ABOUT TURBO 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.
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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
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