
Automatically executes motor servo and commutation algorithms
Machine interface circuitry
Analog and digital servo interfaces
Analog and digital general-purpose I/O
Industrial network interfaces (e.g. MACROTM and EtherCATTM)
Fieldbus interfaces (e.g. DeviceNetTM and ProfibusTM)

3. Power PMAC CPU Capabilities
800 MHz – 1.2 GHz operating frequencies
Single-core, dual-core configurations
Full 32/64-bit architecture
Hardware 64-bit (double-precision) floating-point implementation
Very high-speed calculations (>10x Turbo PMAC floating-point)
Huge dynamic range and resolution (>100K x Turbo PMAC)
Support for very large memory
1 GB – 2 GB DDRAM active memory with error correction
64 MB NOR Flash for standard firmware
512 MB built-in NAND flash for user code/settings
Interface for “USB stick” NAND flash
Interface for “SD card” NAND flash
Built-in USB2.0, Ethernet 100 Mbps or 1Gbps interfaces
Direct connection and DMA optimize data streaming
Optional direct video interface

4. Power PMAC CPU Block Diagram
Video Card
Vision System Card
Fieldbus Cards, etc...
Disk Drive
SATA
PCIe (x1)
PCIe (x4)
Ethercat,
Powerlink,
Modbus, etc…
Ethernet
1G Eth
*Can be used as SATA or PCIe (x1)
Ethernet
1G Eth
PC Comm
i.e. -Web, TCP Sockets
RS232
RS232
Power PMAC
CPU
800Mhz - 1.0Ghz
Up to x2 32GB SDHC Memory Card (User Programs)
Lattice CPLD
UBUS I/F
SD/MMC Expansion Slot
(User Expansion)
USB 2.0
UBUS
Soldered Down NAND Flash 2 or 8GB
Contains Complete Operating System Files
plus Add on products ie. IEC1131, EPICS
NC Application,
Ethercat, etc ...
User Interface Software
USB Hub/Card Reader
Keyboard,
Mouse, RS232,
Hard Drive,
Memory Stick etc...
AMD
NOR Boot Flash 64MB
Contains everything necessary to boot
Linux RTOS Kernel
DDR2
1GB or 2GB
RAM w/ ECC
Removable SOCDIMM
16M Motion Prog Buffer (adjustable)
8M PPmac Memory Map (Fixed)
1M User Shared Memory (adjustable)
USB 2.0 Host
Expansion Port
(User Expansion)
USB
USB
USB 2.0 Device
Laptop or PC

5. Power PMAC Operating Environment
Full real-time operating system (Linux with real-time kernel)
Dedicated controller runs in the real-time Linux environment
Hard-real-time tasks operate on interrupts
Phase: commutation and current loop
Servo: interpolation, position/velocity loop
“Real-time”: motion programs, foreground PLC programs
Capture/compare (new!): highest priority for fast list updating
Other tasks operate in general-purpose OS
Background PLCs, status update, command processing
Shared-memory access for RTOS, GPOS, and host communications
Full file-management system
Programs, tables, gathered data etc. can be transmitted and stored as files

6. Power PMAC Hardware Configurations
Power UMAC
3U-format Euro-card Rack
Modular selection of interface accessories: motion, I/O, Fieldbus
Power PMAC Etherlite
Compact controller for networked drives and I/O
Supports MACRO and EtherCAT servo drives & I/O
Supports Fieldbus I/O
Power PMAC Brick
Integrated controller amplifier
4-, 6-, & 8-axis configurations
AC version: up to 240VAC input, 3-phase motors
LV version: up to 60VDC input, 2- and 3-phase motors (steppers and servos)

7. Power PMAC Integrated Development Environment (IDE)
WindowsTM PC application
XP, Vista, or 7
Advanced editor with built-in debugging features
Extensive project and resource-management features
Integrated GNU C cross-compiler
Interactive terminal window
Many status and setup windows
Tuning and plotting graphics screens
Can incorporate windows into user applications with Visual StudioTM
Terminal
Intellisense
Watch
Motor Status
Velocity
F.E.
Position
Project
User Written Code
Message Window

8. Power PMAC Embedded Web Server
Any computer with web browser can communicate
Laptop with direct connection
Over company network*
From anywhere in world over Internet*
HTTP and FTP supported
Many standard windows built in
Terminal, position, watch
Backup and restore
Tuning and plotting
Status reporting
Basic editor/downloader
User can add own windows for easy HMI implementation
* Must arrange to get through any firewalls

9. Power PMAC Script Language
Easy-to-use but powerful programming language for machine and motion control
Builds on Turbo PMAC language, with significant enhancements
Automatic type-matching of different variable formats
Fixed-point and floating-point formats
Single-bit to 64-bit lengths
Both “synchronous” motion programs and “asynchronous” PLC programs
Motion program calculations automatically sequenced move by move
PLC program calculations are “free running”
Math and logic are C-like (not BASIC-like)
Permits more power and flexibility
Advanced built-in debugging features
Break points, cycle counters, single-step
Available for both motion and PLC programs

10. Power PMAC Script Language Math and Logic
Ability to mix all variable and data types freely
Over 24 mathematical functions (e.g. sin, sqrt, cbrt, exp, abs)
Trig functions in radians (e.g. cos, atan2) or degrees (e.g. cosd, atan2d)
Random number generators with repeatable or non-repeatable seeds
12 math/logic operators (+, - ,* ,/ ,%, &, |, ^, >>, <<, ++, --)
12 assignment operators (including delayed synchronous)
Array access to any numbered variable type
Vector and 2D matrix operations (e.g. vscale, minv, msolve)
8 conditional comparators (==, !=, >, <=, <, >=, ~, !~)
Logical structures: while, do..while, if, else, switch
Subroutines in motion and PLC programs: gosub, callsub, call
callsub (in 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 supported

11. Power PMAC Built-In Data Structures
Main technique for user access to Power PMAC registers
Will largely replace I and M-variable use
For hardware and software registers, control and status elements
Key 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, Motor[x]., Coord[x]., Gaten[i].Chan[j]., CompTable[m]. etc.
Indexable for easy program access
e.g.: Motor[Num].JogSpeed =
Note that index numbers start at 0 (C convention)!
User can substitute own name for structure element
e.g.: #define M2Vj Motor[2].JogSpeed
User can define M-variable to any structure element
e.g.: ptr Mtr2Vjog->Motor[2].JogSpeed
e.g.: ptr LaserOn->Acc68E[2].DataReg[4].6

12. Running C Code on Power PMAC
GNU public-domain cross-compiler built into Power PMAC IDE
Advanced editing/debugging features in IDE
Code can be for both real-time (e.g. servo) and non-real-time (e.g. PLC) tasks
Can use automatically generated C code: e.g.:
IEC graphical programming for PLCs
MATLAB/Simulink Embedded CoderTM for servos, etc.
Supplied header files give access to Power PMAC data structures through shared-memory interface
For I/O, C-language access is to full registers only; must subsequently mask out to get partial-register elements
Structure names in C are case-sensitive (unlike in Script)
Supplied API gives access to Power PMAC function calls
C subroutines automatically called in phase, servo and real-time interrupt
C subroutines automatically called in background between PLC scans
Independent C applications run under GPOS

13. Power PMAC Motor Calculations
Motor calculations done in 64-bit floating-point math
(These were 48-bit fixed-point calculations in Turbo PMAC)
Trajectory interpolation, servo loop closure, phase commutation
Higher resolution permits more complex algorithms without adding too much “quantization noise”
Increased dynamic range eliminates rollover & saturation concerns
Position, time, etc. registers have meaningful units
With hardware floating-point implementation, still faster than fixed-point calculations in fastest Turbo PMAC (>1.5x)
Increased flexibility to add custom algorithms
Servo, commutation, compensation, etc.
Up to 256 motors controlled from 1 CPU at 2kHz update rate
Networked connection (e.g. MACRO, EtherCAT) to machine required
1D, 2D, & 3D compensation tables with 1st or 3rd-order interpolation

14. Power PMAC Coordinate Systems
Up 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, Z, AA, BB,…, HH, LL, MM,…, ZZ
Multiple motors can be assigned to same axis (e.g. gantry)
Two full Cartesian axis sets per coordinate system
X/Y/Z with I/J/K vectors, XX/YY/ZZ with II/JJ/KK vectors
For circular interpolation, tool radius compensation
Motors can be assigned to C.S. axes in two ways:
Simple axis-definition statements (e.g. #1->1000X)
Forward and inverse-kinematic subroutines
Real-time reporting of axis data possible
Position (command and actual), velocity, following error
Reported in user engineering units
Valid for either method of C.S. definition

15. Power PMAC Motion Trajectories
All move modes of Turbo PMAC supported
Enhancements to all move modes
Point-to-point, triggered, alterable (jog, home, rapid)
Jerk limits added (as well as acceleration and velocity)
Ability to alter destination at up to servo rate
Traditional blended (linear, circle)
Jerk limits added (linear)
All feature times (Ta, Ts, Tm) have floating-point resolution, can even go below servo period (but would be skipped over)
Separate accel and decel rates/times
Better optimized lookahead calculations
Modern splined/contouring (pvt, spline)
Ability to use lookahead (pvt)
Ability to program like traditional linear mode (with F vector feedrate)
Ability to change on the fly between traditional blended and pvt modes
Good for custom accel/decel profiles

16. Power PMAC PLC Program Enhancements
Expanded math and logic capabilities of Power PMAC Script
Subroutine and subprogram calls added
Local variables permit true argument passing
Ability to command axis motion directly
rapid-mode point-to-point or triggered moves
Can break into ongoing move at any point
Program execution does not pause until move over (unlike motion programs)
“Direct” motor (e.g. jog1+) and C.S. (e.g. abort1) commands
No need to pass through text command queue
Improved debugging features
Automatic cycle counters can be put on instructions
Breakpoint capability (on specified cycle count)
Single-step capability

17. PMAC3 ASIC: DSPGATE3
Combines all features of existing ASICs (Servo, MACRO, and I/O)
4 servo channels plus 32 digital I/O points, plus 32-node MACRO
3 servo channels each alternately configurable as 32 added I/O points
Built-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, & compare
Whole-count and fractional-count info combined into single register
Support for multiple serial encoder protocols (e.g. SSI, EnDat, Yaskawa)
MLDT timer at 600 MHz (4.7μm resolution, no averaging)
PWM counter at 300 MHz (1.5 extra bits over PMAC2 resolution)
Multiple PWM frequencies supported on a single ASIC
4-phase PWM output each axis (direct support for steppers)
Pulse-frequency output: pulse-and-direction or quadrature, 0-100% duty cycle
32-node MACRO interface: MACRO at 125 Mbps, or new MACRO2 at 1.25Gbps
Support for configurable fast DMA processor interface

18. Power PMAC Computational Speeds
Computational Task
80 MHz Turbo PMAC
240 MHz Turbo PMAC
533 MHz Power PMAC (proto)
800 MHz Power PMAC
Phase Update 1,2
1.9 μsec
1.0 μsec8
0.7 μsec8,9
Servo Update2,3
4.8 μsec
1.7 μsec
1.1 μsec
0.65 μsec9
Custom Servo4
588 μsec
326 μsec
10 μsec
1.6 μsec10
Program SQRT5
3.7 μsec
1.0 μsec
0.14 μsec
0.08 μsec
Program Multiply5
3.0 μsec
0.9 μsec
0.06 μsec
0.04 μsec
4-Axis Move Eqns.6
129 μsec
36 μsec
5.0 μsec
2.8 μsec
Ethernet Transfer7
4.0 sec
3.8 sec
255 msec
220 msec
Notes:
1. PM brushless-motor commutation, current-loop closure, one motor
2. Fixed-point math on Turbo PMAC, floating-point math on Power PMAC
3. PID, trajectory interpolation, 1/T encoder extension, one motor
4. Control of 7 harmonics, all floating-point math, one motor
5. Uncompiled script language, floating-point math
6. Linear mode equation calculations, no segmentation, no lookahead
7. File downloaded to set 8192 variable values, 100 Mbps
8. Limited by I/O speed
9. With PMAC3 ASIC, “packed” I/O mode
10. Executing from internal memory