This document is the user manual for the PMAC Programmable Multi-Axis Controller by Delta Tau Data Systems, Inc. The controller offers single source machine control power, flexibility, and ease of use.
The Delta Tau PMAC (Programmable Multi‑Axis Controller) is a motion‑control computer used in industrial applications. The manual begins with safety and handling guidelines, emphasizing protection from static‑sensitive components and the need for qualified personnel when installing the controller.
The document then covers hardware setup (card jumpers, bus interfaces, encoder connections), software configuration (executive program installation, host communication), motor definition and activation, I/O wiring, and advanced features such as real‑time data gathering with dual‑ported RAM. Troubleshooting procedures and detailed command references are provided for both motion and PLC programs.
| DPRAM word size | 32 bits |
|---|---|
| Maximum DPRAM buffer size | 3500 words |
| Typical DPRAM buffer size | 20 to 100 words |
Use the Reset command described in the "Resetting PMAC" section of the manual.
The buffer size must not exceed 3500 words for the 8Kx16 DPRAM.
Read the pointer registers at DPRAM base + $07FC and $07FE; the former shows the next write address and the latter the buffer end address.