Delta Tau: Turbo PMAC2 UMAC CPU

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Order #: 3-3766XX-2X1X-XX00XX

Description

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