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Compact UMAC Turbo CPU Board


Product Description:

Compact UMAC Turbo CPU Board

Delta Tau's UMAC-CPCI systems provide a compact and clean integration of motion and I/O control for sophisticated automation equipment. The system consists of a modular set of 3U-size (100mm x 160mm) boards in the Compact PCI format, implementing Turbo PMAC 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. UMAC (Universal Motion and Automation Controller) -CPCI systems provide integrated connectivity as well as ease of assembly, diagnostics, and repair. UMAC-CPCI systems differ from standard UMAC systems in that all field wiring comes to the back of the rack, behind the backplane, instead of direct top and bottom access.

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Product 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
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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
  • Interactive jog moves
  • Optional 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
  • Optional 35-term "pole-placement" servo filter

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)

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)
  • 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
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