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Sophisticated Firmware Features

  • Five built-in control algorithms:

       Standard PID only
       PID enhanced with notch filters, deadband filters, lowpass/highpass filters,    velocity loop filters, and/or trajectory prefilters
       Standard Gantry Control
       Cross-Coupled Gantry Control
       Adaptive Control

  • Programmable input, integrator, and output limits

  • Automatic or manual tuning of all motors’ current loops and servo loops

  • Phasing algorithms for maximizing the torque output of commutated motors

  • Commutation algorithms for commutated motors (e.g. DC Brushless, AC Induction, etc.)

  • Field weakening algorithm for AC induction motor (through the Motor[x].DtOverRotorTc structure)

  • The user can also implement his or her own custom servo and phase algorithms in C

  • Lookahead for dynamic acceleration adjustment for accurate contouring

  • Jerk limiting for smooth motion and reducing mechanical wear

  • Cutter radius (2D) and shape (3D) compensation for machining

  • Position, torque, and backlash compensation

  • Multi-threaded general purpose background programs that run asynchronous to motion: Up to 32 in PMAC’s Script language, 32 in C

  • 0 to 3 multi-threaded general purpose foreground Script programs , 1 general purpose foreground C program, which run asynchronous to motion

  • The above programs can be used for whatever purpose the user desires (e.g. safety and status monitoring, servo gain scheduling, data reporting functions, etc.)

  • User-programmable, PMAC-Scheduled kinematics subroutines

  • Position following (electronic gearing)

  • Time-base control (automatic feedrate adjustment based on an external input signal)

  • Transformation matrices for coordinate system rotation and translation

  • Direct microstepping or pulse and direction (PFM) control for encoderless, open-loop control of stepper motors

  • Position Compare with Digital Output at User-Programmed encoder positions at 10 MHz, accompanied by an optional user-written interrupt service routine (ISR) that runs at these positions if desired

  • Coordinate systems make grouping motors for synchronous motion and converting motor units to engineering units simple

  • Multiple-motor axis definitions supported (e.g. for Gantries)

  • Synchronous motion move modes: Linear, Circular, Spline, PVT, and Rapid

  • 1/T extension for digital enhancement of standard Digital A Quad B encoder resolution

  • Automatic move-until-trigger functions with hardware capture

  • User-configurable servo clocks (for closing the servo loop at the appropriate sampling frequency), phase clocks (for commutation), PWM clocks (to get the right pulse frequency depending on motor characteristics) and real-time interrupt clocks (for move planning)

  • Safety Features:

       Hardware and software overtravel limits
      Amplifier enable/fault handshaking 
       Following error limits
       Integrated current limit 
       Encoder loss detection
       Watchdog timer and relay for safely stopping the machine if the controller    freezes

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

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