Summary of the content on the page No. 1
125
^1 HARDWARE REFERENCE MANUAL
^2 Brick Motion Controller
^3 Programmable Servo Amplifier
^4 5xx-603869-xUxx
^5 May 2, 2007
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
Summary of the content on the page No. 2
Copyright Information © 2007 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc. Techni
Summary of the content on the page No. 3
After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors, contacts, screw connections). To be safe, measure the electrical contact points with a meter before touching the equipment. The following text formats are used in this manual to indicate a potential for personal injury or equipment damage. Read the safety notices in this manual before attempting in
Summary of the content on the page No. 4
Summary of the content on the page No. 5
REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 MANUAL CREATION 05/02/07 CP S. MILICI
Summary of the content on the page No. 6
Summary of the content on the page No. 7
Brick Motion Controller Hardware Reference Manual Table of Contents 125................................................................................................................................................................................. I Copyright Information.............................................................................................................................................. ii Operating Conditions ........................................................
Summary of the content on the page No. 8
Brick Motion Controller Hardware Reference Manual APPENDIX B.............................................................................................................................................................38 Schematics...............................................................................................................................................................38 X15: Watchdog .........................................................................................
Summary of the content on the page No. 9
Brick Motion Controller Hardware Reference Manual INTRODUCTION The Brick Motion Controller is a fully scaleable automation controller utilizing the intelligence and capability of its embedded Turbo PMAC2. With the ability to store programs locally and built-in PLC execution, it is programmable for virtually any kind of automation application. This allows for complete machine motion and logic control. This product has 4 or 8 (optional) axes of analog +/-10V filtered-PWM (12-bit resol
Summary of the content on the page No. 10
Brick Motion Controller Hardware Reference Manual • Primary encoder for each axis with TTL differential/single-ended inputs with A, B quadrature channels and C index channel, 10 MHz cycle rate, and digital Hall-effect inputs • Five flags per axis using DB-25: HOME, PLIM, MLIM and USER inputs; EQU compare • Optional analog inputs and outputs, ± 5VDC • Optional two PWM outputs. • Optional Dual Port RAM (Required for NC) • Optional Modbus Protocol • Optional Sinusoidal encoder feedbac
Summary of the content on the page No. 11
Brick Motion Controller Hardware Reference Manual SPECIFICATIONS Part Number Brick Controller Model Number Definition Axis 1-4 Output Options F: Filtered-PWM analog output on Channels1- 4, 12-bit resolution (default) D: Dual true-DAC analog outputs on Channels1- 4, 18-bit resolution CPU Options - Turbo PMAC 2 Processor Digital I/O Option C0 : 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default) 0: Digital I/O 16 inputs and 8 outputs, 0.5A, 24VDC (default) F3: 240Mhz, 192Kx24
Summary of the content on the page No. 12
Brick Motion Controller Hardware Reference Manual Analog I/O Options • Two 16-bit analog inputs • Four 16-bit analog inputs Communication Options • DPRAM option, size 32K x 16-bit wide (required for use with NC software) • ModBus Ethernet Communication Protocol (Software) option • DPRAM and Modbus options combined • RS232 port on 9-pin D-sub connector • DPRAM & RS232 options combined • Modbus & DPRAM options combined • Modbus, DPRAM & RS232 options combined MACRO and Speci
Summary of the content on the page No. 13
Brick Motion Controller Hardware Reference Manual RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the Brick Motion Controller is received, there are several steps that should be performed immediately: 1. Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive. 2. Remove the control from the shipping container and remove all packing materia
Summary of the content on the page No. 14
Brick Motion Controller Hardware Reference Manual 6 Specifications
Summary of the content on the page No. 15
Brick Motion Controller Hardware Reference Manual SYSTEM WIRING WARNING: Installation of electrical control equipment is subject to many regulations including national, state, local, and industry guidelines and rules. General recommendations can be stated but it is important that the installation be carried out in accordance with all regulations pertaining to the installation. Noise Problems When problems do occur often it points to electrical noise as the source of the problem. Wh
Summary of the content on the page No. 16
Brick Motion Controller Hardware Reference Manual Connectors X1-X8: Encoder Input (1 to 8) The main encoder input channels for the Brick Motion Controller support only differential quadrature feedback. 5V supply to power the encoder is provided. • 4-axis drives with no Option 01 or Option 02 have only X1 to X4, for a total of four encoders • Option 01 adds two extra S. encoders: X5 and X6, for a total of six encoders • Option 02 adds two more S. encoders on top of Option 01: X7 and X
Summary of the content on the page No. 17
Brick Motion Controller Hardware Reference Manual X9-10: Analog I/O Ch5 (X9) and Ch6 (X10), (Optional) X9/10 (Female DB-9 Connector) Pin # Symbol Function Notes 1 AGND Common 2 ADC5/6+ Input 16-bit Analog Input, channel 5/6+ * 3 4 5 6 ADC5/6- Input 16-bit Analog Input, channel 5/6+ * 7 8 9 For spacing specifications between the DB- connectors, see Appendix A of this manual. X11-12: Analog I/O Ch7 (X11) and Ch8 (X12), (Optional) X11/12 (Female DB-9 Conne
Summary of the content on the page No. 18
Brick Motion Controller Hardware Reference Manual X13: USB 2.0 Connector This connector is used in conjunction with USB A-B cable, which can be purchased from any local computer store and is provided when Option 1A is ordered. The A connector is connected to a PC or Hub device; the B connector plugs into the J9-USB port. X14: RJ45, Ethernet Connector This connector is used for Ethernet communications from the Geo PMAC Drive to a PC. Note: Delta Tau Systems strongly recommends the use
Summary of the content on the page No. 19
Brick Motion Controller Hardware Reference Manual TB1: Power Connector The TB1 connector at the bottom panel allows the user to supply 24V DC power for the Brick Controller. 1 2 3 Watchdog (TB1) TB-5: 016-PL0F05-38P (Phoenix 3-pin Terminal Block) Pin # Symbol Function Notes 1 +24VDC Input 2 Chassis GND Input 3 +24V return Input S1: Re-Initialization on Reset Control Hold switch in during power cycle for PMAC re-initialization. S2: Firmware Reload Enable Hold switch in
Summary of the content on the page No. 20
Brick Motion Controller Hardware Reference Manual J4 Limit Inputs (1-4 Axis) The Brick Motion Controller limit and flag circuits give the flexibility to wire in standard 12V to 24V limits and flags or wire in 5V level limits and flags on a channel basis. The default is set for the standard 12V to 24V inputs, but if the resistor pack is added to the circuit, the card can read 5V inputs. J4 Limit Inputs 1 9 8 7 6 5 4 3 2 13 12 11 10 (Female DB-25 Connector) 25 24 23 22 21 20 19 18 17 16
