^1 USER MANUAL ^2 Geo PMAC Drive ^3 Programmable Servo Amplifier ^4 500-603704-xUxx ^5 April 28, 2010 Singl
Geo PMAC Drive User Manual 90 Appendix A Cable Drawings
Geo PMAC Drive User Manual Appendix A 91
Geo PMAC Drive User Manual 92 Appendix A
Geo PMAC Drive User Manual Appendix A 93
Geo PMAC Drive User Manual 94 Appendix A
Geo PMAC Drive User Manual Appendix A 95
Geo PMAC Drive User Manual 96 Appendix A Regenerative Resistor: GAR78/48 Model Description 1.5/4.5A 3/9A 5/10A 10/20A 15/30A 20/40A 30/60AGAR78 3
Geo PMAC Drive User Manual Appendix A 97 Type of Cable for Encoder Wiring Low capacitance shielded twisted pair cable is ideal for wiring differentia
Geo PMAC Drive User Manual 98 Appendix A Note: If noise is a problem in the application, careful attention must be given to the method of grounding
Geo PMAC Drive User Manual Appendix B 99 APPENDIX B Schematics X8 and X9 S.Encoder 1/2ECHA+1/2ECHA-1/2ECHB-CHB3/4-RP19/22220SIP6I1 23 45 61/2EC_ENACH
Geo PMAC Drive User Manual Introduction 1 INTRODUCTION The Geo Drive family of “bookcase”-style servo amplifiers provides many new capabilities for
Geo PMAC Drive User Manual 100 Appendix B Outputs GPO1+D34MBRS140T321D14MBRS140T321U68PS2701-412345678 910111213141516ANO1CAT1ANO2CAT2ANO3CAT3ANO4C
Geo PMAC Drive User Manual Appendix C 101 APPENDIX C SUGGESTED M-VARIABLE DEFINITIONS ; This file contains suggested definitions for M-variables on t
Geo PMAC Drive User Manual 102 Appendix C M108->Y:$C007,0,24,S ; ENC1 compare A position M109->X:$C007,0,24,S ; ENC1 compare B position M11
Geo PMAC Drive User Manual Appendix C 103 M172->L:$082B ; #1 Variable jog position/distance (cts) M173->Y:$0815,24,S ; #1 Encoder home captur
Geo PMAC Drive User Manual 104 Appendix C M226->X:$C008,22 ; Channel 2 U flag input status M227->X:$C008,23 ; Channel 2 T flag input status
Geo PMAC Drive User Manual Appendix C 105 M294->L:$08E5 ; #2 Axis offset (cts) ; Coordinate System &2 Variables M297->X:$08C6,0,24,S ; &a
Geo PMAC Drive User Manual 106 Appendix C M687->Y:$0BD7,17,1 ; &6 In-position bit (AND of motors) M688->Y:$0BD7,18,1 ; &6 Warning-f
Geo PMAC Drive User Manual Appendix C 107 MEMORY AND I/O MAP ADDENDUM The following addresses are unique to the Geo PMAC configuration of the PMAC2 c
Geo PMAC Drive User Manual 2 Introduction loop operation. Interface to the direct-PWM amplifier is through a standard 36-pin Mini-D style cable. T
Geo PMAC Drive User Manual Introduction 3 • On two axis drives: Two primary encoders with TTL differential/single-ended inputs with A, B quadrature
Geo PMAC Drive User Manual 4 Introduction also limits the maximum achievable speed. In addition, some manufacturers will provide motor data with t
Geo PMAC Drive User Manual Introduction 5 number of poles in the motor. Motor Inductance PWM outputs require significant motor inductance to turn the
Geo PMAC Drive User Manual 6 Introduction the drive amplifier causing undesired spikes of current. It can also cause couplings of the PWM noise in
Geo PMAC Drive User Manual Specifications 7 SPECIFICATIONS Part Number Geo PMAC Drive Model Number DefinitionGIL03 01 0Voltage Rating (Direct Mains
Geo PMAC Drive User Manual 8 Specifications Geo PMAC Feedback Options Model Default Configuration: Quadrature Encoders, or SSI Absolute Encoders a
Geo PMAC Drive User Manual Specifications 9 Electrical Specifications 240VAC Input Drives GxL051 GxL101 GxL151 GxL201 GxL301Nominal Input Voltage (VA
Geo PMAC Drive User Manual 10 Specifications GxL012 GxL032 GxL052 GxL102 GxL152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 230 Rated I
Geo PMAC Drive User Manual Specifications 11 480VAC Input Drives GxH051 GxH101 GxH151 GxH201 GxH301 Output Circuits (axes) 1 Nominal Input Voltage (
Geo PMAC Drive User Manual 12 Specifications GxH012 GxH032 GxH052 GxH102 GxH152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 480 Rated
Geo PMAC Drive User Manual Specifications 13 Environmental Specifications Description Unit Specifications Operating Temperature °C +0 to 45 (113F)
Geo PMAC Drive User Manual 14 Specifications
Geo PMAC Drive User Manual Receiving and Unpacking 15 RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully p
Geo PMAC Drive User Manual 16 Receiving and Unpacking Note: If Ethernet communications is used, Delta Tau Systems strongly recommends use of RJ45 C
Geo PMAC Drive User Manual Mounting 17 MOUNTING The location of the control is important. Installation should be in an area that is protected from d
Geo PMAC Drive User Manual 18 Mounting Low Profile GIx012xx (only) 2.710.6253.311.00(5.790)Geo PMACLow Profile, Dual Axis(Without Heatsink , With
Geo PMAC Drive User Manual Mounting 19 Single Width GIx051xx, GIx101xx, GIx151xx, GIx032, GIx052xx, and GIL102xx DISCRETE I/O (X10)HOME2PLIM2EQU2USER
Copyright Information © 2010 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems
Geo PMAC Drive User Manual 20 Mounting Double Width GIx201xx and GIx301xx (single axis), GIH102xx and GIx152xx (dual axis) SAFETY REL AY (X4)5.8602
Geo PMAC Drive User Manual System Wiring 21 CONNECTIONS System (Power) Wiring MAINPOWEREARTH BLOCKOPTIONALEMI FILTERMCREARTHFRAMEGARxxSHUNTRESISTORB
Geo PMAC Drive User Manual 22 System Wiring Use of GFI Breakers Ground Fault Interrupter circuit breakers are designed to break the power circuit i
Geo PMAC Drive User Manual System Wiring 23 Wiring AC Input, J1 The main bus voltage supply is brought to the Geo drive through connector J1. 1.5A co
Geo PMAC Drive User Manual 24 System Wiring strands at high frequencies. 4. Motor cable shields should be bonded to the back panel using 360-degre
Geo PMAC Drive User Manual System Wiring 25 Wiring the Motor Thermostats Some motor manufacturers provide the motors with integrated thermostat overl
Geo PMAC Drive User Manual 26 System Wiring Caution: The black wires are for the thermostat and the white wires are for the regen resistor on the
Geo PMAC Drive User Manual System Wiring 27 Shunt Regulation When the motor is used to slow the moving load, this is called regenerative deceleratio
Geo PMAC Drive User Manual 28 System Wiring In standard metric (SI) units, the kinetic energy of a linearly moving mass is: 2mv21KE = where: EK is
Geo PMAC Drive User Manual System Wiring 29 The electrical resistive losses in a 3-phase motor in a constant deceleration to stop can be calculated a
After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally
Geo PMAC Drive User Manual 30 System Wiring Note: The Turn-on voltage for the Shunt circuitry for all low power Geo drives is 392V( for High Power
Geo PMAC Drive User Manual System Wiring 31 Motor Line Filtering Motor filtering may not be necessary for CE compliance of Geo Drives. However, this
Geo PMAC Drive User Manual 32 System Wiring
Geo PMAC Drive User Manual Connectors 33 CONNECTORS Connector Pinouts X1: Encoder Input 1 The main encoder input channels for the Geo Drive support
Geo PMAC Drive User Manual 34 Connectors X2: Encoder Input 2 The main encoder input channels for the Geo Drive support a variety of encoder feedba
Geo PMAC Drive User Manual Connectors 35 X3: General Purpose I/O Discrete I/O is available on the Geo PMAC Drive. All I/O is electrically isolated
Geo PMAC Drive User Manual 36 Connectors *For sinking outputs, connect the COM EMIT (pin12) line to the Common GND (Analog Ground) and the outputs
Geo PMAC Drive User Manual Connectors 37 Sample Wiring for the I/O, X3 651 2 3 4 7 98121110242322212019181716151413Inputs 1-4Inputs 5-8COM_COLGIxSour
Geo PMAC Drive User Manual 38 Connectors X4: Safety Relay (Optional) 1 2 3 4TB-4: 016-P L0F04-38P Pin # Symbol Function 1 RELAY WA Safety In
Geo PMAC Drive User Manual Connectors 39 be implemented. Maximum length for Ethernet cable should not exceed 100m (330ft). X7: Analog I/O (Optional
REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 ADDED SAFETY RELAY PN INFO, P. 38 04/28/10 CP S.MILICI
Geo PMAC Drive User Manual 40 Connectors Ix03 and Ix04 =$722 X8 S. Enc. 1 (DB-9 Female Connector) Pin # Symbol Function Notes 1 Cha1+ Input
Geo PMAC Drive User Manual Connectors 41 X9: S. Encoder 2 The Secondary Encoder channel allows an external encoder to be fed back on the controller
Geo PMAC Drive User Manual 42 Connectors X10: Discrete I/O The Geo PMAC limit and flag circuits also give the flexibility to wire in standard 12V
Geo PMAC Drive User Manual Connectors 43 Limit and Flag Circuit Wiring The Geo PMAC allows the use of sinking or sourcing position limits and flags t
Geo PMAC Drive User Manual 44 Connectors Sample Wiring for the Flags, X10 Home1Neg.Limit 1Pos . Limit 1GIx_Sourcing FlagsFLG_RTN1FLG_RTN26512347891
Geo PMAC Drive User Manual Connectors 45 J1: AC Input Connector Pinout Pin # Symbol Function Description Notes 1 L3 Input Line Input Phase 3
Geo PMAC Drive User Manual 46 Setting Up Encoders SETTING UP THE ENCODERS The Geo PMAC is a special version of the PMAC2 controller integrated with
Geo PMAC Drive User Manual Setting Up Encoders 47 Encoder Value Description 3 Clockwise decode I910 for ENC#1 I920 for ENC#2 7 Counter clockwise de
Geo PMAC Drive User Manual 48 Setting Up Encoders Software Setup There are several parts of the software setup for the use of SSI encoders in the G
Geo PMAC Drive User Manual Setting Up Encoders 49 Encoder Conversion Table Setup The encoder conversion table provides a pre-processing of the raw SS
Geo PMAC Drive User Manual 50 Setting Up Encoders the format expected in that register. If your SSI sensor is absolute over the entire travel of t
Geo PMAC Drive User Manual Setting Up Encoders 51 digits specify the address of the source register. Ix81 should specify the same address as in Ix83
Geo PMAC Drive User Manual 52 Setting Up Encoders Setting up Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two
Geo PMAC Drive User Manual Setting Up Encoders 53 Software Setup Sinusoidal Encoder Decode Value Description 3 x4 clockwise Decode I910 for ENC#1 o
Geo PMAC Drive User Manual 54 Setting Up Encoders Example: Set the ECT: WY:$720,$F0C000,$FF00,0 ; Sinusoidal interpolator #1, connected to X1 WY
Geo PMAC Drive User Manual Setting Up Encoders 55 For historical reasons, PMAC expects the position it reads for its servo feedback software to have
Geo PMAC Drive User Manual 56 Setting Up Encoders Example 2: A linear brushless motor has a commutation cycle of 60.96 mm (2.4 inches). It has a l
Geo PMAC Drive User Manual Setting Up Encoders 57 Software Setup In the next two pages we discuss how to setup the Geo PMAC drive to read the absolut
Geo PMAC Drive User Manual 58 Setting Up Encoders Example 1: We have a 4 pole brushless motor (2 commutation cycles) with a 1024lines per revolutio
Geo PMAC Drive User Manual Setting Up Encoders 59 Setting up Resolvers The Geo PMAC Drive has up to two channels of resolver inputs. The inputs may
Geo PMAC Drive User Manual Table of Contents i Table of Contents Copyright Information...
Geo PMAC Drive User Manual 60 Setting Up Encoders Software Setup Resolver Conversion Entries ($E): The $E entry converts the sine and cosine resol
Geo PMAC Drive User Manual Setting Up Encoders 61 Set the motor x position loop feedback address: Ix03 I103=$722 I203=$725 Set the motor x velocity l
Geo PMAC Drive User Manual 62 Setting Up Encoders Setting Up Digital Hall Sensors Many motor manufactures now give the consumer the option of placi
Geo PMAC Drive User Manual Setting Up Encoders 63 The wiring diagram on the right side of the page shows an example of how to connect the Geo drive
Geo PMAC Drive User Manual 64 Setting Up Encoders Finding the Hall Effect Transition Points Usually, hall-effect sensors map out six zones of 60o e
Geo PMAC Drive User Manual Setting Up Encoders 65 Current Loop Six-Step Procedure Commutation Phase Angle at 120o –> Ix72= 85 Hall Sensors at 30o,
Geo PMAC Drive User Manual 66 Setting Up Encoders Hall Sensors at 0o, 120 o, and 240o P179=I179 P129=I129 ; store previous offsets before test #1
Geo PMAC Drive User Manual Setting Up Encoders 67 Determining the Polarity of the Hall Effects – Standard or Reversed The polarity of the Hall Effect
Geo PMAC Drive User Manual 68 Setting Up Encoders Ix81 Hall Effect Setup for Turbo Ultralite with the Geo MACRO Drive Hex ($) Bit ValueC B23 22
Geo PMAC Drive User Manual Setting Up Encoders 69 • Add fine phasing value as part of Home Routine As long as the home routine includes the index pu
Geo PMAC Drive User Manual ii Table of Contents Input Power Filtering ...
Geo PMAC Drive User Manual 70 Setting Up Encoders Using the Test Results To execute a power-on phasing using the hall-effect sensors, use new modes
Geo PMAC Drive User Manual Setting Up Encoders 71 one. With bit 23 (a value of 8 in the first hex digit) set to 1 to specify hall effect sensing, th
Geo PMAC Drive User Manual 72 Setting up Encoders
Geo PMAC Drive User Manual Setting Up Encoders 73 Encoder Loss Setup Geo PMAC controller has encoder-loss detection circuitry for each primary encode
Geo PMAC Drive User Manual 74 Setting up Encoders Mtr1EncLossStatus=0 ; Indicate valid encoder signal ENDIF CLOSE For more details about Encod
Geo PMAC Drive User Manual DC Brush Motor Drive Setup 75 Program Accessible Amplifier Status Codes If the user wants another way to monitor the statu
Geo PMAC Drive User Manual 76 Setting up Encoders DIRECT PWM COMMUTATION CONTROLLER SETUP The Geo PMAC amplifier must have the proper controller se
Geo PMAC Drive User Manual Direct PWM Commutation Controller Setup 77
Geo PMAC Drive User Manual 78 DC Brush Motor Drive Setup DC BRUSH MOTOR DRIVE SETUP It is possible to use PMAC2’s direct PWM and digital current lo
Geo PMAC Drive User Manual DC Brush Motor Drive Setup 79 Settings that do not matter: • Ix71 (commutation cycle size) does not matter because Ix70 s
Geo PMAC Drive User Manual Table of Contents iii DIRECT PWM COMMUTATION CONTROLLER SETUP ...
Geo PMAC Drive User Manual 80 Setting I2T Protection SETTING I2T PROTECTION It is important to set the I2T protection for the amplifier/motor syste
Geo PMAC Drive User Manual Setting I2T Protection 81
Geo PMAC Drive User Manual 82 Calculating Minimum PWM Frequency CALCULATING MINIMUM PWM FREQUENCY The minimum PWM frequency requirement for a syst
Geo PMAC Drive User Manual Calculating Minimum PWM Frequency 83
Geo PMAC Drive User Manual Troubleshooting 85 TROUBLESHOOTING Error Codes In most cases, the Geo PMAC Drive communicates error codes with a text mess
Geo PMAC Drive User Manual 86 Troubleshooting b Over Voltage Fault The bus voltage has exceeded a factor pre-set threshold of 820V for 480V drives
Geo PMAC Drive User Manual Appendix A 87 APPENDIX A Mating Connector and Cable Kits Cable sets can be purchased directly from Delta Tau to make the w
Geo PMAC Drive User Manual 88 Appendix A CABKIT1C Includes Molex mating connectors pre-crimped for single axis drives up to 5-amp continuous rated
Geo PMAC Drive User Manual Appendix A 89 CONKIT1C Connector D/T part number D/T part number individuals Molex part number 24VDC & Shunt Resist
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