Delta Tau 5xx-603869-xUxx manual Introduction, Brick Motion Controller Features

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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 resolution) or pulse and direction outputs as standard. Options are available for dual true-DAC analog outputs at 18-bit resolution or Direct-PWM with current loop. Feedback with quadrature incremental encoders is standard. Options for sinusoidal, resolver or serial encoders are available.

The Brick Motion Controller provides a standard I/O capability of 16 inputs and 8 outputs at 12-24volts fully protected and isolated with separate commons for each bank of 8 inputs. Outputs are rated for 1 ampere each and are thermal- fuse protected. Outputs can be current sinking or sourcing depending on use of common emitter or common collector connections. Additional I/O is an option (up to 64 inputs and 32 outputs). Also an option for up to four 16 bit analog

inputs is available.Brick Motion

Controller

The Brick Motion Controller’s functionality doesn’t stop there, but also includes features such as extensible I/O via ModBus TCP master, or ModBus TCP slave for third party HMI hardware. Our PC- based HMI package connected through USB 2.0 or Ethernet makes the Brick Motion Controller a powerful single-source solution.

Brick Motion Controller Features

The Brick Motion Controller is capable of controlling up to eight axes with direct-PWM commands.

•Motorola DSP 56k digital signal processor

•Turbo PMAC2 CPU (for kinematics, open servo, NC applications)

•Fully Configurable via USB2.0 and/or Ethernet TCP/IP (100 Base-T)

•Operation from a PC

•Stand-alone operation

•Linear and circular interpolation

•256 motion programs capacity

•64 asynchronous PLC program capability

•Rotating buffer for large programs

•36-bit position range (± 64 billion counts)

•Adjustable S-curve acceleration and deceleration

•Cubic trajectory calculations, splines

•Set and change parameters in real time

•Torque, Velocity and Position control standard

•Small footprint saves space

•Full rated temperature cooling standard (no need for additional fans)

•16 inputs (expandable to 32 with option) fully-protected and isolated with separate commons for two banks of eight

•Eight thermal-fuse protected outputs (expandable to 16 with option) rated for 0.5A @ 24VDC each (Flexible outputs allow for sinking or sourcing of current depending on whether the common emitter or common collector is used.)

Introduction

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Contents 125 Copyright Information Safety InstructionsOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Introduction Brick Motion Controller FeaturesBrick Motion Controller Hardware Reference Manual Brick Motion Controller Options Part NumberAnalog I/O Options Communication OptionsMacro and Special Feedback Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Wiring Earth-Ground Noise ProblemsEarth Grounding Paths Connectors Pin Symbol FunctionX1-X8 Encoder Input 1 to X11/12 Female DB-9 Connector Pin # Symbol Function X9/10 Female DB-9 Connector Pin # SymbolX9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X11-12 Analog I/O Ch7 X11 and Ch8 X12, OptionalX14 RJ45, Ethernet Connector X13 USB 2.0 ConnectorPin # Symbol X15 WatchdogTB1 Power Connector S1 Re-Initialization on Reset ControlS2 Firmware Reload Enable Description J4 Limit Inputs 1-4 AxisJ5 Limit Inputs 5-8 Axis Limit and Flag Circuit WiringGND Sample J4/J5, Flags Wiring DiagramsAMP1-AMP8 Amplifier connections 1 to Amplifier Fault / Amplifier Enable diagrams J6 General Purpose I/O J6 General Purpose I/O Female DB-37 Connector Pin # SymbolSourcing Sinking Suggested M-var. # AddressJ7 Extra General Purpose I/O Optional Symbol FunctionSuggested M-var. # Address J8 Extra General Purpose I/O Optional J8 General Purpose I/O Female DB-37 Connector Pin # SymbolSuggested M-var. # Address GBL Sample J6/J7, I/O Wiring DiagramsSignal Format Setting up Quadrature EncodersHardware Setup Function Pin #Channel# Address Description Encoder Loss SetupSetting up the Analog Inputs optional Filtered DAC Outputs Configuration optionalBipolar Parameters to Set up Global Hardware Signals Parameters to Set Up Per-Channel Hardware Signals Software Setup Setting up for Pulse and Direction OutputI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesSingle-Channel I-Variables I7mn6 Servo IC m Channel n Output Mode SelectI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlIxx30 Motor xx Proportional Gain Ixx34 Motor xx Integration ModeExample Ixx31 Motor x Derivative GainBrick Motion Controller Hardware Reference Manual Watchdog Timer Actions on Watchdog Timer TripDiagnosing Cause of Watchdog Timer Trip Troubleshooting X1-8 DB-15 Connectors for encoder feedback DB- Connector Spacing SpecificationsX9-12 DB-9 Connectors for Analog I/O Screw Lock Size for all DB-connectorsType of Cable for Encoder Wiring Appendix a Schematics J6 and J7 General Purpose I/OInputs Outputs Opto Gnd PlaneLimits 1,2,3,4 J4 Limit Inputs for AxisLimits 5,6,7,8 J5 Limit Inputs for AxisDimensional Layout and Connector location
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