Installation manual

GEO Direct PWM Amplifiers – Preliminary Documentation
Overview 1
OVERVIEW
Delta Tau Data Systems’ new family of servo amplifiers GEO Drives provide exciting new capabilities.
This family of one axis and two axes 3-phase amplifiers can support a wide variety of motor types, power
ranges, and interfaces. They will operate directly off the power mains (115- 480 VAC) for motor power
and an external power supply of +24 volts DC for logic power.
New capabilities include:
• Versatile command format: Direct PWM, MACRO, ANALOG, or single-axis controller interface
options allowing choice of centralized or distributed control-intelligence architectures.
• Dual axes product is both cost and size effective in multi-axes applications.
• Wide range of self-protection features.
• Easy setup with PMAC and UMAC controllers.
• Flexible OEM options, including special mounting options.
• Field bus interface options: DeviceNet or Profibus.
• Choice of input format supports both distributed and centralized control architects.
User Interface
The GEO Drive family is available in four basic interface versions, distinguished by their user interface
styles. All versions have an on-board LED character status display, plus several discrete LED indicators.
• Direct PWM GEO Power Blocks (PWM) — In this version, the GEO drive accepts “direct PWM”
signals from the controller, providing serial digital phase current feedback. This interface comes
through a standard 36-pin Mini-D style connector, compatible with virtually all other power-block
drives. In this form, the drive performs no control functions. It simply provides the raw power stage.
No position feedback or I/O is connected to the drive (other than a power block thermal sensor and a
possible motor thermal sensor). There is no connection to the controller other than the 36-pin cable,
which brings in the PWM commands from the controller, and returns serial digital current values, as
well as temperature data.
• MACRO — The GEO Drive interfaces to the controller through the fiber-optic MACRO 125
Mbit/sec ring, accepting numerical command values, and returning numerical feedback values over
the ring. In one mode, the command values will be the 3-phase PWM values, making this drive the
control-style equivalent of the Power Block. In other uses, the GEO Drive can be controlled in torque,
velocity or even position modes. It can accept several styles of position feedback, including single or
dual quadrature encoders, sinusoidal with built-in interpolation (x1024) in the GEO, resolvers, and
absolute serial encoders (SSI, EnDat, Hiperface). It also provides interface for flags (limits and
home), and some general-purpose I/O points. It passes the information from the position feedback
flags and I/O back to the MACRO controller over the ring (even if it does not use this data itself).
• Analog Drives — The GEO Drive accepts a +/-10V analog command into a 16-bit A/D converter (or
equivalent), representing either a velocity or a torque command. It can accept several styles of
position feedback (Position feedback to the drive is required for commutation of a brushless motor.),
including single or dual quadrature encoders, sinusoidal encoders with built-in interpolator (x1024),
resolvers, and absolute serial encoders (SSI, EnDat, Hiperface). Regardless of the feedback type, it
passes position information back to the controller as synthesized quadrature output