The Geo Brick Drive combines the intelligence and capability of the Turbo PMAC2 motion controller with IGBT-based drive technology, resulting in a compact, smart 4-, 6- or 8-axis servo drive package. The flexibility of the Turbo PMAC2 enables the Geo Brick to drive Brush, Brushless or AC induction motors with unsurpassed pure digital DSP performance. The absence of analog signals – required for typical motion controller/drive interfacing – enables higher gains, better overall performance and tighter integration, while significantly driving down costs and setup time. The Geo Brick’s embedded 32-axis Turbo PMAC2 motion controller is programmable for virtually any kind of motion control application. The built-in software PLCs allow for complete machine logic control. The Geo Brick Drive supports the following types of motors: Three-phase AC/DC brushless, servo, synchronous rotary/linear; DC brush; AC Induction, asynchronous –with or without encoder. The Geo Brick Drive also supports the following feedback types: Digital A Quad B; SSI; EnDat 2.2; BiSS B/C; HiperFace; Tamagawa; Panasonic; Sinusoidal; Resolver; Interferometers: Sinusoidal and Parallel; LVDTs, RVDTs, MLDts; Potentiometers. Features Hardware Features Feedback Protocols Supported Digital A Quad B SSI EnDat 2.1/2.2 BiSS B/C HiperFace Tamagawa Panasonic Matsushita (Nikon D) Mitutoyo Sinusoidal Resolver Interferometers: Sinusoidal and Parallel LVDTs, RVDTs, MLDTs Potentiometers Yaskawa Sigma II/III/V Motor Types Supported Synchronous three-Phase AC/DC brushless servo (rotary or linear) Synchronous rotary/linear DC brush AC Induction, asynchronous (with or without encoder) Power Stage Features 4, 6 or 8 channels of direct digital PWM up to 18 kHz Locking connector contacts for motor outputs and bus input Universal single- or three-phase AC input 97–240 VAC, or DC operation from 12–340 VDC Complete protection: over voltage, under voltage, IGBT over temperature, short circuit, over current, input phase loss detection, shunt over-current detection Two contacts for shunt regulator resistor termination (connector type is locking style) Integrated bus power supply including shunt regulator (GAR10 or GAR15 external resistor required) Amplifier Ratings 8A Continuous, 16A Peak (for two seconds), RMS Other Hardware Features Up to 32 general-purpose digital inputs and 16 outputs, all at 0.5 A @ 12–24 VDC 80 or 240 MHz CPU speed ModBus, MACRO, DPRAM, RS232, and RS422 communication Up to 4 analog inputs at 16 bits and 4 analog outputs at 12 bits Up to 4 Amplifier Enable relays Up to 8 total encoder feedback inputs Soft Torque Off (STO) feature (optional) for disconnecting the amplifier from the motors Software Features Trajectory Generation Features Linear interpolation mode with S-curve accel./decel. Circular interpolation mode with S-curve accel./decel. Rapid point-to-point move modeCubic B-spline interpolation mode Cubic Hermite-spline (PVT) interpolation mode Automatic move-until-trigger functions with hardware capture Dynamic destination alteration Interactive jog moves Multi-move lookahead for velocity and acceleration limiting Servo Features 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 30-term “pole-placement” servo filter Alternate user-written, high-level “Open Servo” algorithms Commutation Features Sinusoidal commutation of AC servo motors Vector control of AC induction motors Digital current-loop closure with direct PWM output (PMAC2) Pulse and direction (PFM) control of stepper motors Compensation Features Position compensation tables (1D & 2D) Torque compensation tables Backlash compensation Tool radius compensation Safety Features Hardware and software overtravel limits Amplifier enable/fault handshaking Following error limits Integrated current limit Encoder loss detection (some versions) Watchdog timer Program and communications checksums Computational Features Real-time multitasking operating system 48-bit floating-point math for user programs Trigonometric and transcendental functions Automatic type matching of different variable types (e.g. integer, floating point Coordination and Master/Slave Features User-defined coordinate systems for automatic 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-Cartesian geometries Electronic gearing (no programming required) Motion Program Features High-level programming language 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 Program 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 More information @ http://www.deltatau.com/DT_Products/ProductDetailDescription.aspx?CatID=200-GEO%20BRICK%20DRIVE
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