Introduction to DELTA TAU 602236-105
Product Description
The DELTA TAU 602236-105 is a compact, high-performance motion controller module designed for mid-range multi-axis automation applications. As part of Delta Tau’s renowned PMAC (Programmable Multi-Axis Controller) family, this module balances advanced functionality with space efficiency, making it ideal for applications such as small to medium CNC machines, pick-and-place robots, laboratory automation systems, and precision assembly equipment.
Developed by Delta Tau Data Systems (a subsidiary of Analog Devices), the 602236-105 builds on the PMAC legacy with a focus on versatility and ease of integration. It supports a wide range of motor types (servo, stepper, linear) and feedback devices, enabling seamless adaptation to diverse motion control requirements. Its compact form factor allows installation in space-constrained enclosures, while robust processing capabilities ensure reliable performance in industrial environments. This module is particularly valued for its cost-effectiveness, delivering professional-grade motion control without the complexity of high-end multi-axis systems.
Technical Parameters
- Processor: 32-bit floating-point DSP with 300 MHz clock speed
- Axis Capacity: Up to 6 axes of motion control (configurable)
- Control Modes: Position, velocity, torque, electronic gearing, and basic contouring
- Feedback Support:
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- Encoders: Incremental (TTL, HTL), absolute (SSI, BiSS)
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- Resolvers: 4-wire (with external resolver-to-digital converter support)
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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, 24V)
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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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- RS485 (Modbus RTU)
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- Optional: CANopen interface
- Programming: PMAC IDE v3.5 with support for structured text, ladder logic, and G-code
- Power Supply: 24V DC (18-32V DC), power consumption ≤12W
- 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)
- Dimensions: 140mm × 100mm × 25mm (L × W × H)
- Weight: Approximately 200g
- Certifications: CE, UL 508, RoHS compliant
Usage Methods
- Installation:
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- Mount the module on a DIN rail or in a compatible chassis using the supplied brackets, ensuring secure fixation to withstand vibration.
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- Install in a control cabinet with adequate ventilation; maintain a minimum clearance of 50mm around the module for heat dissipation.
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- Separate signal wiring (feedback, I/O) from power cables to minimize electromagnetic interference.
- Wiring and Connection:
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- Connect motor drives to the module’s output terminals using shielded twisted-pair cables, verifying phase assignments for correct rotation.
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- Wire feedback devices to the dedicated ports, grounding shields at both the module and sensor ends.
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- Connect digital I/O devices (limit switches, sensors) to the terminal block, using appropriate fusing for high-current outputs.
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- Establish communication via Ethernet or RS485, configuring network settings through the PMAC IDE software.
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- Power the module with a 24V DC supply rated for ≥1A, using an isolated power source to prevent ground loops.
- Configuration and Programming:
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- Install PMAC IDE v3.5 on a PC and connect to the module via Ethernet for initial setup.
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- Use the configuration wizard to define motor parameters, feedback types, and axis assignments.
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- Program motion sequences using structured text or G-code, defining trajectories with acceleration and velocity constraints.
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- Test motion profiles in simulation mode to verify accuracy before live operation.
- Operation and Maintenance:
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- Monitor system status via the IDE software, tracking axis positions, velocities, and error codes.
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- Perform monthly checks of wiring connections to ensure tightness, especially in high-vibration environments.
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- Back up configurations and programs to a PC or external storage device regularly.
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- Update firmware annually using the IDE’s update utility to access performance improvements.
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- Clean the module’s connectors quarterly with compressed air to remove dust and debris.
System Introduction
The DELTA TAU 602236-105 functions as the core of mid-range motion control systems, integrating four key layers:
- Command Layer: Receives motion instructions from a host PC or HMI, translating them into executable commands for each axis.
- Processing Layer: The DSP executes control algorithms, calculating required motor outputs to maintain position, velocity, or torque setpoints.
- Feedback Layer: Processes data from encoders or scales to provide real-time position information, closing the servo loop for accurate control.
- Interface Layer: Communicates with external devices (drives, sensors, host systems) via Ethernet or serial connections, enabling system coordination.
In a small CNC milling machine application, the 602236-105 controls 3 axes (X, Y, Z) to execute machining operations. It receives G-code from the machine’s HMI, converts it into axis-specific motion profiles, and adjusts servo drives based on encoder feedback to maintain cutting accuracy. The module’s compact size allows integration into the machine’s control panel, while its processing power ensures smooth, precise movement for producing small to medium-sized components.
Related Models in the Series
- DELTA TAU 602236-205: 8-axis variant with enhanced processing (400 MHz DSP) and expanded I/O, suitable for larger automation systems.
- DELTA TAU 602236-106: EtherCAT-enabled model with faster communication, ideal for time-critical applications like robotic assembly.
- DELTA TAU 602236-104: 4-axis entry-level version with reduced I/O, designed for cost-sensitive applications such as 3D printers.
- DELTA TAU 602236-105-EX: Extended-temperature model (-10°C to +70°C) for harsh environments like industrial ovens or cold storage facilities.
- DELTA TAU 602236-105-LV: Low-voltage version (12V DC) for battery-powered systems such as portable automation equipment.
- DELTA TAU 602236-105-PRO: Professional model with advanced features including adaptive control and high-speed data logging for precision metrology.
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