Compact UMAC Turbo CPU Board

Product Description:

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.

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

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