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Now you have a PMAC2 highly integrated controller!
PMAC2 is on the leading edge of this movement, with its capability to perform all of the required motion control tasks digitally -- trajectory planning, interpolation, position loop, velocity loop, motor phase commutation, and current loop -- and to directly command each transistor of the power stage with digital PWM commands. PWM frequency and deadtime are programmable and continuously variable.
Until recently, closing the motor current loops digitally was either impossible of prohibitively expensive, given the limitations of digital microprocessors and hardware. However, PMAC2's 40, 60, or 80 MHz digital signal processor (DSP) and 120 MHz, 45,000-gate ASIC permit multi-axis digital current loop control at a very reasonable price. In fact, total system cost can be lower with fully digital control, because the front-end circuitry of up to 8 amplifiers is replaced by a small amount of digital circuitry on the PMAC. Furthermore, modern digital control techniques can extract substantially improved performance out of existing power stages and motors.
For many machine builders, particularly those designing large machines with drives distributed away from the controller, installing and maintaining the cabling has been a nightmare. Control manufacturers have recently introduced several "ring network" interfaces between the controller and drives the provide one single-strand connection for each drive. However, all of the approaches to date have involved both very high cost and significant performance limitations.
Delta Tau has used the latest in cutting-edge networking technology to produce MACRO (Motion And Control Ring Optical), a non-proprietary 125 Megabit per second optical ring network designed specifically for demanding motion control applications. No longer do performance compromises have to be made for the sake of cabling simplicity. And because it uses high-volume components designed for the office networking market, the price is very reasonable.
PMAC2 retains all of the features that made the PMAC family so popular for motion control. It keeps unchanged PMAC's powerful and flexible motion programming language, combining the trajectory commands of machine-tool code, and the math and logic of high-level computer languages. It also keeps PMAC's PLC programs, both interpreted and compiled, which provide for execution of many tasks asynchoronous to the programmed motion sequences with fulll access to all of PMAC's registers.
Other high performance features of PMAC retained on PMAC2 include:
Summary Feature Comparison of PMAC and PMAC2
| Feature | PMAC | PMAC2 |
| Standard processor speed | 20 MHz | 40 MHz |
| Option processor speeds | 40, 60, 80 MHz | 60, 80 MHz |
| Standard memory speed | 1 wait state | 0 wait state |
| Option memory speed | 0 wait state | 0 wait state |
| Base # of encoder channels | 4 | 6 |
| Max # of on-board encoder channels | 8 | 10 |
| Max encoder count rate | 20 MHz | 40 MHz |
| Encoder digital delay filter | Best 2-of-3 on A&B channels | Best 2-of-3 on A,B, and Index channels |
| Analog feedback capability? | With accessory board (ACC-28 or -36) | With optional on-board ADCs (12-bit, 8 or 16 ch) |
| Resolver feedback capability? | With accessory board (ACC-8D Opt 7) | With accessory board (ACC-8D Opt 7) |
| Parallel-data feedback capability? | With accessory board (ACC-14) | 1 channel on-board, more with accessory board |
| MLDT (e.g. Temposonics) feedback capability? | With accessory board (ACC-29), up to 8 channels | On-board, up to 8 channels |
| MLDT timer frequency; resolution (no recirculation) | 30 MHz; 0.09mm (3.6 mil) | 120 MHz; 0.02mm (0.9 mil) |
| Position compare pulse specification | Single-sided; software setup, hardware trigger (one count wide, or software turnoff) | Double-sided; software setup, hardware trigger; auto-increment value |
| Maximum update rate of position compare register | ~1kHz (user-programmed software update) | 10 MHz (automatic hardware update) |
| Multiple compares on single encoder? | No | Yes, up to 4 compares on ENC1 and ENC5 |
| Separate User flag for position capture? | No | Yes |
| Gated index pulse (one quadrature state wide) for position capture? | No | Yes |
| Digital delay filter on flag inputs? | No | Yes, best 2-of-3 on all flag inputs |
| Flag hardware interface | Sinking only | Sinking of sourcing |
| Output DAC resolution | 16 bits | To 18 bits, programmable |
| Base # of DAC channels | 4 | 8 (with analog output version) |
| Max # of on-board DAC channels | 8 | 16 (with analog output version) |
| Location of DACs | On-board | On interface board |
| Input resolution from off-board serial ADCs | 16 bits | To 18 bits, programmable |
| Base # of interfaces to serial ADCs | 4 | 8 |
| Max # of interfaces to serial ADCs | 16 | 16 |
| Pulse and direction (PFM) outputs? | With accessory; uses DAC channel on PMAC | On board, direct digital generation; does not use DAC channel |
| Pulse-width-modulated outputs? | No | Yes, 3 top-and-bottom pairs per axis, with programmable frequency and deadtime. |
| Interface to analog velocity-mode amplifiers? | Yes | Yes |
| Interface to analog torque-mode amplifiers | Yes | Yes |
| Interface to analog sinusoid-input amplifiers? | Yes | Yes |
| Interface to direct digital PWM-input amplifiers | No | Yes |
| Digital current loop capability? | No | Yes |
| Dedicated control panel port? | Yes | No |
| Dual-ported RAM | Optional, on separate board | Optional, on main board |
| Max # of on-board A/D converters | 1 (thru V/F converter, 10 bit resolution) | 16 12-bit converters |
| Method for setting clock rates (encoder, DAC, ADC, phase, servo) | Hardware jumpers | Software registers (re-initialization jumper forces to default) |
| Method for setting baud rate | Hardware jumpers | Software register (re-initialization jumper forces to default) |
| Method for setting card # on serial multi-drop cable | Hardware jumpers | 1 jumper (Card 0 or not); software register |
Delta Tau offers a wide range of supporting hardware for the machine tool retrofitter and O.E.M.. Complete controller packages, known as "PMAC-NC Machining Center Controllers" (they function equally well for lathes) are available. This complete machine tool controller package provides the user a specially designed industrial package for the rigors of real CNC machine shop environment. The following lists the standard features of the PMAC-NC Machining Center controller:
PMAC-NC Machining Center Controller Hardware Component List
| PMAC-Lite, 4 Axis, 20 MHz Board | Microsoft Windows 95 |
| 16 Meg Ram | 15" SVGA Monitor |
| Pentium Based Motherboard | Industrial Mouse |
| 500 Meg Hard Drive | PMAC-NC for Windows, Version 1.6 Software |
| 3.5 High Density Floppy Disk | 101 Membrane Keyboard |
| 1 Meg Ram Video Card | Emergency Stop Pushbutton |
| IDE Controller Card | Encoder Interface Terminal Board |
| 1 Serial, 1 Parallel Port |
PMAC-NC Machining Center Controller Pushbuttons
| Cycle Start | Cooling Mist |
| Feedhold | Coolant Flood |
| Reset | Optional Stop |
| Drawbar Clamp | Jog + |
| Single Block | Jog - |
| Block Delete |
PMAC-NC Machining Center Controller Operator Control Panel
| Axis Select Rotary Switch | Spindle Direction Select Rotary Switch |
| Jog Select Rotary Switch | On Pushbutton |
| Mode Select Rotary Switch | Off Pushbutton |
| Feedrate Override Rotary Switch | Machine Keylock |
| Rapid Override Select Rotary Switch | Manual Pulse Generator |
| Spindle Speed Override Select Rotary Switch | On-Board O/O Driver For An Additional 32 Inputs & 32 Outputs |
| Speed/Multiply Select Rotary Switch |
The unique aspect of Delta Tau's approach to the machine tool business is that we don't force you to buy all the components from us. Unlike many of our competitors, Delta Tau does not force you to buy the controller, amplifiers, and motors all from one closed source. You can buy just those pieces of the system from Delta Tau that makes sense for your particular application, and the rest from other suppliers.
PMAC-NC for Windows Standard Software Feature List
| Program Check Screen | Real Time Servo Plotting Screen |
| G Code Program Text Buffer | Built In Video Interfacing |
| Program Rewind | PMAC &I/O Diagnostics Screen |
| Inch/Metric Display | Machine Message Screen |
| Windows Based File Loading | Software Operators Control Panel |
| Built In PMAC-NC for Windows Help Files | Solid Modeling Tool Verification Program |
| Automatic Work Fixture Settings Screen | Configurable G & M Codes |
| Parts Required And Parts Total Counter | Feedrate Information Display |
| Automatic Tool Settings Screen | Spindle Information Display |
| Built In Time & Date Clock | Cycle Time & Cycle Total Counters |
| Built In Background Program Editor With Save, Search, Cut, Copy, Paste, Clear & Undo | Ability To Launch Third Party Software From Within The PMAC-NC for Windows program |
| Five Position Screens (Program, Operator, Machine, Distance To Go, & Overall Position |
Executive Programs for Development:
| © 2007, Zesco Incorporated :: 6500 Miller Road :: Cleveland, Ohio 44141 :: (440) 526-0603 :: Fax (440) 526-0704 |