Delta Tau Geo Direct PWM Amplifier Installation Manual

^1 INSTALLATION MANUAL ^2 Geo Direct PWM Amplifier ^3 Direct PWM Amplifier ^4 500-603700-xIxx ^5 No

Geo Direct PWM Amplifier Specifications 10 480 VAC Drives – Single Axis GxH051 GxH101 GxH151 GxH201 GxH301 Main Input Power Main AC Input [VAC rms]

Geo Direct PWM Amplifier Specifications 11 480 VAC Drives – Dual Axis GxH012 GxH032 GxH052 GxH102 GxH152 Main Input Power Main AC Input [VAC rms] 3

Geo Direct PWM Amplifier Receiving and Unpacking 12 RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully pa

Geo Direct PWM Amplifier Mounting, Physical Layout 13 MOUNTING, PHYSICAL LAYOUT The location of the Geo Direct PWM Drive is important. Installation

Geo Direct PWM Amplifier Mounting, Physical Layout 14 GPx012 Width Height Depth Weight 3.30 in. / 84 mm 11.00 in. / 280 mm 5.80 in. / 147 mm 4.2 lbs

Geo Direct PWM Amplifier Mounting, Physical Layout 15 GPL032 Width Height Depth Weight 3.30 in./ 84 mm 11.00 in./ 280 mm 8.00 in./ 203 mm 5.4 lbs/

Geo Direct PWM Amplifier Mounting, Physical Layout 16 GPx05x, GPx102, GPL101, GPH032 Width Height Depth Weight 3.30 in./ 84 mm 11.00 in./ 280 mm 8.0

Geo Direct PWM Amplifier Mounting, Physical Layout 17 GPx201, GPx301, GPx152, GPH102 Width Height Depth Weight 6.50 in./ 165 mm 11.00 in./ 280 mm 8.

Geo Direct PWM Amplifier Connector PinOuts and Wiring 18 CONNECTOR PINOUTS AND WIRING WARNING Installation of electrical control equipment is subj

Geo Direct PWM Amplifier Connector PinOuts and Wiring 19 Note AC input wires must be twisted together to eliminate as much noise radiation as poss

Copyright Information © 2013 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems

Geo Direct PWM Amplifier Connector PinOuts and Wiring 20 Three-Phase Main AC Power Wiring Diagram 3-PHASE TRANSFORMER110-240 VACGND L1 L2 L3PROTECT

Geo Direct PWM Amplifier Connector PinOuts and Wiring 21 Transformers Y-Y or Y- transformers should be used. - Transformers are NOT advised. They

Geo Direct PWM Amplifier Connector PinOuts and Wiring 22 Recommended Bus Power Fuse and Wire Gauge Geo Drive electronics create a DC bus by rectify

Geo Direct PWM Amplifier Connector PinOuts and Wiring 23 J4: 24 VDC Logic Control J4 is used to bring the 24VDC logic power into the Geo Direct PWM

Geo Direct PWM Amplifier Connector PinOuts and Wiring 24 J2 – J3: Motor Wiring The cable wiring must be shielded and have a separate conductor conne

Geo Direct PWM Amplifier Connector PinOuts and Wiring 25 Note The motor thermostats are brought in through connector X3. Motor Cable, Noise Elimin

Geo Direct PWM Amplifier Connector PinOuts and Wiring 26 Note Ferrite cores are also commonly used with lower inductance motors to enhance compati

Geo Direct PWM Amplifier Connector PinOuts and Wiring 27 Motor Torque Torque requirements in an application can be viewed as both instantaneous and

Geo Direct PWM Amplifier Connector PinOuts and Wiring 28 J5: External Shunt Resistor J5 is used to wire an external shunt resistor to expel the exce

Geo Direct PWM Amplifier Connector PinOuts and Wiring 29 The black wires are for the thermostat and the white wires are for the shunt resistor. The

REVISION HISTORY REV. DESCRIPTION DATE CHANGE APPROVAL 1 Added Power On/Off procedures, Power PMAC section, Refurbished entire manual 11/15/2013 RN

Geo Direct PWM Amplifier Connector PinOuts and Wiring 30 Shunt Resistor Layout

Geo Direct PWM Amplifier Connector PinOuts and Wiring 31 X1 – X2: PWM Connectors This mini D36 connector provides the interface to the PWM output ch

Geo Direct PWM Amplifier Connector PinOuts and Wiring 32 X3: Discrete I/O for Motor Thermals This 6-pin Phoenix Contact terminal block provides conn

Geo Direct PWM Amplifier Connector PinOuts and Wiring 33 X4: Safety Relay This 4-pin Phoenix Contact Terminal Block provides connectivity to a safet

Geo Direct PWM Amplifier Power On/Off Procedures 34 POWER ON/OFF PROCEDURES Caution Changing the ADC clock on the controller (PMAC) side requires

Geo Direct PWM Amplifier Power On/Off Procedures 35 If the main bus power is removed (i.e. E-Stop condition), it is necessary to keep it off until

Geo Direct PWM Amplifier PWM Frequency 36 PWM FREQUENCY The minimum PWM frequency of a system is based on the time constant of the motor. In genera

Geo Direct PWM Amplifier Power PMAC3 Drive Setup 37 POWER PMAC3 DRIVE SETUP Caution The ADC Strobe Word, Gate3[i].AdcAmpStrobe, must be set to $F

Geo Direct PWM Amplifier Power PMAC3 Drive Setup 38 Key Channel Parameters The following channel-specific parameters are essential for the proper so

Geo Direct PWM Amplifier Power PMAC3 Drive Setup 39 Caution Trying to enable the Geo Direct PAM Drive with misreported current data could result i

Geo Direct PWM Amplifier Table Of Contents 4 Table of Contents INTRODUCTION ...

Geo Direct PWM Amplifier Power PMAC2 Drive Setup 40 POWER PMAC2 DRIVE SETUP Caution The ADC Strobe Word, Gate1[i].AdcStrobe, must be set to $3FFF

Geo Direct PWM Amplifier Power PMAC2 Drive Setup 41 Key Channel Parameters The following channel-specific parameters are essential for the proper so

Geo Direct PWM Amplifier Power PMAC2 Drive Setup 42 Caution Trying to enable the Geo Direct PAM Drive with misreported current data could result i

Geo Direct PWM Amplifier Turbo PMAC2 Drive Setup 43 TURBO PMAC2 DRIVE SETUP Caution The ADC Strobe Word, I7m06 ($C014 in Non-Turbo PMAC), must be

Geo Direct PWM Amplifier Turbo PMAC2 Drive Setup 44 Key Channel Parameters The following channel-specific parameters are essential for the proper so

Geo Direct PWM Amplifier Turbo PMAC2 Drive Setup 45  I2T Settings, Ixx57, Ixx58, and Ixx69 Example: #define ServoClk 2.258 ; Servo Clock [KHz]—c

Geo Direct PWM Amplifier Drive Command Structure 46 DRIVE COMMAND STRUCTURE Default Mode In default mode, the Geo Direct PWM Drive returns phases A

Geo Direct PWM Amplifier Drive Command Structure 47 Enhanced Mode Enhanced mode enables access to and control of additional functions:  Bus volta

Geo Direct PWM Amplifier Drive Command Structure 48 And the data is found in the lower 12 bits of ADC B for each axis: PMAC Type ADC B data register

Geo Direct PWM Amplifier Troubleshooting 49 TROUBLESHOOTING LED Status LED Description ENABLE 1  Green when axis 1 is enabled  Red when axis 1 is

Geo Direct PWM Amplifier Table Of Contents 5 PWM FREQUENCY ...

Geo Direct PWM Amplifier Troubleshooting 50 Error Codes Display Code Error / Fault Description Description AXIS 1 AXIS 2 Over Current RMS Indicate

Geo Direct PWM Amplifier Troubleshooting 51 Display Code Error / Fault Description Troubleshooting Notes GLOBAL Normal Mode Operation  No fault

Geo Direct PWM Amplifier Appendix D: Compatible Motors 52 APPENDIX A: CABLE/CONNECTOR KITS PWM Cables Option Cable Length Part Number CABPWM-1 24” (

Geo Direct PWM Amplifier Appendix D: Compatible Motors 53 Cable Kits Part Number Model Description CABKIT1B Gxx012xx Gxx032xx Gxx052xx GxL102xx Mole

Geo Direct PWM Amplifier Introduction 6 INTRODUCTION The Geo Direct PWM amplifiers provide a 1- or 2-axis motor power using highly integrated IGBT b

Geo Direct PWM Amplifier Specifications 7 SPECIFICATIONS Part Number Main AC Voltage Input:L = 115 - 230 VACH = 300 - 480 VACNumber of Axes:1 = Sing

Geo Direct PWM Amplifier Specifications 8 Electrical Specifications 230 VAC Drives – Single Axis GxL051 GxL101 GxL151 GxL201 GxL301 Main Input Power

Geo Direct PWM Amplifier Specifications 9 230 VAC Drives – Dual Axis GxL012 GxL032 GxL052 GxL102 GxL152 Main Input Power Main AC Input [VAC rms] 11