Introduction to DELTA TAU 602226-102
Product Description
The DELTA TAU 602226-102 is a high-performance motion controller module designed for precision multi-axis motion control systems. Developed by Delta Tau Data Systems (a subsidiary of Analog Devices), this module is part of the company’s industry-leading PMAC (Programmable Multi-Axis Controller) family, renowned for delivering advanced motion control capabilities in applications such as CNC machining, robotics, semiconductor manufacturing, and automated test equipment.
The 602226-102 module is engineered to handle complex motion profiles, including point-to-point positioning, contouring, and synchronized motion across multiple axes. Its compact design allows for easy integration into industrial control systems, while its powerful processing core supports high-speed servo loop closure and advanced control algorithms (e.g., PID with feedforward). This module is particularly valued for its flexibility, supporting a wide range of motor types (stepper, servo, linear) and feedback devices, making it a versatile solution for both standard and custom automation systems.
Technical Parameters
- Processor: 32-bit floating-point DSP (Digital Signal Processor) with 200 MHz clock speed
- Axis Capacity: Up to 8 axes of motion control (configurable)
- Control Modes: Position, velocity, torque, and electronic gearing/camming
- Feedback Support:
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- Encoders: Incremental (TTL, HTL), absolute (SSI, BiSS)
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- Resolvers: 4-wire, 5-wire (with integrated resolver-to-digital converter)
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- Linear scales: Analog (sin/cos) with 16-bit A/D conversion
- Servo Loop Update Rate: Up to 10 kHz per axis
- I/O Interfaces:
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- Digital: 32 general-purpose inputs, 16 general-purpose outputs (TTL)
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- Analog: 8 inputs (12-bit, ±10V), 4 outputs (12-bit, ±10V)
- Communication Interfaces:
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- Ethernet (10/100BASE-T, Modbus TCP/IP, TCP/IP)
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- RS232/RS485 (Modbus RTU)
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- Optional fieldbus: Profibus, EtherCAT, CANopen
- Programming: PMAC IDE (Integrated Development Environment) with support for structured text, ladder logic, and custom motion commands
- Power Supply: 24V DC (20-28V DC), power consumption ≤15W
- Operating Temperature: 0°C to +60°C (32°F to +140°F)
- Storage Temperature: -40°C to +85°C (-40°F to +185°F)
- Relative Humidity: 5-95% RH (non-condensing)
- Protection Rating: IP20 (module); IP40 when installed in a sealed chassis
- Dimensions: 160mm × 100mm × 30mm (L × W × H)
- Weight: Approximately 250g
- Certifications: CE, UL 508, RoHS compliant
Usage Methods
- Installation:
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- Mount the module on a DIN rail or into a compatible backplane chassis, ensuring secure attachment to prevent vibration-induced damage.
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- Install in a control cabinet with adequate ventilation, maintaining a minimum clearance of 50mm around the module to dissipate heat.
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- Avoid proximity to high-voltage components or sources of electromagnetic interference (e.g., motor drives) to ensure signal integrity.
- Wiring and Connection:
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- Connect motor drives to the module’s output terminals, ensuring correct phase wiring for servo or stepper motors.
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- Wire feedback devices (encoders, resolvers) to the dedicated feedback ports, using shielded twisted-pair cables with shields grounded at both ends.
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- Connect digital and analog I/O devices (limit switches, sensors, actuators) to the corresponding terminals, following the pinout diagram in the user manual.
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- Establish communication via Ethernet or serial ports, using industrial-grade cables for reliable data transfer.
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- Power the module with a 24V DC supply, using a regulated power source with overcurrent protection (1A).
- Configuration and Programming:
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- Install Delta Tau’s PMAC IDE software on a PC and connect to the module via Ethernet or serial cable.
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- Configure axis parameters (motor type, feedback type, PID gains) using the software’s configuration wizard.
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- Program motion sequences using PMAC’s proprietary language or IEC 61131-3 standards (structured text, function blocks). Define motion profiles, including acceleration, deceleration, and target positions.
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- Test and debug programs using the software’s real-time monitoring tools, verifying axis synchronization and motion accuracy.
- Operation and Maintenance:
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- Monitor module status via the IDE software or front-panel LEDs (power, communication, fault indicators).
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- Perform regular checks of wiring connections to ensure tightness, especially in high-vibration environments.
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- Back up configuration files and programs to a PC or external storage device to prevent data loss.
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- Update firmware periodically via the IDE software to access new features and performance improvements.
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- Clean the module’s connectors annually with compressed air to remove dust and debris.
System Introduction
The DELTA TAU 602226-102 functions as the core of a precision motion control system, integrating four key layers:
- Command Layer: Receives motion commands from a host PC, PLC, or HMI, translating high-level instructions (e.g., “move axis 1 to position X”) into low-level control signals.
- Processing Layer: The DSP executes control algorithms, calculating required motor outputs based on feedback data to maintain position, velocity, or torque setpoints.
- Feedback Layer: Continuously processes data from encoders or resolvers, providing real-time position and velocity information to close the servo loop.
- Output Layer: Generates drive signals (PWM, analog voltage) to control motor behavior, ensuring precise execution of motion profiles.
In a CNC milling machine application, the 602226-102 controls 3 axes (X, Y, Z) with synchronized motion. It receives G-code commands from the machine’s HMI, converts them into axis-specific motion profiles, and adjusts servo drives in real time based on encoder feedback. This ensures the cutting tool follows the programmed path with micron-level accuracy, critical for producing high-precision components.
Related Models in the Series
- DELTA TAU 602226-202: High-performance variant with 16-axis capacity and 400 MHz DSP, suitable for large-scale automation systems (e.g., robotic assembly lines).
- DELTA TAU 602226-103: EtherCAT-enabled model with ultra-fast communication (100Mbps) for time-critical applications (e.g., semiconductor wafer inspection).
- DELTA TAU 602226-101: Entry-level 4-axis module with reduced I/O, ideal for cost-sensitive applications (e.g., 3D printers, small CNC routers).
- DELTA TAU 602226-102-EX: Extended-temperature model (-40°C to +70°C) for harsh environments (e.g., aerospace testing facilities).
- DELTA TAU 602226-102-LV: Low-voltage version (12V DC) designed for battery-powered or mobile systems (e.g., portable robotic arms).
- DELTA TAU 602226-102-PRO: Professional model with advanced features, including machine learning-based adaptive control for dynamic load compensation.
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