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
  • 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
Delta Tau Catalog

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Industries / Applications

Semiconductor Manufacturing

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


Flight Simulator, Turbine Blades, Manufacturing, Machine Tool

Machine Tool

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


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

Packaging & Assembly

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


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


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


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