NEW IDEAS IN MOTION CONTROL... TURBO UMAC Axis Part Number: 3-3766xx-2x1x-xx00xx ABOUT TURBO UMAC The 3U UMAC modular rack format system controlled by Delta Tau's longstanding workhorse controller, the Turbo PMAC, permitting the user access to a wide variety of I/O, axis control, and amplifier hardware, permitting an extremely flexible, user-chosen hardware composition. FEATURES 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...

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 Motion Program...

ACCESSORY CPU TURBO UMAC CPU Digital I/O Boards ACC-65E - 24 In / 24 Out Self-protected 12-24VDC I/O Board ACC-14E - 48-Bits Input/Output Board ACC-66E - 48 Inputs, Sourcing, Self-protected 12-24VDC I/O Board ACC-67E - 48 Outputs, Sourcing, Self-protected 12-24VDC I/O Board ACC-68E - UR Protected / OPTO (Sinking 24 in 24 out) ACC-14M -MACRO OPTO 48 bit Input/Output ACC-65M -MACRO UR Protected/OPTO (Sourcing 24in/24out) ACC-68M -MACRO UR Protected/OPTO (Sinking 24in/24out) ACC-11M - MACRO-based 24 input/24 output digital I/O...

ACC-82M - MACRO INTERFACE FOR SIGMA-II (YASKAWA) ACC-85M - MACRO axis interface for Yaskawa Sigma V amplifiers ACC-24M2A - MACRO-based, 2-channel analog axis interface ACC-24M2S - MACRO-based, 2-channel stepper (PFM) axis interface Special Encoder Feedback ACC-51E - 2 Axis 4096x High-Resolution Analog Encoder Interpolator Board ACC-58E - 2 Channel 16-Bit Resolver-to-Digital Converter Board ACC-84E - UMAC Universal Serial Encoder Interface MACRO ACC-5E - Macro and I/O Port Interface Board Amplifier 3U081 - Direct PWM amplifier, 1 channel,...

SOFTWARE 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 Turbo SRM - Software Reference Manual UMAC Turbo CPU HRM - Hardware Reference Manual UMAC Turbo HRM - Hardware Reference Manual