Nano-precision Motion Controllers
Delta Tau Motion Controllers
Hexapod controller
The UMAC (Universal Motion and Automation Controller) is a modular Turbo PMAC2 system built with a set of 3U-format Eurocards. The configuration of any UMAC system begins with the selection of the PMAC CPU for stand-alone operation or MACRO CPU with fiber optic interface in a high speed MACRO optical ring. It continues with the addition of the necessary axes boards, which can be either direct PWM output or the classic +/- 10V, I/O boards, field bus boards, communication interfaces (USB2, Ethernet, etc.) and any other interface boards selected from the rich variety of available accessories. Accessory boards allow, for example, to connect with virtually any kind of feedback sensor or to implement almost any kind of communication method with the host computer or external devices. In addition, a PC/104 computer can be installed inside the UMAC system yielding an incredibly powerful system inside a compact industrial package.
UMAC type boards are mounted inside 3U racks and the system is completed with a selection of power supplies and optional 3U servo amplifiers. UMAC 3U racks are available in many different sizes, providing a CE compliant, rugged and integrated system, packaging the electronics, built-in breakout connectors, and power supply in an enclosed system. Individual boards can slide in and out of the rack, making configuration and troubleshooting a snap.
Delta Tau provides a rich selection of accessories for axes boards, digital I/O boards, analog inputs boards, communication interfaces, feedback interfaces and many others. However, because UMAC is based on the UBUS (Universal BUS), if a particular feature for the UMAC system is desired but not yet supported, Delta Tau provides all the necessary information for its development. Some examples of custom-designed UMAC boards include vision inputs cards, temperature control cards, etc. Each UMAC system is expandable and scalable by connecting multiple racks together via the MACRO fiber optic link. A 3U rack mounted family as well as other amplifiers are available to complement the UMAC.
Hexapod and Systems Controller
 Designed for OEMs or end users, the PMAC2A PC/104 delivers a powerful 4- or 8-axis embedded control system for a cost-effective and compact, yet flexible and reliable solution.
The PMAC2A PC/104 can be applied directly to both analog servos or pulse-and-direction stepper drives. With optional piggyback accessory boards, it can support high speed communications with USB2.0 or Ethernet, Digital I/O with Opto-22 interface, additional axis expansion for 5-8 Axis of control and high-performance direct-PWM, pure digital control.
Hardware Features
- 40 MHz DSP563xx CPU (OPT-5AF 80 MHz 560xx equivalent)
- 128k x 24 internal zero-wait-state SRAM
- 512k x 8 flash memory for user backup and firmware
- Latest released firmware version
- RS-232 serial interface
- 4 channels axis interface circuitry, each including:
- 12-bit +/-10V analog output
- Pulse-&-direction digital output
- Quadrature encoder inputs A, B, C, channels with differential/single-ended drivers
- 4 input flags, 2 output flags at TTL levels
- 3 PWM top-and-bottom pairs (unbuffered)
- 50-pin IDC header for amplifier/encoder interface
- 34-pin IDC header for flag interface
- PID/notch/feedforward servo algorithms
- 1-year warranty from date of shipment
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
- Interactive jog moves
- Optional 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
- Optional 35-term pole-placement servo filter
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 and 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)
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)
- 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
To view Motion Control Systems Brochure pdf, click here. |
