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Delta Tau: Turbo PMAC2 UMAC CPU
The Turbo PMAC2 UMAC CPU is intended to be used in a 3U UMAC Rack, which is a modular rack format permitting the user to configure his or her rack with whatever I/O, servo control cards, MACRO cards, communication 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, or distributed control over a MACRO fiber optic ring.
Hardware Features
3U-format Eurocards
Interface between the UMAC Turbo CPU/Communications Board and the machine to output amplifier command signals, to input feedback information, and to input flags information including end-of-travel limits and machine home sensors.
Different kind of axes interface boards can be selected to control analog ±10V amplifiers, stepper drivers and direct digital PWM amplifiers
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
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)
Yaskawa Sigma II/III
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
Motion Program Features
High-level programming language
Automatic sequenced execution of moves
Calculations and I/O synchronous to motion
Axes programmed in user engineering units
Motion values as constants or expressions
Automatic coordination of multiple axes
Ability to execute G-code programs
PLC Program Features
Execution asynchronous to programmed motion
I/O control as in hardware PLC
Executive functions for standalone applications
Safety and status monitoring
Servo gain scheduling
Data reporting functions
Access to all registers in controller