Delta Tau GEO PMAC User Manual

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^1 USER MANUAL
^2 Geo PMAC Drive
^3 Programmable Servo Amplifier
^4 500-603704-xUxx
^5 April 28, 2010
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
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Summary of Contents

Page 1 - ^2 Geo PMAC Drive

^1 USER MANUAL ^2 Geo PMAC Drive ^3 Programmable Servo Amplifier ^4 500-603704-xUxx ^5 April 28, 2010 Singl

Page 3 - Safety Instructions

Geo PMAC Drive User Manual 90 Appendix A Cable Drawings

Page 4 - WARNING:

Geo PMAC Drive User Manual Appendix A 91

Page 5 - REVISION HISTORY

Geo PMAC Drive User Manual 92 Appendix A

Page 6

Geo PMAC Drive User Manual Appendix A 93

Page 7

Geo PMAC Drive User Manual 94 Appendix A

Page 8 - ...61

Geo PMAC Drive User Manual Appendix A 95

Page 9

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

Page 10

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

Page 11 - INTRODUCTION

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

Page 12 - Geo PMAC Drives

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

Page 13 - Compatible Motors

Geo PMAC Drive User Manual Introduction 1 INTRODUCTION The Geo Drive family of “bookcase”-style servo amplifiers provides many new capabilities for

Page 14 - Motor Poles

Geo PMAC Drive User Manual 100 Appendix B Outputs GPO1+D34MBRS140T321D14MBRS140T321U68PS2701-412345678 910111213141516ANO1CAT1ANO2CAT2ANO3CAT3ANO4C

Page 15 - Introduction 5

Geo PMAC Drive User Manual Appendix C 101 APPENDIX C SUGGESTED M-VARIABLE DEFINITIONS ; This file contains suggested definitions for M-variables on t

Page 16 - 6 Introduction

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

Page 17 - SPECIFICATIONS

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

Page 18 - Package Types

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

Page 19 - Electrical Specifications

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

Page 20

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

Page 21 - 480VAC Input Drives

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

Page 22

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

Page 23 - Environmental Specifications

Geo PMAC Drive User Manual Introduction 3 • On two axis drives: Two primary encoders with TTL differential/single-ended inputs with A, B quadrature

Page 24 - 14 Specifications

Geo PMAC Drive User Manual 4 Introduction also limits the maximum achievable speed. In addition, some manufacturers will provide motor data with t

Page 25 - RECEIVING AND UNPACKING

Geo PMAC Drive User Manual Introduction 5 number of poles in the motor. Motor Inductance PWM outputs require significant motor inductance to turn the

Page 26 - 16 Receiving and Unpacking

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

Page 27 - MOUNTING

Geo PMAC Drive User Manual Specifications 7 SPECIFICATIONS Part Number Geo PMAC Drive Model Number DefinitionGIL03 01 0Voltage Rating (Direct Mains

Page 28 - GIL012XX, GIH012XX

Geo PMAC Drive User Manual 8 Specifications Geo PMAC Feedback Options Model Default Configuration: Quadrature Encoders, or SSI Absolute Encoders a

Page 29 - Single Width

Geo PMAC Drive User Manual Specifications 9 Electrical Specifications 240VAC Input Drives GxL051 GxL101 GxL151 GxL201 GxL301Nominal Input Voltage (VA

Page 31 - CONNECTIONS

Geo PMAC Drive User Manual 10 Specifications GxL012 GxL032 GxL052 GxL102 GxL152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 230 Rated I

Page 32 - Single Phase Operation

Geo PMAC Drive User Manual Specifications 11 480VAC Input Drives GxH051 GxH101 GxH151 GxH201 GxH301 Output Circuits (axes) 1 Nominal Input Voltage (

Page 33 - Wiring Earth-Ground

Geo PMAC Drive User Manual 12 Specifications GxH012 GxH032 GxH052 GxH102 GxH152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 480 Rated

Page 34 - Wiring the Motors

Geo PMAC Drive User Manual Specifications 13 Environmental Specifications Description Unit Specifications Operating Temperature °C +0 to 45 (113F)

Page 35 - Wiring the Motor Thermostats

Geo PMAC Drive User Manual 14 Specifications

Page 36

Geo PMAC Drive User Manual Receiving and Unpacking 15 RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully p

Page 37 - Energy Transfer Equations

Geo PMAC Drive User Manual 16 Receiving and Unpacking Note: If Ethernet communications is used, Delta Tau Systems strongly recommends use of RJ45 C

Page 38 - 28 System Wiring

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

Page 39 - System Wiring 29

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

Page 40 - Filtering

Geo PMAC Drive User Manual Mounting 19 Single Width GIx051xx, GIx101xx, GIx151xx, GIx032, GIx052xx, and GIL102xx DISCRETE I/O (X10)HOME2PLIM2EQU2USER

Page 41 - I/O Filtering

Copyright Information © 2010 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems

Page 42 - System Wiring

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

Page 43 - CONNECTORS

Geo PMAC Drive User Manual System Wiring 21 CONNECTIONS System (Power) Wiring MAINPOWEREARTH BLOCKOPTIONALEMI FILTERMCREARTHFRAMEGARxxSHUNTRESISTORB

Page 44 - X2: Encoder Input 2

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

Page 45 - 12 11 1 0

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

Page 46 - Connectors

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

Page 47 - Connectors 37

Geo PMAC Drive User Manual System Wiring 25 Wiring the Motor Thermostats Some motor manufacturers provide the motors with integrated thermostat overl

Page 48 - TB-4: 016-P L0F04-38P

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

Page 49 - X8: S. Encoder 1

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

Page 50

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

Page 51 - X9: S. Encoder 2

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

Page 52 - X10: Discrete I/O

After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally

Page 53 - Connectors 43

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

Page 54

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

Page 55

Geo PMAC Drive User Manual 32 System Wiring

Page 56 - SETTING UP THE ENCODERS

Geo PMAC Drive User Manual Connectors 33 CONNECTORS Connector Pinouts X1: Encoder Input 1 The main encoder input channels for the Geo Drive support

Page 57 - Setting up SSI Encoders

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

Page 58 - Word Length

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

Page 59 - Direct Memory Write Example

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

Page 60 - Setting Up Encoders

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

Page 61 - Commutation Example 2

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

Page 62 - Hardware Setup

Geo PMAC Drive User Manual Connectors 39 be implemented. Maximum length for Ethernet cable should not exceed 100m (330ft). X7: Analog I/O (Optional

Page 63

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 ADDED SAFETY RELAY PN INFO, P. 38 04/28/10 CP S.MILICI

Page 64 - Principle of Operation

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

Page 65 - Setting Up Encoders 55

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

Page 66 - Setting up EnDat Interface

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

Page 67

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

Page 68

Geo PMAC Drive User Manual 44 Connectors Sample Wiring for the Flags, X10 Home1Neg.Limit 1Pos . Limit 1GIx_Sourcing FlagsFLG_RTN1FLG_RTN26512347891

Page 69 - Setting up Resolvers

Geo PMAC Drive User Manual Connectors 45 J1: AC Input Connector Pinout Pin # Symbol Function Description Notes 1 L3 Input Line Input Phase 3

Page 70

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

Page 71 - Range: 0 – 255

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

Page 72 - Signal Format

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

Page 73 - Hall Sensors

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

Page 75 - Hall Sensors at 0

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

Page 76

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

Page 77

Geo PMAC Drive User Manual 52 Setting Up Encoders Setting up Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two

Page 78

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

Page 79

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

Page 80 - Using the Test Results

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

Page 81

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

Page 82 - 72 Setting up Encoders

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

Page 83 - Encoder Loss Setup

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

Page 84 - Application Safe

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

Page 85 - ; is a fault

Geo PMAC Drive User Manual Table of Contents i Table of Contents Copyright Information...

Page 86 - Key Motor Variables

Geo PMAC Drive User Manual 60 Setting Up Encoders Software Setup Resolver Conversion Entries ($E): The $E entry converts the sine and cosine resol

Page 87

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

Page 88 - DC BRUSH MOTOR DRIVE SETUP

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

Page 89 - Hardware Connection

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

Page 90 - T PROTECTION

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

Page 91 - T Protection 81

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,

Page 92

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

Page 93

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

Page 94

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

Page 95 - TROUBLESHOOTING

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

Page 96 - Status LEDs

Geo PMAC Drive User Manual ii Table of Contents Input Power Filtering ...

Page 97 - APPENDIX A

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

Page 98 - CONKIT1A

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

Page 99 - CONKIT4A

Geo PMAC Drive User Manual 72 Setting up Encoders

Page 100 - Cable Drawings

Geo PMAC Drive User Manual Setting Up Encoders 73 Encoder Loss Setup Geo PMAC controller has encoder-loss detection circuitry for each primary encode

Page 101 - Appendix A 91

Geo PMAC Drive User Manual 74 Setting up Encoders Mtr1EncLossStatus=0 ; Indicate valid encoder signal ENDIF CLOSE For more details about Encod

Page 102 - 92 Appendix A

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

Page 103 - Appendix A 93

Geo PMAC Drive User Manual 76 Setting up Encoders DIRECT PWM COMMUTATION CONTROLLER SETUP The Geo PMAC amplifier must have the proper controller se

Page 104 - 94 Appendix A

Geo PMAC Drive User Manual Direct PWM Commutation Controller Setup 77

Page 105 - Appendix A 95

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

Page 106 - √ √

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

Page 107 - Appendix A 97

Geo PMAC Drive User Manual Table of Contents iii DIRECT PWM COMMUTATION CONTROLLER SETUP ...

Page 108 - 98 Appendix A

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

Page 109 - APPENDIX B

Geo PMAC Drive User Manual Setting I2T Protection 81

Page 110 - LIMITS n

Geo PMAC Drive User Manual 82 Calculating Minimum PWM Frequency CALCULATING MINIMUM PWM FREQUENCY The minimum PWM frequency requirement for a syst

Page 111 - APPENDIX C

Geo PMAC Drive User Manual Calculating Minimum PWM Frequency 83

Page 113 - Appendix C 103

Geo PMAC Drive User Manual Troubleshooting 85 TROUBLESHOOTING Error Codes In most cases, the Geo PMAC Drive communicates error codes with a text mess

Page 114 - 104 Appendix C

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

Page 115 - Appendix C 105

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

Page 116 - 106 Appendix C

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

Page 117 - MEMORY AND I/O MAP ADDENDUM

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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