The OMRON/Delta Tau Mini-PMAC ISA Programmable Multi-Axis Controller delivers compact 2-axis motion control in a half-sized ISA card form factor. Built on a Motorola DSP 56002 Digital Signal Processor, it operates as either an embedded ISA interface within a PC or as a standalone unit via RS-232 serial communication. The controller executes 256 motion programs with asynchronous PLC capability, G-Code processing, linear and circular interpolation, S-curve acceleration profiles, cubic trajectory calculations, and electronic gearing—all with full compatibility to existing PMAC motion and PLC programs.
Technical Specifications
• Processor: Motorola DSP 56002 Digital Signal Processor
• Axis Control: 2 axes
• DAC Outputs: Two 16-bit differential DAC converters (DAC1, DAC2) for velocity, torque, or phase current commands
• Encoder Channels: Four full channels supporting dual feedback or optional V/F converter integration
• Position Range: 36-bit range (±64 billion counts)
• Motion Programs: 256 capacity with rotating buffer for large programs
• I/O Points: 16 general-purpose OPTO-22 compatible I/O
• Multiplexer Port: JTHW multiplexer port with 1 meter (3 ft) maximum cable length
• Communication: ISA Bus and RS-232; standalone operation via RS-232 only
• Form Factor: Half-sized ISA card, approximately 230 mm (9 inches) length
– Key Features
• Asynchronous PLC programming with G-Code CNC command support
• Linear and circular interpolation with cubic trajectory and spline calculations
• S-curve acceleration and deceleration profiles
• Electronic gearing functionality
• Overtravel limit, home, and fault amplifier enable flags
• Optional dual-ported RAM (factory-installed Option 2M)
• Optional dual on-board V/F converters (Option 15) for stepper or hybrid amplifier control via 0–10V analog input (referenced to AGND)
– Typical Applications
Precision 2-axis CNC systems, automated test equipment, synchronized motion tasks, stepper or servo-driven industrial automation requiring integrated DSP motion control.
– Compatibility & Integration
Motion and PLC programs are 100% compatible with all other PMAC controller versions, enabling straightforward system migration and modular integration into existing architectures.
