Delta Tau Geo Direct PWM Amplifier Instrukcja Użytkownika Pobierz pdf (Strona 2)

Geo Brick LV

Multi-axis controller with Low Voltage (12V to 60V) amplifiers

Sin

le Source Machine Control P

wer // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 / Tel. (818) 998-2095 Fax. (818) 998-7807 / www.deltatau.com

Specifications and Features

Tools & Software

Hardware Features

80 MHz DSP56303 Turbo PMAC CPU ( * 240 MHz optional)

256k x 24 user SRAM (firmware, compiled PLC’s, phasing, user servos)

128k x 24 user SRAM (motion, PLC’s, variables, tables, & buffers)

1M x 8 flash memory for user backup & firmware

Latest released firmware version

100 Mbps Ethernet interface

480 Mbps USB 2.0 interface

RS-232 serial interface *

4 (or 8 *) channels axis-interface circuitry, each including:

3-channel differential/single-ended encoder input

4 input flags (Home, Limit +, Limit -, User)

1 output flag (Compare)

UVW TTL-level “hall” inputs

Pulse-&-direction digital outputs (for use with external stepper driver)

PID/notch/feedforward servo algorithms

Digital Inputs: 16 channels, optically isolated, 12V to 24V ( * 5V opt.)

* Additional 16 channels optional

Digital Outputs: 8 channels, thermal-fuse, 24V @ 0.5A (sink or source)

* Additional 8 channels optional

Analog I/O *: In - 2 or 4, +/- 5V, 16 bit Out - 2 or 4, +/- 10V, 12 bit

Dual Ported Ram *

Amplifier - Specifications

4 channels (standard) / 8 channels * (optional)

DC Bus (Input) Voltage: 12 VDC to 60 VDC

Output Current: 5A continuous, 15A peak (1 sec.)

Power Dissipation (per axis): 240W

PWM Frequency: 2KHz to 15 KHz

Status display: 7 segment

Protections: voltage (over/under), temperature (over),

short circuit, current (0ver)

Input Logic Power (req.): +24 VDC (2A, +/- 20%)

Cooling: Fully rated cooling standard (none additional required)

Motion Features

Trajectory Generation

Linear interpolation mode with S-curve accel/decel

Circular interpolation mode with S-curve accel/decel

Rapid point-to-point move mode

Cubic B-spline interpolation mode

Cubic Hermite-spline (PVT) interpolation mode

Automatic move-until-trigger functions with hardware capture

Altered destination on the fly

Interactive jog moves

Multi-move lookahead for velocity and acceleration limiting

Servo

Standard digital PID feedback filter

Velocity, acceleration, and friction feedforward

2nd-order notch/low-pass filter

Gains changeable at any time

Programmable input, integrator, and output limits

Alternate 35-term “pole-placement” servo filter

Alternate user-written high-level “Open Servo” algorithms

Commutation

Sinusoidal commutation of AC servo motors

Digital current-loop closure with direct digital PWM control

* Optional

Motion Features (continued)

Cartesian geometries

Electronic gearing (no programming required)

Electronic cams with programmable profiles

Compensation

Position compensation tables (1D & 2D)

Torque compensation tables

Backlash compensation

Tool radius compensation

Safety

Hardware and software overtravel limits

Amplifier enable/fault handshaking

Following error limits

Integrated current limit

Watchdog timer

Program and communications checksums

Computational

Real-time multi-tasking operating system

48-bit floating-point math for user programs

Trigonometric and transcendental functions

Automatic type-matching of different variable types

User-defined pointer variables to any registers

Coordination and Master/Slave

User-defined coordinate systems for auto coordination of axes

Separate coordinate systems for independent motion of axes

Multi-motor axis support (e.g. gantries)

Dynamic axis transformations (e.g. offsets, rotations, mirroring)

User-written forward and inverse-kinematic algorithms for non-

Motion Program

High-level programming language for up to 8 axes of control

Automatic sequenced execution of moves

Calculations and I/O synchronous to motion

Axes programmed in user engineering units

Motion values as constants or expressions

Automatic coordination of multiple axes

Ability to execute G-code programs

PLC Features

Execution asynchronous to programmed motion

I/O control as in hardware PLC

Executive functions for standalone applications

Safety and status monitoring

Servo gain scheduling

Data reporting functions

Access to all registers in controller

ModBus I/O control *

Supported Feedback types / devices

Digital quadrature encoders

Potentiometers *

Sinusoidal encoders, Resolver, SSI, EnDat, Sigma II, HiperFace *

Amplifier - Supported Motor types include

Brushless (AC/DC, Rotary/Linear)

DC Brush

Stepper (open / closed loop)

* O

tional

Geo Brick LV Setup software make it easy to

setup your ‘LV’ controller/amplifier & motors

Use the PMAC Executive (PEWIN) to: jog motors,

issue commands, monitor status & positions,

download motion & PLC

rams

Tuning Pro2 - use the Auto-Tuner to quickly

get servo motors moving. Then use the

Interactive Tuning tool to 'fine tune' servo

performance and generate response plots

PMAC HMI - object oriented environment for

creating GUI's, includes a wide selection of

controls & ActiveX objects

Geo Brick ‘LV’ Ordering Information

B B

C D D

E F G H H H I J

G B D 4

F 3

4 0 5

1 3 T 4 C 1 1 0

Blue = default * Additional options available, contact distributor / factory for complete listing

HHH – Feedback Options *

000 – None

4A0 – Sinusoidal Encoder, 4 channels

4C1– Serial: SSI Protocol, 4 channels

4C3– Serial: EnDat Protocol, 4 channels

8C1– Serial: SSI Protocol, 8 channels

I – Macro Ring Options *

0 – None

1 - RJ45 Macro

2 - Fiber Optic Macro

J – Fieldbus Options *

1 – DeviceNet slave module

6 – EtherCat master module

A - # of Axes

4 : 4 axes

8 : 8 axes

BB – CPU & Memory

C0 : 80 MHz, 8Kx24, 256Kx24 SRAM, 1MB Flash

C3 : 80 MHz, 8Kx24, 256Kx24 SRAM, 4MB Flash

F3 : 240 MHz, 192Kx24, 1Mx24 SRAM, 4MB Flash

C - Axes 1-4 Options

4 – 5A/15A, 4 Phase (Step Outputs)

DD - Axes 5-8 / Flags Options *

00 – 4 axis, 12V-24V Flag Inputs

05 – 4 axis, 5V Flag Inputs

–

8 axis, 12V-24V Fla

E – Digital I/O Options

0 – 16 Inouts, 8 outputs

1 – 32 Inouts, 16 outputs

F – Analog I/O Options *

0 - No Options

2 – 4 GPIO Relays

3 – 2 A/D In, 2 A/D Out, 4 GPIO Relays

4 – 4 A/D In, 4 A/D Out, 4 GPIO Relays

G – Communications Options *

0 – USB, Ethernet

D – DPRAM, 8K x 16 bit

M – ModBus Ethernet Comm. Protocol

T – Modbus, DPRAM, RS232

PMAC-NC Pro2 - a Windows-based

customizable GUI for PC based CNC control

1 2

Geo Brick LV 1
Geo Brick LV 2

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