Geo Brick LVTM
Multi-axis controller with Low Voltage (12V to 60V) amplifiers
Product Announcement
PRODUCT DESCRIPTION:
The Geo Brick LVTM is Delta Tau’s latest addition
to the Brick family of multi-axis ‘Smart Amplifiers’.
The ‘LV’ combines the power of Delta Tau’s Turbo
PMAC2 controller with MOSFET motor amplifiers
in a sleek industrial package.
The Turbo PMAC2 ‘processing engine’ provides
for a full-featured motion controller with Ethernet,
USB, and RS232 communications. Each ‘LV’ axis
includes incremental encoder inputs for position
feedback and optically isolated motor I/O flags
(Home, Limit +/-). Standard ‘LV’ I/O for machine
control includes 16 optically isolated inputs and 8
fused protected outputs.
The ‘LV’ utilizes Delta Tau’s Direct Digital PWM
technology to provide superior position/velocity
control of Brushless (linear & rotary), Brush, and
Stepper motors. Available in 4 or 8 axis versions,
the ‘LV’ delivers 5A continuous current (15A peak)
with a voltage range of 12 to 60 volts per axis.
The ‘LV’ supports applications ranging from standalone to real-time PC based. The integrated
controller/amplifier reduces wiring costs, while
increasing system robustness. For lower
voltage/current applications the ‘LV’ is the Delta
Tau solution that you have been waiting for!
Geo Brick LV
114mm x 178mm x 391mm (4.5” x 7.0” x 15.4”)
MOTION CONTROL BASE SPECIFICATIONS:
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4 or 8 axes of simultaneous servo / stepper control
All axes independent or coordinated in any combination
Multitasking of up to 16 motion programs and 64 asynchronous
PLC programs
Communications: Ethernet, & USB
Easy-to-use, high-level programming language
128K X 24 SRAM memory (programs, variables, tables)
Linear, circular, rapid, B-spline, Hermite-spline interpolation
Embedded forward and inverse kinematics routines for NonCartesian geometries
True S-curve accel/decel for jerk-limited profiles
PID/notch/feedforward servo algorithms
Dynamic multi-move lookahead for robust acceleration control
and efficient cornering/contouring
Coordinate system translation and rotation, 2D and 3D
Tool-radius compensation
Hardware position capture and compare for high precision
On-board G-code execution
AMPLIFIER BASE SPECIFICATIONS:
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Motor types: Brushless (AC/DC), DC Brush, Stepper
DC Bus (Input) Voltage: 12 VDC to 60 VDC
Output Current: 5A continuous, 15A peak (1 sec.)
PWM Frequency: 2KHz to 15 KHz
Status display: 7 segment
Protections: voltage (over/under), over temperature, short
circuit, and over current
OPTIONS:
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Axes: 8 (default = 4)
CPU: 240 MHZ CPU, 4Mx8 flash (80 MHz, 1MB flash standard)
Dual Port Ram (required for NC program)
Digital I/O (additional): 16 inputs (12V-24V), 8 outputs (24V @ 0.5A)
Analog Inputs: 2 or 4 channels, +/- 5V, 16 bit resolution
Analog outputs: 2 or 4 channels , +/- 10V, 12 bit resolution
RS232 interface
MACRO (Fiber Optic or RJ45)
Modbus TCP Master/Slave communications
FieldBus: DeviceNet, Profibus, EtherCAT, CanOpen, CC-Link
CONNECTORS:
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Motor connectors: Terminal Block
Power (Logic & DC Bus): Terminal Block
Watchdog: Terminal Block
Encoders: D-Sub, 15
Limits & Flags: D-Sub, 25
General Purpose Digital I/O: D-Sub, 37
RS232 (opt.): D-Sub, 9
Analog I/O (opt.): D-Sub, 9
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
Geo Brick LVTM
Multi-axis controller with Low Voltage (12V to 60V) amplifiers
Specifications and Features
Tools & Software
Hardware Features
Motion Features (continued)
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 *
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 nonMotion 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
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
PLC Features
* Optional
* Optional
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 programs
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 *
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
Amplifier - Supported Motor types include
Brushless (AC/DC, Rotary/Linear)
DC Brush
Stepper (open / closed loop)
Geo Brick ‘LV’ Ordering Information
G
B
D
A
4
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B
F
A - # of Axes
B
3
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C
4
D
0
D
5
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E – Digital I/O Options
4 : 4 axes
8 : 8 axes
0 – 16 Inouts, 8 outputs
1 – 32 Inouts, 16 outputs
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
42 – 8 axis, 12V-24V Flag Inputs
Blue = default
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
E
1
F
3
G
T
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4
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C
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1
J
0
PMAC HMI - object oriented environment for
creating GUI's, includes a wide selection of
controls & ActiveX objects
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
PMAC-NC Pro2 - a Windows-based
customizable GUI for PC based CNC control
* Additional options available, contact distributor / factory for complete listing
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