Description
CLIPPER T3 DELTA TAU CLIPPERT3 motion controller
The Turbo CLIPPERT3 controller (“Clipper”) from Delta Tau provides a very powerful, but compact and cost-effective, multi-axis controller for cost-sensitive applications. It has a full Turbo CLIPPERT3 section and provides a minimum of 4 axes of servo or stepper control with 32 general-purpose digital I/O points. It provides both Ethernet and RS-232 communications links. The optional axis expansion board provides a set of four additional servo channels and extra I/O ports.
CLIPPERT3 Base Version
• The base version of the Clipper Controller (Turbo CLIPPERT3) provides a 110mm x
220mm (4.25” x 8.5”) board with:
• 80 MHz DSP56303 Turbo PMAC CPU
• 256k x 24 user SRAM
• 1M x 8 flash memory for user backup & firmware
• Latest released firmware version
• RS-232 serial interface
• 100 Mbps Ethernet interface
• 480 Mbit/sec USB 2.0 interface
• 4 channels axis-interface circuitry, each including:
o 12-bit +10V analog output
o Pulse-&-direction digital outputs
o 3-channel differential/single-ended encoder input
o 5 input flags, 2 output flags
o UVW TTL-level “hall” inputs
• 50-pin IDC header for amplifier/encoder interface
• 34-pin IDC header for flag interface
• 4-pin Molex connector for power supply input (5V, +/-12V, GND)
• (+/-12V only required for analog outputs or inputs)
• PID/notch/feedforward servo algorithms
• 32 general-purpose TTL-level I/O points, direction selectable by byte:
o 16-point multiplexer port compatible with Delta Tau I/O accessories
o 16-point “Opto” port compatible with Opto-22-style modules
• “Handwheel” port with 2 each:
o Quadrature encoder inputs
o Pulse (PFM or PWM) output pairs
On-board options:
• Optional 2 channels 12-bit A/D converters, 1 12-bit D/A converter
• Optional Modbus Ethernet I/O protocol
• On-board 8K x 16 dual-ported RAM.
Stackable accessories supported:
• ACC-1P PC/104-format Channel 5-8 board
• ACC-8ES 4-channel dual 18-bit true-DAC output board
• ACC-8FS 4-channel direct-PWM output board
CLIPPER T3 DELTA TAU CLIPPERT3 motion controller
PC/104 parts (UMAC Turbo only):
– ACC-PC: Built-in PC/104 embedded computer assembly (requires Turbo PMAC2-3U CPU Option 2). 233MHz,
686 CPU, Pentium, 32MB SDRAM, IDE Controller, 4GB hard disk, 1.44MB floppy drive, front-plate
connections for SVGA video, keyboard, ECP/EPP parallel port, RS232/422/485 serial port and speaker.
– ACC-PC1: CD ROM drive 32X min. (externally mounted)
– ACC-PC2: USB interface internally mounted
– ACC-PC3: Keyboard (101 keys)
– ACC-PC4: Mouse, serial
– ACC-PC5: Monitor, 15″ 1280×1024 resolution
– ACC-PC6: Monitor, 17″ 1280×1024 resolution
– ACC-PC7: LCD Panel, 14″ 1024×768 resolution (actual unit size: 15.35×14.76×7.87.)
– ACC-PC8: Ethernet utility module (NE2000 comp. Controller), internally mounted
3U-Amplifiers:
– AMP-1D: two axes digital PWM amplifier
– AMP-1DM: two axes digital PWM/MACRO amplifier (pending)
– AMP-2D: single axis digital PWM amplifier (pending)
– AMP-2DM: single axis digital PWM/MACRO amplifier (pending)
– AMP-1DPS: power supply for digital PWM amplifiers
– AMP-2DBP: backplane for digital PWM amplifier
– AMP-1: four axes analog linear amplifier 24 VDC, 0.5/1A
– AMP-2: four axes analog PWM amplifier, 48 VDC 3/5 A
– AMP-3: four axes analog PWM amplifier, 70 VDC 8/12 A
– AMP-4ABP: double analog amplifier backplane
– AMP-5ABP: single analog amplifier backplane
– AMP-6: two axes High Power amplifier
– AMP-7APS: power supply for analog PWM amplifiers (40 Volts)
– AMP-8APS: power supply for analog PWM amplifiers (65 Volts)
– AMP-9APS: power supply for analog PWM amplifiers (150 Volts)
– Other amplifiers: Delta Tau also produces high power amplifiers in non-3U format.
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