Delta Tau controllers improve quality, increase productivity and lower costs for mid to high volum multi-axis motion control systems.

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Delta Tau Turbo Clipper Drive

Integrated Controller-Amplifiers

12 Axis Controller

Turbo Clipper

The Turbo Clipper Drive combines the intelligence and capability of the Turbo PMAC2 motion controller with transistor-based drive technology, resulting in a compact, smart 4 axis servo drive package, with some of the most cost-effective pricing of any intelligent amplifier Delta Tau offers. Turbo Clipper Drive supports an extremely large variety of feedback options (Digital A Quad B; SSI; EnDat 2.2; BiSS B/C; HiperFace; Tamagawa; Panasonic; Sinusoidal; Resolver; Interferometers: Sinusoidal and Parallel; LVDTs, RVDTs, MLDts; Potentiometers) and motor types (DC Brush, DC Brushless, AC Induction, Piezoelectric, Galvanometer, Voice Coil, Hydraulic). By adding additional accessories, the user can accomplish up to 12 total axes (4-axis controlled with on-board amplifier, 8-axis with off-board amplifiers).

Spec Sheet

Hardware Features

Feedback Protocols Supported

  • Digital A Quad B
  • SSI
  • EnDat 2.2
  • BiSS B/C
  • HiperFace
  • Tamagawa
  • Panasonic
  • Sinusoidal
  • Resolver
  • Interferometers: Sinusoidal and Parallel
  • LVDTs, RVDTs, MLDTs
  • Potentiometers
  • Yaskawa Sigma II/III

Motor Types Supported

  • 2- or 3-Phase Stepper
  • DC Brush
  • Synchronous three-Phase AC/DC brushless servo (rotary or linear)
  • AC Induction
  • Piezoelectric
  • Galvanometer
  • Voice Coil
  • Hydraulic

Other Hardware Features

  • 8 axes of control via external amplifiers in addition to the on-board 4 axes, for a total of 12 axes
  • Turbo Clipper Drive also possesses all of the firmware features common to all Turbo PMAC controllers
  • ModBus, EtherNet, USB, and RS232 communications
  • 24 VDC logic power required
  • 12–60 VDC bus power required

Amplifier Ratings

  • Output Current
  • 5.0 A Continuous/15.0 A Peak
  • Output Power
  • 0.33063 kW (0.443 HP)

Software Features

Trajectory Generation Features

  • Linear interpolation mode with S-curve accel./decel.
  • Circular interpolation mode with S-curve accel./decel.
  • Rapid point-to-point move mode
  • Cubic B-spline interpolation mode
  • Cubic Hermite-spline (PVT) interpolation mode
  • Automatic move-until-trigger functions with hardware capture
  • Dynamic destination alteration
  • Interactive jog moves
  • Multi-move lookahead for velocity and acceleration limiting

Servo Features

  • Standard digital PID feedback filter
  • Velocity, acceleration, and friction feedforward
  • 2nd-order notch/low-pass filter
  • Gains changeable at any time
  • Programmable input, integrator, and output limits
  • Alternate 30-term “pole-placement” servo filter
  • Alternate user-written, high-level “Open Servo” algorithms

Commutation Features

  • Sinusoidal commutation of AC servo motors
  • Vector control of AC induction motors
  • Digital current-loop closure with direct PWM output (PMAC2)
  • Pulse and direction (PFM) control of stepper motors

Compensation Features

  • Position compensation tables (1D & 2D)
  • Torque compensation tables
  • Backlash compensation
  • Tool radius compensation

Safety Features

  • Hardware and software overtravel limits
  • Amplifier enable/fault handshaking
  • Following error limits
  • Integrated current limit
  • Encoder loss detection (some versions)
  • Watchdog timer
  • Program and communications checksums

Computational Features

  • Real-time multitasking operating system
  • 48-bit floating-point math for user programs
  • Trigonometric and transcendental functions
  • Automatic type matching of different variable types (e.g. integer, floating point)

Coordination and Master/Slave Features

  • User-defined coordinate systems for automatic coordination of axes
  • Separate coordinate systems for independent motion of axes
  • Multi-motor axis support (e.g. gantries)
  • Dynamic axis transformations (e.g. offsets, rotations, mirroring)
  • User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
  • Electronic gearing (no programming required)
  • Electronic cams with programmable profiles

Motion Program Features

  • High-level programming language
  • Automatic sequenced execution of moves
  • Calculations and I/O synchronous to motion
  • Axes programmed in user engineering units
  • Motion values as constants or expressions
  • Automatic coordination of multiple axes
  • Ability to execute G-code programs

PLC Program Features

  • Execution asynchronous to programmed motion
  • I/O control as in hardware PLC
  • Executive functions for standalone applications
  • Safety and status monitoring
  • Servo gain scheduling
  • Data reporting functions
  • Access to all registers in controller
Catalog Request
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Industries / Applications

Semiconductor Manufacturing

Water Handling, Slicing, Stepping, Inspection, Die Bonding, Wire Bonding

Aerospace

Flight Simulator, Turbine Blades, Manufacturing, Machine Tool

Machine Tool

Mills, Lathes, Grinders, Engravers, EDM, Water Jet Cutting

Robotics

Pick-and-Place, Process Production, SCARA, Delta Robots, Hexapods

Packaging & Assembly

Mixing, Cutting, Packaging, Sewing, Web Handling, Conveyor Belt Synchronization

Positioning

Telescope, Synchrotron, Inspection, Sub-Micron Operations, DNA Sampling

Medical

Robotic Surgery, M.R.I Machine, Laser Eye Surgery, Optical Surface Grinding

Specialty

Wind Power, Hexapod, Robotics, Remote Machinery Control, Print on the Fly, Autonomous Vehicle Control

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Catalogs & Videos

Literature downloads and videos for all Delta Tau products.

Geo Brick Brochure

Geo Brick LV Brochure

Geo PMAC Brochure

Turbo Clipper Brochure