NEW IDEAS IN MOTION CONTROL... TURBO COMPACT UMAC CPU 32 Axis Part Number: 3-3625xx-2x1x-A000xx ABOUT TURBO COMPACT 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. FEATURES 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...

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...

OPT-2 - Dual-Ported RAM for USB or Ethernet interface OPT-9T - Auxiliary RS-232 serial port Processor and Firmware Options OPT-10 - Firmware version specification OPT-5C0 - Default CPU-speed/memory config: 80MHz DSP56303 CPU OPT-5C3 - 80MHz DSP56303 CPU OPT-5E0 - 160MHz DSP56311 CPU (128Kx24 internal memory) OPT-5E3 - 160MHz DSP56311 CPU (128Kx24 internal memory) OPT-5F0 - 240MHz DSP56321 CPU (192Kx24 internal memory) OPT-5F3 - 240MHz DSP56321 CPU Base Board Options OPT-16A - 32Kx24 SRAM battery-backed parameter memory OPT-8A - High-accuracy clock crystal (+/-25ppm)...

Development Software PMAC Executive Pro2 Suite CNC Software PMAC-NC Pro2 Runtime Tools and Libraries Power PMAC Communication library Tools and Libraries PMAC HMI Pro2 Designer CNC Software PMAC-NC Pro2 Designer Tools and Libraries PMAC HMI Pro2 Runtime Development Software Power PMAC IDE MANUALS UMAC CPCI CPU HRM - Hardware Reference Manual Turbo SRM - Software Reference Manual UMAC CPCI Backplane HRM - Hardware Reference Manual