ABOUT COMPACT UMAC
The Compact UMAC modular rack format system controlled by Delta Tau's longstanding workhorse controller, the Turbo PMAC, in a more compact format than the standard UMAC, useful for certain applications. Built for OEMs and high-volume applications, Delta Tau’s Compact UMAC systems provide a compact and clean integration of motion and I/O control. Similar to the UMAC system, the Compact UMAC consists of a modular set of 3U-boards in a similar Compact PCI (CPCI) format, implementing Turbo PMAC2 software and hardware functions, communicating with each other over a common backplane (the Compact UBUS). All field wiring is available on rear connectors, suitable for a user-designed distribution system to the machine providing integrated connectivity as well as ease of assembly, diagnostics, and repair. Because the backplane is different on the Compact UMAC, only a certain set of accessories specifically designed for the CPCI backplane can be used with this rack; i.e. the accessories compatible with Compact UMAC are not compatible with any other UMAC format.
about it products
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3-3625xx-2x1x-A000xx
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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 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
- User-defined pointer variables to any registers
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
- 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
Options
Communication Options
- OPT-1 - 10 Mbit/sec UDP/IP, TCP/IP Ethernet Communications Interface
- OPT-1A - 12 Mbit/sec USB Communications Interface
- 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)