This customer needed to replace an obsolete control system that they could no longer purchase parts for. This dinosaur has 25 hydraulic main axes, 1 servomotor axis, and many pneumatic features. We replaced the obsolete system with 2 Delta Tau UMAC controllers, a primary controller for the hydraulics and a secondary for the pneumatic features and I/O.

Dinosaur Control Cabinet	Link to Article and Video

This customer needed an open architechture controller for their Fanuc 430 robot to replicate the dynamics of robot arms used in space. The Fanuc controller did not give them the necessary access to accomplish the task. We built a system using a Delta Tau MACRO controller with custom interface boards to read the Fanuc serial encoders. The system allowed 1 kHz update commands from the customer's replication computer so the Fanuc robot could mimic the space robot arms.

Power Side of the Controller	Complete System

This customer asked us to build a twin robotic system so guests could get a sense of robotic surgery. The system uses two 5-Axis robots with solenoid controlled grippers. We used a Delta Tau UMAC controller which simultaneously does the kinematics for both robots. The user controls each robot with a joystick and can pick up and place items with the gripper.

Twin Robot Surgical Simulator

Coordinate measuring machines are quality control inspection tools used in industry to verify the dimensional measurements of a part or product. Inspections are typically the slowest parts of a manufacturing process. As the economy demands higher throughput and more efficient manufacturing, industry's focus has shifted to concentrate on improving the inspection process.

The HCMM is a parallel architecture machine with five actuated legs and a passive leg. Each actuated leg has a frameless, brushless DC motor, an encoder, over-travel and home sensors, and a brake. Additionally, the hollow legs of the HCMM provide a pathway for a laser interferometry system. This laser system determines the length of each leg to sub-micron accuracy.

A PMAC2 motion controller controls all of the motion, safety, and human-machine interface functions on the HCMM. Because of the HCMM's configuration, in order to do Cartesian Coordinate moves, inverse kinematics must be performed. Since the movement of each leg on a HCMM both translates and rotates the probe tip, it takes the simultaneous coordinated movement of all actuators to produce a pure translation or pure rotation motion. The HCMM software performs these calculations so that this process is transparent to the user and part programmer.

HCMM 1	HCMM 2	HCMM 3

This HCMM is part of the Machine Tool Research Center at the University of Florida. Perry Automation was involved in all aspects of the controller design and installation.

Using their machine tool background, engineers from Perry Automation designed the control system for this miniature milling machine. Delta Tau's PMAC NC Software is used to control the machine. This software allows for real-time communication between the PMAC controller and a host PC. This gives the machine almost limitless memory. The data files used to represent the intricate parts that this machine will mill contain 40MB of information.

Another interesting feature of this machine is that it incorporates a fully automatic tool changer. A magazine of end mills allows the part programmer to choose the proper tool for each milling application.

Left View	Sample Workpiece	Center View

Designed primarily to showcase modern technology, this miniature milling machine will be the centerpeice of a kiosk at a major theme park. The milled artwork from this machine will be sold to the parks visitors.

These systems utilize Delta Tau UMAC controllers with sinusoidal encoder feedback for high accuracy and resolution.

The pedestals are used to steer anything from radar to satellite antenna.

This system utilizes a Delta Tau UMAC for control of 3 linear axes and 1 rotary axis. Feedback is via glass scales. The user inteface software provides a real time simulation of the gear and machine

This system utilizes a Delta Tau GeoBrick for control of 6 rotary axes. We built the control system and created the user inteface using our ServoSolution software. We designed and built the pendant that utilizes a touch screen interface.

Puma Robot and Control	Control System with Pendant

This customer asked us to create a user-interface for their Gear Shaper machine that would run in Windows. We created the user-interface using Visual Studio and incorporated a real-time 3D model of the machine that reacts to the machine's actual positions.

3D Real-time Simulation

We designed and programmed the control system for this customer using an Ormec controller, Kollmorgen amplifiers, and a Wonderware user-interface. This machine was used for storing glass mold blanks used in the manufacturing of progressive lens eyeglasses.

GMS Machine	GMS Control Cabient

This system utilizes a Delta Tau MACRO for control of 1 linear axis and 1 rotary axis as well as 2 linear scales and a vision system for the error measurements. We designed and built this entire machine at our St. Petersburg Facility.

Lens Inspection Machine	Control Cabinet	Detailed Drawings