Delta Tau: Turbo Compact UMAC CPU

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Order #: 3-3625XX-2X1X-A000XX

Description

Delta Tau: Turbo PMAC2 UMAC CPU

The Turbo PMAC2 UMAC CPU is intended to be used in a Compact UMAC Rack (CPCI), which is a modular rack format permitting the user to configure his or her rack with I/O cards, servo control cards, or any other accessory card Delta Tau offers for the UMAC Rack format, to build a totally user-customized system. The Turbo PMAC2 UMAC CPU can control up to 32 axes, whether through direct local control. There is presently no MACRO accessory or option for this controller.

Hardware Features

Provides a compact and clean integration of motion and I/O control for sophisticated automation equipment.
Provides integrated connectivity as well as ease of assembly, diagnostics, and repair.
Implements a Turbo PMAC2 CPU in the 3U CPCI form factor

Software Features

Trajectory Generation Features

Linear interpolation mode with S-curve accel/decel
Circular interpolation mode with S-curve accel/decel
Rapid point-to-point move mode
Cubic B-spline interpolation mode
Cubic Hermite-spline (PVT) interpolation mode
Automatic move-until-trigger functions with hardware capture
Altered destination on the fly
Interactive jog moves
Multi-move lookahead for velocity and acceleration limiting

Servo Features

Standard digital PID feedback filter
Velocity, acceleration, and friction feedforward
2nd-order notch/low-pass filter
Gains changeable at any time
Programmable input, integrator, and output limits
Alternate 35-term “pole-placement” servo filter
Alternate user-written high-level “Open Servo” algorithms

Commutation Features

Sinusoidal commutation of AC servo motors
Vector control of AC induction motors
Digital current-loop closure with direct PWM output (PMAC2)

Compensation Features

Position compensation tables (1D & 2D)
Torque compensation tables
Backlash compensation
Tool radius compensation

Safety Features

Hardware and software overtravel limits
Amplifier enable/fault handshaking
Following error limits
Integrated current limit
Encoder loss detection (some versions)
Watchdog timer
Program and communications checksums

Computational Features

Real-time multi-tasking operating system
48-bit floating-point math for user programs
Trigonometric and transcendental functions
Automatic type-matching of different variable types
User-defined pointer variables to any registers

Feedback sensor types that can be processed

Digital quadrature encoders
Sinusoidal encoders, interferometers
Resolvers
Potentiometers
LVDTs, RVDTs
Parallel-format encoders, interferometers
MLDTs
Serial absolute encoders (e.g. SSI)

Coordination and Master/Slave Features

User-defined coordinate systems for automatic coordination of axes
Separate coordinate systems for independent motion of axes
Multi-motor axis support (e.g. gantries)
Dynamic axis transformations (e.g. offsets, rotations, mirroring)
User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
Electronic gearing (no programming required)
Electronic cams with programmable profiles