TURBO CLIPPER DRIVE

Hardware Features

Feedback Protocols Supported

• Digital A Quad B
• SSI
• EnDat 2.2
• BiSS B/C
• HiperFace
• Tamagawa
• Panasonic
• Sinusoidal
• Resolver
• Interferometers: Sinusoidal and Parallel
• LVDTs, RVDTs, MLDTs
• Potentiometers
• Yaskawa Sigma II/III

Motor Types Supported

• 2- or 3-Phase Stepper
• DC Brush
• Synchronous three-Phase AC/DC brushless servo (rotary or linear)
• AC Induction
• Piezoelectric
• Galvanometer
• Voice Coil
• Hydraulic

Other Hardware Features

• 8 axes of control via external amplifiers in addition to the on-board 4 axes, for a total of 12 axes
• Turbo Clipper Drive also possesses all of the firmware features common to all Turbo PMAC controllers
• ModBus, EtherNet, USB, and RS232 communications
• 24 VDC logic power required
• 12–60 VDC bus power required

Amplifier Ratings

• Output Current
• 5.0 A Continuous/15.0 A Peak
• Output Power
• 0.33063 kW (0.443 HP)

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
• Dynamic destination alteration
• 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 30-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)
• Pulse and direction (PFM) control of stepper motors

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 multitasking operating system
• 48-bit floating-point math for user programs
• Trigonometric and transcendental functions
• Automatic type matching of different variable types (e.g. integer, floating point)

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