Delta Tau TURBO PMAC2 CPU – High-performance multi-axis motion control main CPU board

Delta Tau TURBO PMAC2 CPU – High-performance multi-axis motion control main CPU board

I. Basic Overview
Brand: Delta Tau (now part of OMRON)
Product Positioning: Core CPU board of industrial-grade multi-axis motion controller, the second-generation enhanced (Turbo) main control unit of PMAC open-loop numerical control system, capable of independent operation or upper computer bus control, widely used in precision equipment, robots, and non-standard numerical control devices.
Main Hardware Forms:
UMAC 3U rack-mounted (most commonly used, modular cabinet with card insertion)
PCI/ISA bus computer card type
VME, PC104 compact embedded version

Core Hardware Configuration
Main Control Chip: Motorola DSP56303 (80MHz) / Optional DSP56311 (160MHz high-performance version) real-time digital signal processor, hard real-time motion computing, servo cycle up to microsecond level.
Storage Configuration
Program SRAM: 128K×24bit
Data SRAM: 128K×24bit
1M Flash Flash Memory: firmware, user program, parameter power-off preservation
Standard Communication Interfaces
RS232 Serial Port: debugging, program download
100M Ethernet: high-speed data interaction with upper computer
MACRO Optical Fiber Bus: distributed remote servo drive expansion, up to 16 nodes in a single loop
Optional PCI/VME/PC104 bus connection to industrial host computer
Local Axis Control Capability: onboard up to 4 servo channels, expandable to a maximum of 32 axes synchronous motion control, supports 16 independent motion coordinate systems.

Core Motion Control Functions
High Precision Trajectory Algorithm
S-curve acceleration and deceleration, straight line / circular arc interpolation, B-spline, PVT smooth interpolation, forward processing, support standard G-code numerical programming.
Servo Closed-loop Control
Built-in PID + feedforward + notch filtering algorithm, supports servo motors, stepper motors, linear motors, direct drive motors; compatible with encoders, gratings for various position feedback.
Built-in Soft PLC Real-time Logic
Independent of motion task background loop execution, handling limit switches, origin, digital I/O interlocks, fault detection, analog quantity acquisition closed-loop regulation.
Advanced Motion Functions
Electronic gear, electronic cam, multi-axis synchronous following, fly-cutting, chase-cutting, robot kinematics forward and inverse solution, hardware position latch trigger.

Electrical and Environmental Parameters
Power Supply: Rack backplane DC5V
Operating Temperature: 0℃～60℃, no condensation, IP20 cabinet installation
Position Counting Range: ±640 billion pulses (36 bits), ultra-high travel positioning accuracy
Servo Refresh Cycle: Minimum 1μs, multi-axis synchronous error at nanosecond level