Presentation on theme: "How to Provide Best-Fit Solution?"— Presentation transcript:
1 How to Provide Best-Fit Solution? Step 1. What Product Categories fit this Project ?Categories: Controller – Amps/Drives – I/O – Software - AccessoriesStep 2. What Product Family is Best-Fit for Project ?Product Families: UMAC – Brick – Clipper – Special Purpose - NetworkStep 3. What Product Generation is Best-Fit for Project ?Generations Available: Turbo PMAC or Power PMACStep 4. Select Products with Options / Accessories.Narrow to exact product to quote. May have more than one good choice.
2 Product Categories Most projects require purchase of items from each category. Controllers: Machine Logic Command & ControlComplete Machine Control (Motion, I/O, Vision, HMI)Amplifiers/Drives: Power to Machine working systemsServo, AC Induction, Linear, Hydraulic, Stepper, Piezo, Galvo…Amplifiers: Dumb devices where controller handles Direct PWM controlDrives: Smart devices where controller sends simple commands (Digital or Analog)I/O: Connection of Controller to Machine Real World Inputs / OutputsDirect Wired/Network Distributed, Analog/DigitalSoftware: Production / Project Development / Maintenance / Data GatherAccessories: Cables, Add-on / Extenders for special purpose applications
4 Product Generations (7 over 30 years) PMAC: Programmable Multi-Axis Controller Multibus ‘82, MCC ‘85, SMCC ’88, PMAC ‘90, PMAC2 ‘94, Turbo PMAC ‘97, Power PMAC 2007Multibus/MCC/SMCC: ( , 1 and 2 axis coordinated motion controllers)Obsolete products. Minimum Support available. No Repair available.PMAC (1): (2-8 axes, 40MHz DSP 48 bit Motorola536xx CPU)Legacy and Special purpose use only. (PCI, PC104, VME form-factors) Some are obsolete (ISA).+-10v Analog drives only.PMAC2 : (2-8 axes, 80z - 160MH DSP 48 bit Motorola536xx CPU)Legacy and Special purpose use only. (PCI, PC104, VME form-factors)+-10v Analog, PWM, Stepper drives, On-board DPRAM availableTurbo PMAC2 : (32 axes, MHz 48bit Motorola DSP 536xx CPU)Largest current customer base and usage. (Turbo PMAC (1) is available but not widely used)Advanced features such as Lookahead, Kinematics, Open Servo.Available in all Product Families: UMAC, Geo Brick (’05), Clipper, Special Purpose, Network.Power PMAC : (256 axes, 1GHz 64bit double-precision floating point PowerPC RISC CPU, Dual-Core soon)Flagship Product – most powerful and flexible, future-proof productCompare to Turbo: 10x Servo update, x Calc. rate, 100Kx dynamic range and resolution
5 Families: Controllers – Drive/Amps – I/O UMAC Family: Most Flexible and Expandable (Premium cost).Universal Motion & Automation Controller3U-Eurocard Rack type form-factor (CPU, Axis I/O, Machine I/O, Fieldbus, Amps, Custom)Most Power and flexibility of any controller on the planetBrick Family: Most Integrated with lowest system cost.Integrated Package for complete system control: Controller + Amp (4-8 axis AC) + I/OClipper Family: Most embedded system with lowest product cost.OEM target open form-factor, more user implementation needed to provide connectionsController + I/O OR Controller + I/O + Amp (4 axis DC)Special Purpose Family: System has special needs.PCI bus, PC104 bus, VME bus, Legacy ISA bus, PCB I/O, PCB Amp BreakoutsNetwork Family: Most Distributed System using remote drives and I/O.MACRO-Panasonic-EtherCAT Controller, MACRO I/O, MACRO Drives,
6 Software Family – Project Software Guide User with Delta Tau system from “Out of Box” to “Project Logic Ready”.“Project Logic Ready”: All Motors Jog OK. Now focus on Project Automation Logic.“Power PMAC IDE”“PMAC Project” (coming soon)Power PMAC Integrated Development EnvironmentTurbo PMAC Family (Brick & Clipper)
8 Step 1. Which Product Categories fit this Project ? Controllers:Key Delta Tau product to provide in most all systems.Note that the Delta Tau Controller may NOT be the system Master (just Motion with Master PLC).Amplifiers/Drives:If an Integrated product fits this will likely be best-fit.If Integrated Delta Tau product not good fit, most prefer 3rd party vendor drive system.Most all 3rd party drive systems supported: Yaskawa, Copley, Panasonic, Parker, ABB, Others…I/O:Delta Tau I/O usage will depend on the Product Family used.Most 3rd party I/O supported: Opto22,EtherCAT,ModBus,EthernetIP(soon),Other Fieldbus(DeviceNet, ProfiBus…)Software:All: Setup/Project/Executive, Some w/ Custom HMI: Libraries, Special: NC ApplicationsAccessories:Depends on Products above used and project needs.
9 Step 2. a What Product Family is Best-Fit for Project Step 2.a What Product Family is Best-Fit for Project ? 1 of 3 More than One Family may fit. Will narrow down in next step “Product Best-Fit” selection.Is the system complex ? UMAC FamilyDesire to have most flexible and expandable system to future-proof.More than 32 motors to connect to single control Rack.Requires special mix or large amount of I/O ? (local connect & network fieldbus)Mix of different Amplifier / Drive types ? (local connect & network fieldbus)Some are Analog, Some PWM, Some Stepper, Galvo, Voice CoilMix of different Feedback types ?Some are Quadrature, LVDT, RVDT, MLDT, Interferometer, Sine, Serial encoders ?System has Local devices and Connects to devices over a Network Fieldbus.If answer is Yes to One or More of above then likely the UMAC Family is the best solution for project. However this is NOT a must, other families have some combination of above capabilities just not as much or as flexible. So first consider other Families to see if one of those is a good-fit at a lower cost.
10 Step 2b. What Product Family is Best-Fit for Project Step 2b. What Product Family is Best-Fit for Project ? 2 of 3 More than One Family may fit. Will narrow down in next step “Product Best-Fit” selection..Does system lend itself to Integrated Package? Brick Family4, 6, 8 axis, motors that are 230vac < 8amp continuous = Geo-Brick4, 8 axes, motors DC motors (12-60v Servo & Stepper) < 15amp continuous = Geo-Brick LVUsing external analog drives, Packaged Motion/PLC Controller = Brick ControllerLowest cost (OEM) for volume savings ? Clipper FamilyWill require more work for end user to provide connection to machine.If < 8 motors to connect to = Clipper is best value (PC104 is smallest but more $)Integrated Amp for 4 DC motors (12-60v Servo & Stepper) < 15amp cont. = Clipper DriveMust Controller fit some Special or Legacy system ? Special FamilyRequired to work in a PCI, VME or PC104 system.Consult factory for Best-Fit: Turbo PMAC PCI, PMAC VME, or PC104 PMAC
11 Step 2c. What Product Family is Best-Fit for Project Step 2c. What Product Family is Best-Fit for Project ? 3 of 3 More than One Family may fit. Will narrow down in next step “Product Best-Fit” selection.Does System Lend itself to Network Control ? Network Family-Working with Network type Drives. (Yaskawa SigmaV w/ ACC-85M or Copley MACRO)-Working with MACRO Drives and I/O.-Working with EtherCAT Drives and I/O.-Advantages to reduce wiring by using Fiber-Optic or Ethernet type fieldbus.-System is large, so having Drives and I/O distributed around machine is best.-span the long distance with noise immunity using Fiber Fieldbus (MACRO)-Expandable system with ability to add components to Network later on.If Yes, then Network Family (MACRO or EtherCAT) will work well.MACRO is available in either Turbo PMAC or Power PMAC controllers.EtherCAT is only available in Power PMAC controllers.Delta Tau Network I/O devices are also available for extra I/O and system devices.
12 Step 3. What Product Generation is Best-Fit for Project Step 3. What Product Generation is Best-Fit for Project ? Turbo PMAC (TurboP) or Power PMAC (PowerP) ? As of 10/2012 Only UMAC & Network Family are available in Power PMAC Generation. (Brick in Beta, Clipper in Design)If project does not require Power PMAC specific features (listed below):Lowest cost (save $200-$800) and not need to change or be future-proof = TurboPWant to be future proof with significant ease of development = PowerPHigh calculation requirements, program move rates, servo rates = PowerPSimple upgrade project form existing PMAC = TurboP (Brick Controller)Familiar w/existing Generation programming, not want to learn new gen. = TurboPPower PMAC Specific features: (only avail. With PowerP) = PowerPEtherCAT fieldbus(up to 4 ports).Programming: “C”, IEC 61131, MATLAB Simulink, Motion/PLC Script, “EPICS”.Most feedback types supported including very high resolution types.Future-proof with state-of-art hardware, most modular and upgradable.Linux Real-Time OS. Can also provide full HMI with video and user input.More than 32 motors. Embedded Web IDE. Visual Studio IDE.Jerk control, Enhanced Lookahead, Sep. Accel/Decel, Advanced MathAdvanced Data Gathering directly to system Ram allowing high rate logging.Expandable Memory/Comm including: USB2, SD Card, Gigabit Ethernet
13 Step 4. Select Product with Options / Accessories Step 4. Select Product with Options / Accessories. Narrow to exact product to quote. May have more than one good choice.Here should know what Product Family / Generation is a Fit for the Project.May need to select and quote more than one solution for user to choose from.Refer to Below “Build” sheets to help with building a system to quote.Refer to Delta Tau Website “FAQ” for more details on options such a CPU.Working directly with Price Spreadsheets is good way to see all options and details.Usually will need to Select Software + Other AccessoriesE.G. PWM Drive connection cables, MACRO cables, Breakout boards for OEM or Special Product Family items.Power PMAC IDE (included w/ CPU), PMAC Project (Included w/ Brick & Clipper)Turbo PMAC Executive Pro2 Suite ($799)Libraries: Pcomm Library ($499), Power IDE Library ($700), LabView ($999), Servo Analyzer ($1795), IEC ($1495)Don’t hesitate to call “Delta Tau Support” to be sure system is complete.
14 Number of Axes to control and/or read feedback from: Step 4. Select Product with Options / Accessories. May Refer to “What-Product-ToSell.xlsx” for help in selecting Best-Fit Product.Product Family - Generation Family: UMAC, Brick, Clipper, Special-Purpose, Network Generation: Turbo PMAC2 OR Power PMACTurbo UMACBrickClipperSpecial-PurposeNetworkPower-UMACPower-BrickPower-ClipperPower-NetworkSystem RequirementsNumber of Axes to control and/or read feedback from:0 - 8 AxesxAxes>32 AxesType of Form-Factor Best suited for Application:Most/All control components inside one cabinetDistributed Control components such as Drives and I/OOEM to provide custom cabling and machine connections to save cost over many unitsBest to have a Packaged Product with industrial style connectors providedSpecial Form-factor such as: PCI bus, PC104 bus, VME busSmallest possible form-factorPC104Motor / Amp / Drive Requirements: Consult Factory if need to mix drive types in system!4 axis (12-60VDC Motors .25a - 5a continuous) with Integrated CPU and I/OBrick-LVx w/Ampx w/Amp4 axis (230VAC Motors 5a or 8a continuous) with Integrated CPU and I/Ox Geo-Brick8 axis (230VAC Motors 5a or 8a continuous) with Integrated CPU and I/O6 axis (4x 230VAC Motors 5a or 8a continuous + with Integrated CPU and I/O+- 10vdc Amplifier signal to control Servo - Older typical servo type controlBrick Controller w/ True-DACx w/ MACRO StationDirect PWM control to Amplifier (Power Blok type)x w/ extra optionsMACRO Network type drive (Yaskawa Sigma2 w/ ACC-82M, Sigma5 w/ ACC-85M, Copley…)EtherCAT Network type drivePanasonic Real-time Express Network type drivesReplace / Upgrade from Legacy PMAC (ISA) control to Current Control SystemCPU Requirements:"C" Language programming desired"IEC 61131" Language programming desired"Math Lab" integration desired for custom algorithms"Motion Basic" Script Language programming desiredExtensive Data Gathering + Logging required (>100 >10KHz)Basic Data Gathering of items and some logging to a off-system HMISpecial Motion systems with specific needs: Galvanometer or Voice Coil controlSystem Motor Feedback (Encoders) Requirements:Standard Quadrature Encoders or Linear ScalesSinusoidal Feedback (1V Peak to Peak)x (consult factory)Serial Data Encoders (SSI- Yaskawa Sigma II-III, EnDat2.2, HiperFace, Biss-C, Tamagawa)Serial Data Encoders (Yaskawa SigmaV,)Special feedback types - Consult Factory (e.g. Tempasonic transducer, MLDT)Resolver feedback typeInterferometer, MLDT, RVDT, LVDTSystem Motor I/O Requirements: Need to check individual specs for amount of I/O available and Voltage/Current for eachOpto-22 I/O capabilityDigital I/O On-board (5vdc)Digital I/O On-board (24vdc)x w/ ACC PCBAnalog I/O On-boardModbus TCP network I/O capability (Delta Tau Remote I/O, Wago, Phoenix…)EtherCAT network I/O capabilityMACRO network I/O capability
15 Build a UMAC System Refer to Price List(s) to help select items and options. Select the CPU Card:Either Power PMAC CPU or Turbo PMAC CPUOptions: CPU Speed/Memory(See FAQ), Dual Port Ram(HMI or NC), Battery Ram(Persistent data needed)See DT Website FAQ for Guide on selecting CPU Speed. Most Applications use Default speed.Select Fieldbus Card if needed. E.G. ACC-5E MACRO Interface OR ACC-72E Profibus, DeviceNet…Note a UMAC system can also be part of a Network system using MACRO or EtherCAT Fieldbus.So UMAC can have local Axis Interface connections & connect to remote drives & I/O over FieldbusSelect Axis Interface Card(s): 2-4 Axis each.Based on type of Amps/Drives are used in the System (Analog, PWM, Stepper, Hydraulic, Other)Connects UMAC to Amps/Drives, Feedback (Encoders), Limits, High Speed Capture In/OutACC-24E2x cards for Turbo PMAC System (Uses Delta Tau ASIC2 hardware)ACC-24E3x cards for Power PMAC System (Uses Delta Tau ASIC3 hardware)Select Extra Feedback Card(s) if needed: Special encoders, E.G. ACC-51E High Res. SineSelect I/O Card(s): Digital & Analog, E.G ACC-68E 24in/24out digital, E.G. ACC-59E 8in/8out 12bit AnalogSelect Rack & Power Supply: E.G. ACC-R2 15 ¾ Slot Rack + 12 Slot Backplane + Power Supply (130W)Note Some Cards take more than one slot.
16 Example UMAC System Quote (Turbo) 10 Motors: 1-4 Analog, 5,6 PWM, 7,8 Yaskawa Sigma5 MACRO, 9,10 Copley Accelnet MACRO Feedback: 1-4 Quadrature, 5,6 SSI Encoders, 7,8 Yaskawa Sigma5, 9,10 Quadrature Digital I/O: Local 16x 24v In, 16x 24v Out Sourcing, Remote 8x 24v In, 8x 24v Out Sourcing Analog I/O: Local 4x 16bit (High-Res) +-10v Inputs, 2x 12bit 10v Outputs ProfiBus Fieldbus Slave connection to Siemens PLC. Ethernet connection to Host PC running HMI software. (Custom written with Visual Studio)QtyProduct DescriptionPart NumberRack + Backplane SlotsCost EachCost TotalUsage Notes1UMAC Turbo CPU 80MHz standard Cpu + DPRam option3-3766C B000001 + 1$2,280.00Turbo CPUACC-5E Fiber-Optic MACRO Transceiver (8 Axis and 6 I/O)3-3437A-00-A000-B100$582.00Motors 7-10 Drive connectionsACC-72E UMAC Fieldbus Gateway / Profibus Slave with DB93-3777A B000$1,279.00Siemens PLC ConnectACC-24E2A 4-Axis ANALOG servo interface/breakout Board with RTB.3-3398A B1002 + 2$1,270.00Motors 1-4 Drive connectionsACC-24E2 / ACC-24E2A Axis 1-2 Digital PWM and Axis 3-4 ANALOG Servo interface3-3397A B100$1,160.00Motors 5-6 Drive connections + 2x Analog OutputsACC-53E 4-Channel Synchronous Serial Encoder Interface Board with DB153-3360A B200$699.00Motor 5-6 SSI Encoder InputACC-65E 24IN /24OUT I/O BOARD Sourcing (RTB)3-3575A B100$559.00Local I/OACC-65M - MACRO I/O Peripheral 24 In/ 24 out Sourcing, 2 Relay out, 2 12bit DAC, 2 16bit ADCANA - field Device$1,186.00Remote I/O Enclosure MountACC-28E 16 bit A/D BOARD - 4 channel3-3404A B100$1,278.004x High-Res Analog InputsACC-59E 8 Channel 12-Bit D/A converter and 8 Channel 12-Bit A/D3-3494A B100Not used$869.00$0.002x Analog Outputs - See ACC-24E2 for motors 5-6 aboveACC-R2 Integrated UMAC Rack with 12 slot backplane, 15 3/4 slot rack w/ PSB0100Provides: /4$1,249.00UMAC Rack + Power Supply4ACC-3U m (5') terminated glass optical fiber cable3A3-0042P2-OPT$74.00$296.00fiber connect to 4x MACRO Drives2ACC-85M - Yaskawa SIGMA 5 MACRO InterfaceA$425.00$850.00MACRO Interface for 2x Sigma5PMAC Executive Pro2 Suite3A0-9WPRO2-35XNA$799.00Software Executive/Tuning/SetupACC-9PNPRO2 PMAC Communications Library (Pcomm Server Pro2)3A0-9PPRO2-35x$499.00HMI Visual Studio LibraryCABPWM-2 Amplifier PWM Cable, 900 mm (36 inches long)x$110.00$220.00M5,6 Drive PWM CableTotal$14,206.00
17 Build a Brick System Refer to Product Manual & Price List(s) to help select items and options. Select Brick Product for Project: Turbo PMAC or Power PMAC (soon)Brick Controller: Using External Analog type Drives for System Motors. ($2,595 4axis)Geo-Brick: Using 230vac class Motors (Brushless AC/DC Servo, Brush DC, AC Induction, Stepper chk. Factory). ($3,245 4axis $5,165 8axis 5A)Geo-Brick LV: Using vdc System Motors (Brushless/Brush DC Servo, Stepper). ($2,999 4axis, $3,499 8axis)Select # of Axes(A) + CPU(B) + Amp Current(C) needed for MotorsE.G. “GBL4-C0-5” Geo-Brick(230vac), 4 Axis, Standard 80Mhz CPU, 5A/10A current each axis outputSelect Axis Options(D): Options vary with different Brick Products.Need Secondary Encoder Channels ? (only to get 8 channels on a 4 Axis Brick)Need Extra PWM Interface ? Channel 7 (rarely used, consult factory)If either 6 or 8 axis unit can select upper Axes Current Outputs (5A/10A, 8A/16A, 15A/30A)Brick Controller can select “True DAC” option – HIGHLY Recommended !Select Digital I/O Options (E): 16 In / 8 Out Standard, Can expand to get more I/O.Select Analog I/O Options (F): Available analog and GPIO (relay out).Note analog is NOT High-Res. Output=12bit Filtered PWM, Input=8bit (consult factory to assure OK for application).Select Communication Options (G): DPRAM (recommended), Modbus for Remote I/O or HMI, Serial Port.Select MACRO / Special Feedback Options (H + I): Feedback options in group of 4 channelsSupport to Feedback: Sine, Resolver, SSI, Yaskawa 2, 3 (5 chk factory), EnDat, Biss, Hiperface, Tamagawa (chk factory)MACRO Option added allows controller to control Extra Drives, I/O modules or another Brick over Fiber Fieldbus.
18 Example Brick System Quote 1(Turbo) 4 Motors: 4x PMDC Servo Motors, 230vac, 4000 rpm, 4.4A Cont., 8.8A Peak Feedback: 4x Quadrature Encoders, 2x EnDat 2.2 Linear Scale Digital I/O: 22 24vdc IN vdc OUT, 2 Relay Outputs Analog I/O: none HMI: QSI QTERM-G72/3551R 7" color Touchscreen - Modbus TCPQtyProduct DescriptionPart NumberCost EachCost Total1Geo Brick Drive 4 Axis ($3245) - Standard CPU - 8a/16a drive ($480) - 4 extra encoders ($359)- 24v flags - Extended I/O 32in/16out ($249)- 4x GPIO Relays ($100) - DPRAM ($271)- Modbus TCP - 4 Serial Encoder EnDat ($299)GBL4-C S4C30$5,003.00PMAC Project Software - Included with BrickPMAC Project$0.00PMAC Executive Pro2 Suite3A0-9WPRO2-35X$799.00Total$5,802.00AGEOBrick 5/10 Amp, 4-Axis Amplifier with Standard FeaturesGBL4-C$ ,245.00BDefault CPU-speed/memory config: 80MHz DSP56303 CPU (8Kx24 internal memory), 256Kx24 SRAM (128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory), 1Mx8 flash memory (not compatible w/ other CPU Opt).C0$COutput Current: 8 A(rms) Continuous, 16 A(rms) Peak (two seconds). Output Power: • 8/16 unit is rated for 1995 watts per axis (based on modulation depth of 60% rms)8$DFour secondary encoder inputs channels 5-8, for a total of eight encoders and eight 12-24V flags02$EExpanded digital I/O additional 16 inputs and 8 outputs (Total of 32 IN / 16 OUT), 0.5A, 24VDC1$FFour GPIO (General Purpose I/O) Relays (On connectors X9-X12)2$GDPRAM and Modbus Options CombinedS$H4 EndDat 2.2 Serial Encoder Feedback Channels 1-44C3$INo MACRO Interface$
19 Example Brick System Quote 2 (Turbo) 4 Motors: 4x PMDC Servo Motors, 230vac, 4000 rpm, 4.4A Cont., 8.8A Peak 4 Drives: External Analog type +-10v Servo Drives Feedback: 4x Quadrature Encoders Digital I/O: 42 24vdc IN vdc OUT, 2 Relay Outputs Analog I/O: noneBC4-C0-D00-20D-0000ABasic 4-Axis Brick Controller with 4 encoder inputs, 4 flag setsBC4-C0-F$ ,595.00BDefault CPU-speed/memory config: 80MHz DSP56303 CPU (8Kx24 internal memory), 128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory, 1Mx8 flash memory (not compatible w/ other CPU Opt).C0$CDual true-DAC analog outputs on Channels 1-4, 18-bit resolutionD$No added encoders or flags, 12-24V flags on Channels 1-4 (default)00$EExpanded digital I/O additional 32 inputs and 16 outputs, 0.5A, 24VDC (total 48In/24Out)2$FNo Options, DefaultGDPRAM option, size 8K x 16-bit wide (required for use with NC software)$HNo Special Feedback Channels000INo MACRO InterfaceTOTAL$3,351.00
20 Brick Breakout Scheme’s Brick products use DB style connectors to bring out I/O:37pin Dsub female on top of unit for GPIO (16 In / 8 Out)25pin Dsub female on top of unit for 4 Channels flags (Limits)15pin Dsub female front of unit for each Encoder channel9pin Dsub female front of unit for optional Analog I/ODelta Tau does not sell or provide needed connectors or breakout hardware.Distributors/Integrators/End users have used different methods/product to accomplish this.Phoenix has a terminal system that can be custom built up with terminals and Dsub connector.ASI and others sell just plain breakout to Dsub boards.None of above provide Output Isolation or LED’s.This board is NOT sold by DT (but has DT approval, designers are former DT employees, still do design work for DT).Brick Breakout board sold by “TetraMotion”, ,Provides single connection to Brick 37pin GPIO, 16in/8out (Relay, SSR option).
22 Build a Clipper System Refer to Product Manual & Price List(s) to help select items and options. Select Base Clipper Product: Turbo PMAC or Power PMAC (soon)Base Clipper Controller: Base Controller board ($999)Clipper with Breakout Board: Easy Machine Integration, Rugged Molex connectors, Isolated I/O, Status LEDs ($1599)Clipper Drive: Base Clipper + Breakout Board + 4-axis 12-60VDC Amplifier (5A/10A) Brushless/Brush/Stepper ($2499)Select CPU / Memory / Dual Port RAM options:Consult Delta Tau Website FAQ to help select CPU option (most applications use default CPU).Dual Port Ram (recommended) : often used with HMI, NC, Data Gathering applications (+$201).Select Analog Options + Special Options:Note analog is NOT High-Res. Output=12bit Filtered PWM, Input=8bit (consult factory to assure OK for application).Special options such as PWM Laser Control (High Speed Digital Output) are available. Consult factory on these.Select Expansion Cards: PC/104 Stackable Expansion cards are compatible for Clipper Hardware Expansion.Provides up to 8 axis expansion, extra analog, Sine encoders, True DAC or PWM Drives. (Cannot use in any combination)ACC-1P ($529) Provides 4 additional channels of axis circuitry (12 bit analog, Quadrature encoders, Limits)ACC-8ES ($529), TS($211), FS($311): ES = True DAC (recommended), FS = PWM type Amps, TS = ADC InterfaceACC-51S ($529/$840): 2/4-channel high-resolution encoder interpolator board (Sine)ACC-3P Swizzle board ($151): provides easy compatibility with older PMAC systems w/ 60pin JMACH boardsWith Clipper Base Product: (not with Breakout board or Drive)Extra Breakout boards / cables will be needed to bring signals from base board IDC connectors to real machine hardware. This requires the end user to either purchase breakout boards from Delta Tau or other 3rd party then assemble and create connections from Clipper IDC connector to Terminal blocks for system wiring.
23 Example Clipper System Quote 1 (Turbo) 4 Motors: 4x PMDC Servo Motors, 230vac, 4000 rpm, 4.4A Cont., 8.8A Peak 4 Drives: External Analog type +-10v Servo Drives Feedback: 4x Quadrature Encoders Digital I/O: 32x 24vdc IN - 32x 24vdc OUT Analog I/O: noneQtyProduct DescriptionPart NumberCost EachCost TotalUsage Notes1Clipper Controller4-3871C$1,196.00ControllerClipper J3 (JMACH - 4chnl Encoders/Drive DACs) 50pin IDC to Breakout boardASI 1007$56.7050 pin IDC Din rail breakoutClipper J4 (JMACH2- 4chnl Flags) 34 pin IDC to Breakout boardASI 1005$39.3434 pin IDC Din rail breakoutClipper J9 (JOPT - 8in/8out) 34 pin IDC to Breakout board3Flat Ribbon Cables for Breakout boards, 1 x 50pin, 2x 34pin?$30.00$90.00Total$1,421.38Clipper Controller w/ Breakout - LEDs - connectors ($ $201 Dpram)CBB4-C D0-1000$1,800.00Controller w/ Breakout4-3871CClipper Controller (Turbo PMAC2-Eth-Lite)4-3871C0-xxxx-xx0xxx$AB80MHz DSP56303 CPU (8Kx24 internal memory), 128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory, 1Mx8 flash memory (not compatible w/ other Opt 5xx)C0$CTurbo PMAC22$Dnot usedEFOn-board 8K x 16 dual-ported RAM.5$GExtended PinsHAnalog OptionsIJHi-Speed Digital Output - PWM Laser controlKLNo additional factory options00TOTAL$1,196.00
24 Example Clipper System Quote 2 (Turbo) Compare to Brick Controller 4 Motors: 4x PMDC Servo Motors, 230vac, 4000 rpm, 4.4A Cont., 8.8A Peak 4 Drives: External Analog type +-10v Servo Drives Feedback: 4x Quadrature Encoders Digital I/O: 42x 24vdc IN - 21x 24vdc OUT (Clipper 8in/8out, 4 user flag in, + ACC34 32in/32out = 44in / 40out) Analog I/O: noneQtyProduct DescriptionPart NumberCost EachCost TotalUsage Notes1Clipper Controller4-3871C$1,196.00ControllerACC-8ES 4 Channel dual DAC analog stack board 4 DB 9 connector3E X$529.00True DAC 18bit Drive outputsACC-34AA 32 In/Out Opto isolated I/O w/parity & Low Pass Input Filters (64-bits total) Note: Must choose Option 1 or 2 (includes 26pin IDC cable to Clipper J8)3A xAdditional 32in/ 32 out I/OACC-34AA-OPT-2 Option 2 - Sourcing configurationAA-OPT$31.00Sourcing outACC-34AA-OPT-3 Option 3 - Rail mountAA-OPT$38.00Din-Rail Mount I/OClipper J3 (JMACH - 4chnl Encoders/Drive DACs) 50pin IDC to Breakout boardASI 1007$56.7050 pin IDC Din rail breakoutClipper J4 (JMACH2- 4chnl Flags) 34 pin IDC to Breakout boardASI 1005$39.3434 pin IDC Din rail breakoutClipper J9 (JOPT - 8in/8out) 34 pin IDC to Breakout board3Flat Ribbon Cables for Breakout boards, 1 x 50pin, 2x 34pin?$30.00$90.00Total$2,548.38Clipper Controller (Turbo PMAC2-Eth-Lite)4-3871C0-xxxx-xx0xxx$AB80MHz DSP56303 CPU (8Kx24 internal memory), 128Kx24 SRAM compiled/assembled program memory, 128Kx24 SRAM user data memory, 1Mx8 flash memory (not compatible w/ other Opt 5xx)C0$CTurbo PMAC22$Dnot usedEFOn-board 8K x 16 dual-ported RAM.5$GExtended PinsHAnalog OptionsIJHi-Speed Digital Output - PWM Laser controlKLNo additional factory options00TOTAL$1,196.00
26 Build a Special Product System Refer to Product Manual & Price List(s) to help select items and options.Special Product Family Includes: (No Power PMAC Generation Products in this Family)PMAC PCI Bus controllers : (Mini=2axis, Lite=4 axis, PCI = 4 or 8 axis, UltraLite=MACRO)Use with application that demands very high communication rates with a supervisor PC such as a NC GCode application with Block rates > 100 per second. Still in demand and used by many legacy DT customers.PMAC(1) : Mini, Lite, PCI, Turbo, Turbo LitePMAC2 : Lite, PCI, Turbo, Turbo Lite, Turbo UltraLitePMAC PC/104 Bus controllers :Use with applications that demand smallest possible controller or are paired with a PC/104 PC.PMAC2A or Turbo PMAC2A availablePMAC VME Bus controllers :Use with applications where the Controller is on same Bus as other VME PLC (E.G. GE 90/70).PMAC(1), Turbo PMAC(1), Turbo PMAC2, Turbo PMAC2 UltraLite (MACRO)Other:Various other systems have been developed for custom products. Contact Factory for Info on these.Include: Advantage900 CNC, YUSA Control System (Current Product), Baldor Blue Box with PMAC (Obsolete).Legacy Controllers:Most are now obsolete. Still can provide limited repair and support for some products.Contact Factory support for details and support with these products.Include: PMAC ISA, SMCC, MCC, QMAC, PMAC Pack products.How to Build a System with Special Product:Use Price List to configure and consult factory support to make sure complete.
27 Build a Network System Overview Network System can be built using these base Controllers:UMAC Rack with Turbo CPU (MACRO Only) or Power PMAC CPU (MACRO & EtherCAT)PMAC PCI or VME bus controller that is a “UltraLite ” Product (MACRO only)Ethernet UltraLite Product: Available in Turbo (MACRO only) or Power PMAC version. Most CommonPanasonic REAL TIME EXPRESS Network is available on Turbo Ethernet UltraLite product.Power PMAC can use a combination of MACRO and EtherCAT devices on the network for system control. Turbo is MACRO only.Network system may include other Fieldbus protocols such as ModBus TCP, Ethernet IP (coming soon), Profibus, DeviceNet.
29 Build a Network System – Select Controller Select Base Controller:If using UMAC, PCI, or VME type controller go that build page for base system configuration then go to next page for Network Device selections.Here to Select a “Ethernet UltraLite” Network controller.Select either a Turbo or Power PMAC Generation Product.Refer to Price sheet for available Options.Note that Turbo only supports MACRO Network for Motion and ModBus TCP for HMI or Basic I/O.Power PMAC can support MACRO + EtherCAT + Modbus TCP at same time with multiple Branches.Other options such as Dual Port Ram, CPU speed/memory and Modbus TCP are also available.MACRO Basics:Base Controller must have enough MACRO IC’s to handle number of Nodes on the Network.These Nodes are: Servo Nodes (Drives/Amps), I/O Nodes and Communication Nodes.Typically 1 MACRO IC inside controller provides: 8 Servo Nodes, 6 I/O Nodes.Each Drive or I/O Device will typically use 1 or 2 Nodes of it’s type on the Network.
30 Build a Network System – Select Devices Here the Network Controller is Selected.Now Select Devices that will be on the Network connecting to Machine.Some Devices can be from Delta Tau and some from other vendors.Select Amplifiers / Drives:Delta Tau MACRO drives (GML): 1/2 axis, 240/480v, 5 Amp to 30 AmpDelta Tau Drive Modules: Yaskawa Sigma2 (82M), Sigma5(85M)Delta Tau Remote Module to connect to Standard Analog drives: ACC-24M2AOther Vendors: Copley, Yaskawa, ABB, KollmorgenAlso if using EtherCAT many Vendors provide drives, most supported by Delta Tau controller (consult factory for specific details on vendor drives).Select I/O modules:Delta Tau I/O Devices: ACC-65M (24In/24Out + Analog + Relay), ACC-14M (48bits for Opto-22)New PCB / Din Rail Low cost Delta Tau MACRO I/O: uMacro I/O (12In/12Out + Encoder + Analog)Delta Tau 4 channel Sine Encoder Interpolator Input module. ACC-51MMany Vendors can provide EtherCAT I/O modules and most if not all supported by Delta Tau.Now Network System should be complete.
31 Example Network System Quote (Turbo) 4 Motors: 3x Yaskawa SGMAV-A5A3A61 1x Parker BE161CJ-F10N 4 Drives: 3x Yaskawa SGDV-R70FE1A 1x Copley AMP Feedback: 3x Yaskawa S5, 1x Quadrature (All over MACRO) Digital I/O: Local: 8x 24vdc IN - 4x 24vdc OUT, Remote: 24x 24vdc IN - 24x 24vdc OUT Analog I/O: 1 12bit Analog Input, 1 12bit Analog Output (local)QtyProduct DescriptionPart NumberCost EachCost TotalUsage Notes1Turbo PMAC2 ETH UltraLite 8In/4Out + Analog + Handwheel onboard5-3862C$2,790.00Controller3ACC-85M Yaskawa SIGMA 5 MACRO Interface with Fiber Optic ConnectorA$425.00$1,275.001 each Yaskawa SigmaV drivesACC-68M MACRO I/O Peripheral With (24In/24Out) Fiber-optic MACRO connectors (Opt-A Included) Two relay contact outputs (Opt-1 Included) Two 12-bit bipolar DAC outputs (±10 Volts) Two 16-bit bipolar ADC inputs (± Counts)A$1,186.00Remote I/O with Relay/analogUMacroIO - Din Rail Mount (12In/12Out, encoder, Analog) - Soon to be Released60397C? $400$0.00Low-Cost Remote I/OCABFBR-2 1.5m (5ft) terminated glass optical fiber cable3A3-0042P2-OPT$73.00$219.003x Yaskawa DrivesCABFBR-4 8m (28ft) terminated glass optical fiber cable3C3-0042P2-OPT$94.001x Remote Copley DriveTotal$5,564.005-3862CTurbo PMAC2 ETH UltraLite5-3862xx-2xxx-xx0xxx$ ,400.00AB80MHz DSP56303 CPU (8Kx24 internal memory), 256Kx24 total SRAM, 128Kx24 for compiled/ assembled program memory and 128Kx24 for user data memory, 1Mx8 flash memory.$CTurbo PMAC22$DElectronic Board IdEMACRO Fiber(2) or RJ45(3)FOn-board 8K x 16 dual-ported RAM.(5) / Modbus (6) / Both (7) / None (4)5$GMACRO Ics 1-4 possible (8,16,24,32 servo nodes) here 16 Nodes (8 servo, 6 I/O, 2 Comm)HAnalog Options1$Inot usedJFieldbus options - Profibus, DeviceNet, CanOpen, CC-LinkKLNo additional factory options00TOTAL$2,790.00
32 Network Controller Turbo PMAC ETH UtraLite Roadmap
33 Review “How to Provide Best-Fit Solution” Determine what category products fit: Controller – Amps/Drives – I/OWhich Family or Families are a Good-Fit ? (maybe more than one!)Is system complex so that a very flexible/advanced Rack type system is needed ? (UMAC)Mix of hardware in system including different drive types, I/O types, multiple fieldbus networksDemand for most advanced, flexible and future-proof system of control.Are Packaged Products a good fit ? (Brick)If one of these is a good-fit, usually the most cost effective total control system, reduce wiring and panel size, “works-in-a-box”Does solution lend itself to distributed (remote) Fieldbus control to reduce wiring ? (Network)Very flexible with ability to mix/match Drive and I/O products. Remote distribution of hardware. Much reduced wiring.MACRO (Turbo or Power PMAC) and EtherCAT both provide good Motion & I/O solutions. Modbus TCP good I/O and HMI.Which Generation of Product Family is Best-Fit ?Review if Turbo (less cost, more established) or Power PMAC (more advanced, future-proof) Generation is best-fit.Narrow down to specific product within Family & Generation.Create good Spec-List of requirements – this will usually narrow down products that fit easily.#Drives and Types (Analog, PWM, Stepper, Network), Qty of I/O and type, Special Feedback – sensors , Fieldbus needs, Remote LocalNote Power PMAC is New and not all Families of Products are available now in Power PMAC .Refer to Price Sheets / Manuals / Web site to configure exact part numbers/prices.Review what Software tools and Accessories needed to complete the system needs.