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Day 1 to 5 classes start at 8:15 am

For more information, please contact us at (818) 717-5641 or e-mail

Turbo PMAC Training Class Outline

training power pmac


The Turbo PMAC Training Class is a five-day course, Monday through Friday. The student does not need to have any prior experience with PMAC whatsoever because the class intends to give the student a firm understanding of Turbo PMAC from the ground up. A basic background in programming, computer science, dynamics, and control theory is recommended, but not in any way required. Each student will use a Turbo UMAC Demo Box; however, if companies send multiple students, these students will possibly work together in pairs on the same Demo Box.

The class runs 8:15 am to 5:00 pm every day. Complimentary donuts will be served each morning, with coffee and tea available throughout the day. Complimentary catered lunch will also be provided at noon daily.

To Register for Turbo PMAC Training click Registration Form

BELOW IS THE 5-DAY SCHEDULE. It details each portion of the class.

8:15 Refreshments 8:15 Refreshments 8:15 Refreshments
8:30 Welcome and PMAC Introduction 8:30 Servo Loop Algorithm 8:30 Machine I/O
9:30 PeWin32Pro2 10:00 Break 9:00 PLC Programs
10:00 Break 10:15 Servo Loop Tuning 10:00 Break
10:15 Manuals and PMAC 12:00 Lunch 10:15 PLC Programs (continued)
11:00 Clocks and Multitasking 1:00 Jog Commands 12:00 Lunch
12:00 Lunch 1:15 Triggered Jog Moves (Homing) 1:00 Data Gathering
1:00 DC Brush Motor Setup 1:30 Coordinate Systems 3:00 Break
3:00 Break 3:00 Break 3:15 Final Motion Program and PLC Exercises
3:15 DC Brushless Motor Setup 3:15 Motion Programs 5:00 End of Session
5:00 End of Session 4:00 Move Modes  
  5:00 End of Session  
8:15 Refreshments 8:15 Refreshments
8:30 Memory and I/O Map 8:30 Position Following
9:00 Kinematics 10:00 Break
10:00 Break 10:15 Coordinate System Transformation
10:15 Kinematics (cont.) 10:45 Time Base Control
12:00 Lunch 12:00 Lunch
1:00 Position Compare 1:00 Lookahead
2:30 Evolution of the Amplifier 2:00 Break
3:00 Break 3:00 Subprograms
3:15 Commutation 3:15 Compensation Tables
4:00 Question and Answer Time for Customers' Applications 4:00 Question and Answer Time for Customers' Applications
5:00 End of Session 5:00 End of Session


  • Introduction to contemporary Delta Tau Products, PMAC, the DSP, and the Delta Tau Gate-Array; Architectural Hardware Overview and PMAC Accessories are explained
  • Communicating to PMAC and using the PeWin32Pro2 Software
  • Learn how to Save and Restore a PMAC Image Backup
  • Set up: Learn how to completely set up a PMAC-based control system, including controller, amplifiers, motors, and I/O, all from scratch
  • PMAC Variables: Learn how and when to use PMAC Variables: I-Variables, M-Variables, P-Variables, and Q-Variables
  • PMAC On-Line Commands, such as jogging and homing
  • PMAC's Multitasking Capabilities: Discussion of Servo Cycle Interrupt, Round-Robin Background PLC Execution
  • Servos: Basic Control Loop Theory, PID Gains, and Filtering
  • Extensive "Hands On" session teaching how to manually tune a servo loop with the PMAC Executive Interactive Tuning Program (Rare and Extremely Valuable Information)
  • Writing PMAC PLC Background Programs and PLCC programs for starting motion programs and issuing jog commands and homing commands via a PLC program
  • Writing Programs: PMAC Motion Programs vs. Background PLC Logic Program
  • Move Mode: Detailed treatment of each Move Mode PMAC offers for motion programs: Linear ,Circular, Rapid, Spline, and PVT
  • PMAC Data Gathering and Plotting


  • PMAC Memory Map: Its organization and how to access areas of memory with M-Variables
  • Kinematics: How to map motor position to tooltip position and back with user-programmed custom mathematical relationships
  • Position Compare: Programmable automatic digital outputs based on motor position
  • Commutation: Set up the commutation for Synchronous (e.g. Permanent Magnet DC Brushless Motors) and Asynchronous (e.g. AC Induction Motors) Commutated Motors
  • Position Following (Electronic Gearing): Create a master-slave position change relationship akin to a physical gear ratio
  • Time-Base Control: How to dynamically and automatically change a coordinate system's feedrate based on the velocity of a physical encoder
  • Coordinate System Transformation: How and when to perform transformations to make certain moves easier
  • Lookahead: Computing position, velocity, and acceleration in advance to ensure user-specified accelerations are not exceeded
  • Subprograms: How to write and how to call subprograms, subroutines, and how to implement G-Codes, M-Codes, T-Codes, and D-Codes
  • Compensation Tables: How to compensate for bowed leadscrews or other imperfections in machine mechanics


Questions are welcome throughout the training, and at the end of the 4th and 5th days, the students will have the chance to ask Delta Tau's Applications Engineers questions about the students' particular applications. Our engineers can make recommendations for what equipment to use and how to implement the student's particular application.

Delta Tau Data Systems, Inc. © 2017. All rights reserved. USA Corporate Headquarters: 818.998.2095, 21314 Lassen St. Chatsworth, CA 91311