PMAC Programmable Machine and Automation Controller

Transcription

1 PMAC Programmable Machine and Automation Controller Controller Features Motion 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 ermite-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 Electronic gearing (no programming required) Electronic cams with programmable profiles Automatic coordination of multiple Calculations and I/O synchronous to motion User-defined coordinate systems for auto coordination of Separate coordinate systems for independent motion of Cartesian geometries Multi-motor axis support (e.g. gantries) Dynamic axis transformations (e.g. offsets, rotations, mirroring) User-written forward and inverse-kinematic algorithms Tuning Standard digital PID feedback filter Velocity, acceleration, and friction feedforward 2nd-order notch/low-pass filter PID ains changeable at any time Programmable input, integrator, and output limits Alternate 35-term pole-placement servo filter Compensation Position compensation tables (1D & 2D) Torque compensation tables Backlash compensation Tool radius compensation (2D & 3D) Safety ardware and software overtravel limits Amplifier enable/fault handshaking Following error limits Integrated current limit Watchdog timer Programming Program and communications checksums 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 igh-level programming language Motion values as constants or expressions Axes programmed in user engineering units Alternate user-written high-level Open Servo algorithms Ability to execute -code programs

2 Turbo PMAC Clipper Turbo PMAC2 Eth-Lite Part Number: X The PMAC Clipper Controller is a full featured Turbo PMAC designed for extremely cost sensitive applications. This powerful, but compact and cost-effective, multi-axis controller comes standard with Ethernet and RS232 communication ports and built in I/O.The Clipper Controller offers a full Turbo PMAC 2-CPU and provides a minimum of four of servo or stepper control with 32 digital I/O points. Specifications Motion Communications 4 channels axis-interface circuitry, servo or stepper 12-bit +/- 10V analog output Pulse-&-Direction digital outputs Differential/Single-ended encoder input 5 input flags, 2 output flags UVW hall inputs andwheel port with 2 each: Quadrature encoder inputs Pulse (PFM or PWM) output pairs Serial RS-232 serial interface Ethernet 100 Mbps Ethernet interface, optional Modbus/TCP USB 480 Mbit/sec USB 2.0 interface I/O Power 32 general-purpose TTL-level I/O points, direction selectable by byte 5V, +/-12V, +/- 12V only required for analog outputs/inputs Accessories Axis Interface Boards ACC-1P Additional 4-axis interface, feedback & I/O, PC/104 stack board ACC-8ES 4 Channel analog servo (16 bit) interface, PC/104 stack board ACC-8FS 4 Channel digital direct PWM, PC/104 stack board Feedback Interface Boards ACC-1P Additional 4-axis interface, feedback & I/O, PC/104 stack board ACC-51S igh resolution sinusoidal interpolator, PC/104 stack board Digital I/O Boards ACC-1P Additional 4-axis interface, feedback & I/O, PC/104 stack board

3 Clipper Controller A B - C 0 0 F - 0 J K L A B C F C0 - Opt. 5C0 80Mz DSP563xx CPU 256Kx24 SRAM 1Mx8 flash* (Standard) C3 - Opt. 5C3 80Mz DSP563xx CPU 1Mx24 SRAM 4Mx8 flash* F3 - Opt. 5F3 240Mz DSP563xx CPU 1Mx24 SRAM 4Mx8 flash* 0 - No Options 1 - Opt channels 12-bit A/D converter & 1 12-bit D/A converter J 0 - No Options 1 - Opt. 11A I-Speed Dig. Out PWM Laser Control Other Options 2 - PMAC2 (Standard)* CPU / Memory / Firmware Options K L 00 - No Additional* Options xx - Factory assigned digits for Additional* Options Factory Assigned Options 4 No Options 5 - Opt. 2 Dual Port RAM 6 - Opt. 15F ModBus Comm. 7 - Opt. 2 & Opt. 15F Dual Port. RAM & ModBus Comm. 0 - No Options Standard JEXPA & JEXPB Stack Short pins & Standard right angle box header connectors short pins 3 - Opt. EX JEXPA & JEXPB Stack long pins (Solder side) 5 - Opt. C4 (BREAKOUT BRD OPT) JEXPA & JEXPB Stack long pins (Solder side) & Right Angle box header connectors with long pins (Solder side) Communication Options ACC-1P AXIS EXPANSION PIYBACK BOARD I additional channels (8 channels Total) Axis Options 0 - No Option 3 - Opt. 2 2-Channel 12-bit A/D converter +/- 10v input (Not compatible with ACC-8FS) Other Options I 0 - No Option 2 - Opt. 1 & Opt. 1A Multiplexer Port andwheel port I/O Port (Sinking Output) 3 Opt. 1 & Opt. 1B Multiplexer Port andwheel port I/O Port (Sourcing Output)

4 Brick Controller 4/8 Axis Fully Scalable Automation Controller Part Number: BCX-XX-XXX-XXX-XXXX The Brick Motion Controller features 4 or 8 (optional) of analog +/-10V filtered PWM (12-bit resolution) or pulse and direction outputs. Standard I/O capability is 16 inputs and 8 outputs at 12-24V fully protected and isolated with separate commons for each bank of 8 inputs. Outputs are rated for 1 ampere each and are thermal-fuse protected. Outputs can be current sinking or sourcing depending on use of common emitter or common collector connections. Feedback with quadrature incremental encoders is standard. Specifications Motion Communications I/O Power 4/8 channels axis-interface circuitry, servo or stepper 12-bit +/- 10V analog output Pulse-&-Direction digital outputs Differential/Single-ended encoder input 5 input flags, 2 output flags UVW hall inputs Ethernet 100 Mbps Ethernet interface, optional Modbus/TCP USB 480 Mbit/sec USB 2.0 interface Serial RS-232 Optional Inputs 16 inputs, expandable to 32 Outputs 8 outputs, expandable to 16, sinking or sourcing Logic Power: 24 VDC Options Dual true-dac analog outputs, 18 bit resolution Special feedback (sinusoidal, resolver, serial) Analog I/O Dual Port RAM Modbus/TCP MACRO

5 Brick Controller Model Number Definition A B C D E F I ** ** ** ** BC 4 - C 0 - F A B C Number of Axes 4 : Four Axes (Default) 8 : Eight Axes CPU Options - Turbo PMAC 2 Processor C0: 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default) C3: 80Mhz, 8Kx24 Internal, 1Mx24SRAM, 4MB Flash F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash Axes 1 to 4 Options F: Filtered-PWM analog output on Channels 1-4, 12-bit resolution (default) D: Dual true-dac analog outputs on Channels 1-4, 18-bit resolution D E 4 Axes (Apply only to BC4-BB-CDD-EF-I0 controller) Axis 5-8 Feedback Options Note: For Other Feedback Options See Special Feedback Options 12-24V 5V Flags Four primary encoder inputs. No secondary encoders, 4-axis system Four secondary encoders for a total of 8 encoder inputs Digital I/O Option 0: Digital I/O 16 inputs and 8 outputs, 0.5A, 24VDC (default) 1: Expanded digital I/O additional 16 inputs and 8 outputs, 0.5A, 24VDC (Total of 32 IN / 16 OUT) 2: Expanded digital I/O additional 32 inputs and 16 outputs, 0.5A, 24VDC (Total of 48 IN / 24 OUT) 8 Axes (Apply only to BC8-BB-CDD-EF-I0 controller) Axis 5-8 Options Note: Letter must be same as previous letter 12-24V 5V Flags F2 F7 Filtered-PWM analog output on Channels 5-8, 12-bit resolution D2 D7 Dual true-dac analog outputs on Channels 5-8, 18-bit resolution Note: For Other Feedback Options See Special Feedback Options Analog I/O Options 4 8 3: Two Analog In, two analog Out (On conn. X11-X12) & 4 PIO Relays (On connectors X9-X12) 4: Four Analog In, four analog Out (On conn. X9-X12) & 4 PIO Relays (On connectors X9-X12) 7: Two Analog In, 2 analog Out (Conn.X9-X10) & 4 PIO Relays (On connectors X9-X12) 0: No Analog Options available, for this configurations 3: Two analog Inputs (On conn. X11-X12) & 4 PIO Relays (On connectors X9-X12) 4: Four analog Inputs (On conn. X9-X12) & 4 PIO Relays (On connectors X9-X12) 7: Two analog Inputs (Conn.X9-X10) & Four PIO Relays (On connectors X9-X12) Note: Analog outputs are 12-bit filtered PWM and Analog Inputs are 16-bit. Communication Options USB2 and Eth100 are included Note: To use PMAC-NC software, DPRAM is required 0xxxxx: No Options, Default Dxxxxx: DPRAM option, size 8K x 16-bit wide Mxxxxx: ModBus Ethernet Communication Protocol (Software) option Sxxxxx: DPRAM and Modbus Options Combined F MACRO and Special Feedback Options Note: If any of the or I digits () are ordered, \you will also receive RS-232 comms port, 2 channel "handwheel" port. Special Feedback Number and Type of Channels 000: No Special Feedback Channels 4A0: 4 Sinusoidal Encoder Feedback Channels 4B0: 4 Resolver Feedback Channels 4C1: 4 Serial Encoder Feedback Channels (SSI Protocol) 4C2: 4 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 4C3: 4 Serial Encoder Feedback Channels (EnDat 2.2 Protocol) 4C6: 4 Serial Encoder Feedback Channels (BISS-C Protocol) 4D1: 4 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 4D2: 4 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 4D3: 4 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 4D4: 4 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 4D6: 4 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 4E1: 4 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 4E2: 4 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 4E3: 4 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 4E6: 4 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol) 8A0: 8 Sinusoidal Encoder Feedback Channels 8B0: 8 Resolver Feedback Channels 8C1: 8 Serial Encoder Feedback Channels (SSI Protocol) 8C2: 8 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 8C3: 8 Serial Encoder Feedback Channels (EnDat 2.2 Protocol) 8C6: 8 Serial Encoder Feedback Channels (BISS-C Protocol) 8D1: 8 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 8D2: 8 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 8D3: 8 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 8D4: 8 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 8D6: 8 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 8E1: 8 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 8E2: 8 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 8E3: 8 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 8E6: 8 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol) R00000: RS232 port on 9-pin D-sub Connector* E00000: DPRAM & RS232 Options Combined* N00000: RS232 & ModBus Options Combined* T00000: Modbus, DPRAM & RS232 Combined* * If any of the or I digits is non zero () then RS232 is included as default. Options R, E, N and T are Incompatible MACRO Ring Interface and 8 Single or 4 Differential channel 12-bit 10v range MUXED ADC -xxx-xxx0x: No MACRO or ADC -xxx-xxx1x: RJ45 MACRO -xxx-xxx2x: Fiber Optic MACRO -xxx-xxx3x: MUXED ADC -xxx-xxx4x: RJ45 MACRO and MUXED ADC -xxx-xxx5x: Fiber Optic MACRO and MUXED ADC I

6 eo Brick Drive 4/6/8 Axis Intelligent Amplifier System Part Number: BLX-XX-XXX-XXX The eo Brick Drive brings together the intelligence and capability of the Turbo PMAC2 motion controller with the latest IBT-based drive technology in a compact, smart 4/6/8 axis servo drive package. The flexible nature of the Turbo PMAC2 enables the eo Brick Drive to drive brush, brushless or AC induction motors with unsurpassed pure digital DSP performance. The absence of analog signals required for typical motion controller/drive interfacing enables higher gains, better overall performance and tighter integration, while significantly driving costs and setup time down. Specifications Amplifier Features Communications I/O Power 4/6/8 channels direct PWM 5A continuous / 10A peak Differential/Single-ended encoder input Pulse-&-Direction digital outputs 5 input flags, 2 output flags per axis UVW hall inputs Ethernet 100 Mbps Ethernet interface, optional Modbus/TCP USB 480 Mbit/sec USB 2.0 interface Inputs 16 inputs, expandable to 32 Outputs 8 outputs, expandable to 16, sinking or sourcing Universal AC input VAC, or DC operation from 12VDC to 340VDC Logic Power: 24 VDC Options Analog inputs and outputs, +/- 10VDC 2 PWM outputs Dual Port RAM Modbus/TCP Accessories Connector Kits CONKIT5A Mating connector kit for 4-axis drives CONKIT5B Mating connector kit for 6-axis drives CONKIT5C Mating connector kit for 8-axis drives

7 A eo Brick Drive Part Number Definition B C D E F I ** ** ** ** B L 4 - C Axes BLA-BB-CDD-EFI0 4 : Four Axes Silver Enclosure 6 : Six Axes Silver Enclosure 8 : Eight Axes Silver Enclosure A B C CPU Options BLA-BB-CDD-EFI0 Turbo PMAC 2 Processor C0: 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default) C3: 80Mhz, 8Kx24 Internal, 1Mx24SRAM, 4MB Flash F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash Axes 1 to 4 Options BLA-BB-CDD-EFI0 5: 5A/10A, with encoders and Flags for every axis (Default) 8: 8A/16A, with encoders and Flags for every axis (Continuous / Peak) Digital I/O Option BLA-BB-CDD-EFI0 E 0: 16 IN / 8 OUT (Default) 1: Expanded digital I/O, additional 16 inputs and 8 outputs (Total of 32 IN / 16 OUT) Outputs are rated: 0.5A@12-24VDC Axes 5 to 8 Options V 5V Flags BLA-BB-CDD-EFI No options, 4-axis system Four secondary encoders inputs (total of 8 encoder inputs) P3 P8 PWM amplifier Interface for channel 7 with encoders for 5 to 8 ( 4 secondary encoders) F2 F7 5 and 6 axis, 15A/30A, with encoders for channels 5 to 8 (2 secondary encoders) W3 W85 and 6 axis, 15A/30A, plus PWM amplifier Interface for channel 7 with 2 secondary encoders on 7 & 8) axis, 5A/10A, with encoder inputs for all axis, 8A/16A, with encoder inputs for all If user wants to order 5V flag inputs then he needs to specify it at the Axes 5 to 8 options For example: 05" No secondary encoder inputs (total of 4 encoder inputs), 5V Flag inputs 07" Four secondary encoder inputs (total of 8 encoder inputs), 5V Flag inputs W8 i-power 5 & 6, plus PWM amplifier Interface for channels 7 (total of 8 encoder inputs), 5V Flag inputs If the above Number of Amplifier Axes are selected then only the corresponding Axes 5 to 8 Options are available. Communication Options BLA-BB-CDD-EFI0 USB2 and Eth100 are included Note: To use PMAC-NC software, DPRAM is required 0xxxxx: No Options, Default Dxxxxx: DPRAM option, size 8K x 16-bit wide Mxxxxx: ModBus Ethernet Communication Protocol (Software) option Sxxxxx: DPRAM and Modbus Options Combined D Analog I/O Options 4 00 / / 07 4 P3 / P8 6 F2 / F7 6 W3 / W / / 87 BLA-BB-CDD-EFI0 F 3: Two Analog In, two analog Out (On conn. X11-X12) & 4 PIO Relays (On connectors X9-X12) 4: Four Analog In, four analog Out (On conn. X9-X12) & 4 PIO Relays (On connectors X9-X12) 5: Two Analog In, two analog Out (On conn. X11-X12) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On conn. X9-X10) 6: Four Analog In, four analog Out (Connectors X9-X12) with 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On conn. X9-X10) 9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 PIO Relays (On conn.x9-x10) 7: Two Analog In, 2 analog Out (Conn.X9-X10) & 4 PIO Relays (On connectors X9-X12) 8: Two Analog In, 2 analog Out (Conn.X9-X10) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On connectors X9-X10) 9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 PIO Relays (On conn.x9-x10) 3: Two Analog In, two analog Out (On conn. X11-X12) & 4 PIO Relays (On connectors X9-X12) 5: Two Analog In, two analog Out (On conn. X11-X12) & 4 AENA Relays for Chan.3&4 (On conn.x11-x12) and Chan.5&6 (On conn.x9-x10) 9: Four AENA Relays for Chan.3&4 (On conn.x11-x12) and Chan.5&6 (On conn.x9-x10) 0: No Analog Options available, for this configurations To receive Analog Inputs for these configurations, you must order BLA-BB-CDD-EFI0 MUXED ADC Option in MACRO and Special Feedback Options 9: Four AENA Relays for Chan.3&4 (On conn.x11-x12) and Chan.5&6 (On conn.x9-x10) Note: Analog outputs are 12-bit filtered PWM and Analog Inputs are 16-bit. R00000: RS232 port on 9-pin D-sub Connector* E00000: DPRAM & RS232 Options Combined* N00000: RS232 & ModBus Options Combined* T00000: Modbus, DPRAM & RS232 Combined* * If any of the or I digits is non zero (BLA-BB-CDD-EFI0) then RS232 is included as default. Options R, E, N and T are Incompatible MACRO and Special Feedback Options Note: If any of the or I digits (BLA-BB-CDD-EFI0) are ordered, you will also receive RS-232 comms port, 2 channel "handwheel" port. MACRO Ring Interface and 8 Single or 4 Differential channel 12-bit 10v range MUXED ADC I BLA-BB-CDD-EFI0 0: No MACRO or ADC 1: RJ45 MACRO 2: Fiber Optic MACRO 3: MUXED ADC 4: RJ45 MACRO and MUXED ADC 5: Fiber Optic MACRO and MUXED ADC Special Feedback Number and Type of Channels BLA-BB-CDD-EFI0 000: No Special Feedback Channels 4A0: 4 Sinusoidal Encoder Feedback Channels 4B0: 4 Resolver Feedback Channels 4C1: 4 Serial Encoder Feedback Channels (SSI Protocol) 4C2: 4 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 4C3: 4 Serial Encoder Feedback Channels (EnDat 2.2 Protocol) 4C6: 4 Serial Encoder Feedback Channels (BISS-C Protocol) 4D1: 4 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 4D2: 4 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 4D3: 4 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 4D4: 4 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 4D6: 4 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 4E1: 4 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 4E2: 4 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 4E3: 4 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 4E6: 4 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol) 8A0: 8 Sinusoidal Encoder Feedback Channels 8B0: 8 Resolver Feedback Channels 8C1: 8 Serial Encoder Feedback Channels (SSI Protocol) 8C2: 8 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 8C3: 8 Serial Encoder Feedback Channels (EnDat 2.2Protocol) 8C6: 8 Serial Encoder Feedback Channels (BISS-C Protocol) 8D1: 8 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 8D2: 8 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 8D3: 8 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 8D4: 8 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 8D6: 8 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 8E1: 8 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 8E2: 8 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 8E3: 8 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 8E6: 8 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol)

8 eo Brick LV Drive Multi-axis controller with Low Voltage Amplifiers Part Number: BDX-XX-XXX-XXXXXXXX The eo Brick LVTM is Delta Tau s latest addition to the Brick faily of multi-axis Smart Amplifiers. The LV combines the power of Delta Tau s Turbo PMAC2 controller with MOSFET motor amplifiers in a sleek industrial package. The flexible nature of the Turbo PMAC2 enables the eo Brick LV Drive to drive DC brush, brushless motors, or stepper motors with unsurpassed pure digital DSP performance. The absence of analog signals required for typical motion controller/drive interfacing enables higher gains, better overall performance and tighter integration, while significantly driving costs and setup time down. Specifications Amplifier Features Supported Feedback Communications I/O Power 4/8 channels direct PWM 5A continuous / 15A peak Differential/Single-ended encoder input Pulse-&-Direction digital outputs 5 input flags, 2 output flags per axis UVW hall inputs Quadrature encoder, potentiometers, sinusoidal, resolver, SSI, EnDAT, Sigma II/III, iperface, BISS C Ethernet 100 Mbps Ethernet interface, optional Modbus/TCP USB 480 Mbit/sec USB 2.0 interface Inputs 16 inputs, expandable to 32 Outputs 8 outputs, expandable to 16, sinking or sourcing DC Bus Voltage: VDC Logic Power: 24 VDC Options Analog inputs and outputs, +/- 10VDC PWM outputs Dual Port RAM Modbus/TCP Serial RS-232 MACRO Accessories Connector Kits CONKIT6A BUS input connection kit CABKIT6A 3ft cable pre-crimped with CONKIT6A for BUS input

9 A B C D E F I ** ** ** ** BD 4 - C A B C Axes BDA-BB-CDD-EFI0 4 : Four Axes (Default) 8 : Eight Axes eo Brick LV Drive Part Number Definition CPU Options BDA-BB-CDD-EFI0 Turbo PMAC 2 Processor C0: 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default) C3: 80Mhz, 8Kx24 Internal, 1Mx24SRAM, 4MB Flash F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash Axes 1 to 4 Options BDA-BB-CDD-EFI0 4: 5A/15A - 4 Phase (Servo / Stepper outputs) Axes 5 to 8 Options V 5V Flags BDA-BB-CDD-EFI Four primary encoder inputs. No secondary encoders, 4-axis system Four secondary encoders for a total of 8 encoder inputs P3 P8 PWM amplifier Interface for channel 7 with encoders for 5 to 8 ( 4 secondary encoders) D Digital I/O Option BDA-BB-CDD-EFI0 0: 16 IN / 8 OUT (Default) 1: Expanded digital I/O, additional 16 inputs and 8 outputs (Total of 32 IN / 16 OUT) Outputs rated: 0.5A@12-24VDC E A/15A - 4 Phase Servo / Stepper output, with encoders and Flags for every axis. Example: For 5V flag inputs then specify it at the Channel 5 to 8 Encoder/Flag Options 07" Four secondary encoder inputs (total of 8 encoder inputs), 5V Flag inputs - i.e. BDx-xx-407-xxxxxxx If the above Number of Amplifier Axes are selected, then only the corresponding Axes Options are available. Analog I/O Options 4 00 / / 07 4 P3 / P / 47 BDA-BB-CDD-EFI0 3: Two Analog In, two analog Out (On conn. X11-X12) & 4 PIO Relays (On connectors X9-X12) 4: Four Analog In, four analog Out (On conn. X9-X12) & 4 PIO Relays (On connectors X9-X12) 5: Two Analog In, two analog Out (On conn. X11-X12) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On conn. X9-X10) 6: Four Analog In, four analog Out (Connectors X9-X12) with 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On conn. X9-X10) 9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 PIO Relays (On conn.x9-x10) 7: Two Analog In, 2 analog Out (Conn.X9-X10) & 4 PIO Relays (On connectors X9-X12) 8: Two Analog In, 2 analog Out (Conn.X9-X10) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 PIO Relays (On connectors X9-X10) 9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 PIO Relays (On conn.x9-x10) 0: No Analog Options available, for this configurations To receive Analog Inputs for these configurations, you must order BD-ABB-CDD-EFI0 MUXED ADC Option in MACRO and Special Feedback Options 9: Four AENA Relays for Chan.3&4 (On conn.x11-x12) and Chan.5&6 (On conn.x9-x10) Note: Analog outputs are 12-bit filtered PWM and Analog Inputs are 16-bit. MACRO and Special Feedback Options Note: If any of the or I digits (BDA-BB-CDD-EFI0) are ordered, you will also receive RS-232 comms port, 2 channel "handwheel" port. MACRO Ring Interface and 8 Single or 4 Differential channel 12-bit 10v range MUXED ADC BDA-BB-CDD-EFI0 0: No MACRO or ADC 1: RJ45 MACRO 2: Fiber Optic MACRO 3: MUXED ADC 4: RJ45 MACRO and MUXED ADC 5: Fiber Optic MACRO and MUXED ADC I F Communication Options BDA-BB-CDD-EFI0 USB2 and Eth100 are included Note: To use PMAC-NC software, DPRAM is required 0xxxxx: No Options, Default Dxxxxx: DPRAM option, size 8K x 16-bit wide Mxxxxx: ModBus Ethernet Communication Protocol (Software) option Sxxxxx: DPRAM and Modbus Options Combined R00000: RS232 port on 9-pin D-sub Connector* E00000: DPRAM & RS232 Options Combined* N00000: RS232 & ModBus Options Combined* T00000: Modbus, DPRAM & RS232 Combined* * If any of the or I digits is non zero (BDA-BB-CDD-EFI0) then RS232 is included as default. Options R, E, N and T are Incompatible Special Feedback Number and Type of Channels BDA-BB-CDD-EFI0 000: No Special Feedback Channels 4A0: 4 Sinusoidal Encoder Feedback Channels 4B0: 4 Resolver Feedback Channels 4C1: 4 Serial Encoder Feedback Channels (SSI Protocol) 4C2: 4 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 4C3: 4 Serial Encoder Feedback Channels (EnDat 2.2 Protocol) 4C6: 4 Serial Encoder Feedback Channels (BISS-C Protocol) 4D1: 4 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 4D2: 4 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 4D3: 4 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 4D4: 4 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 4D6: 4 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 4E1: 4 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 4E2: 4 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 4E3: 4 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 4E6: 4 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol) 8A0: 8 Sinusoidal Encoder Feedback Channels 8B0: 8 Resolver Feedback Channels 8C1: 8 Serial Encoder Feedback Channels (SSI Protocol) 8C2: 8 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol) 8C3: 8 Serial Encoder Feedback Channels (EnDat 2.2 Protocol) 8C6: 8 Serial Encoder Feedback Channels (BISS-C Protocol) 8D1: 8 Sinusoidal Encoder and Serial Enc. (SSI Protocol) 8D2: 8 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III Protocol) 8D3: 8 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol) 8D4: 8 Sinusoidal Encoder and Serial Enc. (iperface Protocol) 8D6: 8 Sinusoidal Encoder and Serial Enc. (BISS-C Protocol) 8E1: 8 Resolver Feedback Channels and Serial Enc. (SSI Protocol) 8E2: 8 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III Prot.) 8E3: 8 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol) 8E6: 8 Resolver Feedback Channels and Serial Enc. (BISS-C Protocol)

10 Software Executive Pro2 Suite Development Software 3A0-9WPRO2-35X PMAC Executive Pro2 Suite: This is the main program for developing and maintaining any PMAC application PMAC Plot Pro2: Allows creating motion trajectory plots or plot any memory register information PMAC Tuning Pro2: Allows optimizing the servo parameters for maximum motor accuracy or speed P1 Setup32 Pro2: Provides a step-by-step method for configuring any PMAC1 type (analog) motion controller P2 Setup32 Pro2: Provides a step-by-step method for configuring any PMAC2 type (digital) motion controller Turbo Setup32 Pro2: Provides a step-by-step method for configuring any Turbo PMAC type motion controller UMAC Config Pro2: Provides a method for checking the hardware configuration of any existing UMAC rack Pcomm Server Pro2 PMAC communications library for VB/C++ linkable software 3A0-9PPRO2-35X The Delta Tau Pcomm Server Pro2 Communication Driver is a set of more than 400 functions written as a development tool for the creation of PMAC applications on Windows 2000, Windows XP and Windows 7. The routines were designed with robustness, speed and portability in mind. Pcomm Server Pro2 may be used by all PMAC types. PMAC-NC Pro2 A PMAC-NC Pro2 is a Windows-based customizable UI for PC based CNC control NC MI has all of the features of previous versions with the added advantage of easy user screen customization. With the combination of PMAC MI and the NC server, this new release offers the most advanced and flexible CNC software package available. This new version builds on Delta Tau's previous -code software package that leverages Delta Tau's legendary servo hardware performance to bring unprecedented levels of block throughput speed, cutting accuracy and the flexibility of a PC-based environment to the shop floor. The Windows-based environment allows users to combine NC MI with their favorite PC compatible CAD/CAM or conversational package. This gives the operator or programmer the flexibility to program directly at the machine or remotely at a desk. The multi-tasking utilities of the Windows operating system gives the user the capability to run CNC parts while programming simultaneously. Connectivity tools such as Ethernet and USB2.0 are easy to set up and provide unparalleled reductions in time spent transferring part program files. The part program size is limited only by the hard drive space.