2 Geo Brick LV NSLS II
1 USER MANUAL 2 Geo Brick LVNSLS II 3 Geo Brick LV NSLS II 4 BH08-C0-442-000xxxxxx 5 July 11, 2011Single Source Machine ControlPower // Flexibility // Ease of Use21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
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Copyright Information 2011 Delta Tau Data Systems, Inc. All rights reserved.This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses areunauthorized without written permission of Delta Tau Data Systems, Inc. Information containedin this manual may be updated from time-to-time due to product improvements, etc., and may notconform in every respect to former issues.To report errors or inconsistencies, call or email:Delta Tau Data Systems, Inc. Technical SupportPhone: (818) 717-5656Fax: (818) 998-7807Email: support@deltatau.comWebsite: http://www.deltatau.comOperating ConditionsAll Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers containstatic sensitive components that can be damaged by incorrect handling. When installing orhandling Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials.Only qualified personnel should be allowed to handle this equipment.In the case of industrial applications, we expect our products to be protected from hazardous orconductive materials and/or environments that could cause harm to the controller by damagingcomponents or causing electrical shorts. When our products are used in an industrialenvironment, install them into an industrial electrical cabinet or industrial PC to protect themfrom excessive or corrosive moisture, abnormal ambient temperatures, and conductive materials.If Delta Tau Data Systems, Inc. products are directly exposed to hazardous or conductivematerials and/or environments, we cannot guarantee their operation.
REVISION HISTORYREV.DESCRIPTIONDATECHANGED BYAPPROVED BY--Initial Releasecorrect typo, modify jumper settings,describe watch dogCorrect Watchdog relay description,and add DB 37 GPIO connector detail.Modify Amp1-8 pin out description07/11/2011Toru SarumaruSina Sattari07/18/2011Toru SarumaruSina Sattari07/25/2011Toru SarumaruSina Sattari01/09/2012Toru SarumaruSina SattariABC
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Table of ContentsINTRODUCTION . 3Documentation . 3SYSTEM WIRING . 4Connectors on Back Panel . 45V DC EXT ENC Supply . 424V I/O and 24V Logic. 548V Motor . 5Watchdog & Abort I/P . 6ENCODER 1 – ENCODER 8: Digital A Quad B . 8ENCODER 1 – ENCODER 8: SSI (Available for Enhanced Unit) . 9USER FLAGS . 9EQU .10GPIO .11AMP 1 – AMP 8 .13Connectors on Front Panel .14RS232 .14MACRO (Available for Enhanced Unit).14RESET & BOOTSTRAP SWITCH . 15Reset Switch .15Bootstrap Switch .15APPENDIX A: E-POINT JUMPERS . 16E-Point Jumper Description for Geo Brick LV Controller (603793) .16E0: Reset Control .16E1: Card0 Select.16E2: (Reserved For Future Use) .16E4: (Reserved For Future Use) .16E5: (Reserved For Future Use) .16E6: AENA5 Source Selection on J15 .17E7: AENA6 Source Selection on J15A .17E8: AENA7 Source Selection on J16 .17E9: AENA8 Source Selection on J16A .17E10, E11 & E12: CPU Configuration .17E13: Load Firmware .18E14: Watchdog Disable.18E15A, E15B & E15C: Flash Memory Bank Select .18E40: USB/Ethernet Firmware Re-Download Enable .18E41: USB/Ethernet Disable .18E-Point Jumper Description for GIB Board (603946).19PL1: Stepper Output Enable for CH1 .19PL2: Encoder Power Selection for Encoder 1 .19PL3: Stepper Output Enable for CH2 .19PL4: Encoder Power Selection for Encoder 2 .19TABLE OF CONTENTSi
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011PL5: Stepper Output Enable for CH3 .19PL6: Encoder Power Selection for Encoder 3 .20PL7: Stepper Output Enable for CH4 .20PL8: Encoder Power Selection for Encoder 4 .20PL9: Stepper Output Enable for CH5 .20PL10: Encoder Power Selection for Encoder 5 .20PL11: Stepper Output Enable for CH6 .20PL12: Encoder Power Selection for Encoder 6 .21PL13: Stepper Output Enable for CH7 .21PL14: Encoder Power Selection for Encoder 7 .21PL15: Stepper Output Enable for CH8 .21PL16: Encoder Power Selection for Encoder 8 .21LK1: HOME Flag Input Voltage Selection for Ch1 .21LK2: HOME Flag Input Voltage Selection for Ch2 .22LK3: HOME Flag Input Voltage Selection for Ch3 .22LK4: HOME Flag Input Voltage Selection for Ch4 .22LK5: HOME Flag Input Voltage Selection for Ch5 .22LK6: HOME Flag Input Voltage Selection for Ch6 .22LK7: HOME Flag Input Voltage Selection for Ch7 .22LK8: HOME Flag Input Voltage Selection for Ch8 .23LK9: Positive Limit Input Voltage Selection for Ch1.23LK10: Positive Limit Input Voltage Selection for Ch2 .23LK11: Positive Limit Input Voltage Selection for Ch3 .23LK12: Positive Limit Input Voltage Selection for Ch4 .23LK13: Positive Limit Input Voltage Selection for Ch5 .23LK14: Positive Limit Input Voltage Selection for Ch6 .24LK15: Positive Limit Input Voltage Selection for Ch7 .24LK16: Positive Limit Input Voltage Selection for Ch8 .24LK17: Negative Limit Input Voltage Selection for Ch1 .24LK18: Negative Limit Input Voltage Selection for Ch2 .24LK19: Negative Limit Input Voltage Selection for Ch3 .24LK20: Negative Limit Input Voltage Selection for Ch4 .25LK21: Negative Limit Input Voltage Selection for Ch5 .25LK22: Negative Limit Input Voltage Selection for Ch6 .25LK23: Negative Limit Input Voltage Selection for Ch7 .25LK24: Negative Limit Input Voltage Selection for Ch8 .25TABLE OF CONTENTSii
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011IntroductionThe Geo Brick Low Voltage, 12 60V(DC) bus power input, combines the intelligence andcapability of the Turbo PMAC2 motion controller with the latest MOSFET technology, resultingin a compact 4 or 8- axis smart servo package. The flexibility of the Turbo PMAC2 enables theGeo Brick LV to drive Stepper, Brush, or Brushless motors with unsurpassed pure digital DSPperformance.The Geo Brick LV also features a wide variety of options varying from processor speeds as highas 240MHz, multiple digital and analog inputs/outputs, USB2.0, Ethernet 100 Base T, serialcommunication, and Fieldbus connectivity to virtually accepting any type of encoder feedback.DocumentationIn conjunction with this hardware reference manual, the Turbo Software Reference Manual andTurbo PMAC User Manual and Geo Brick LV are essential for proper use, motor setup, andconfiguration of the Geo Brick LV. It is highly recommended to always refer to the latest revisionof the manuals found on Delta Tau’s website, under Support documentation Manuals: Delta TauManuals Link3
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011System WiringInstallation of electrical control equipment is subject to manyregulations including national, state, local, and industry guidelinesand rules. General recommendations can be stated but it isimportant that the installation be carried out in accordance withall regulations pertaining to the installation.WARNINGConnectors on Back Panel5V DC EXT ENC SupplyThis connector is to provide the external 5 volts to the encoder power. In order to use it, it alsorequires changing the jumpers on 300-603946-10X board. Please see the jumper setting in thismanual.5V DC EXT EncoderSupplyAD(PN: UT00104PHManufactured BySOURIAU)Pin #SymbolABCD5VN.C.0VN.C.BCFunctionDescriptionInput5 volts input power from Power SupplyCommonCommon GroundThis is a list of mating connector and pin.Part 16M23KSOURIAUGEO BRICK LV NSLS-II USER MANUAL REV CDescriptionCircular Conn Plug, Size 10, 4 pos, cableCABLE CLAMP, 10, BRASSCrimp Socket, 20-16AWG4
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 201124V I/O and 24V Logic24V I/O and 24V LogicPower Supply InputConnectorAFBE(PN: UT0W0106PH,Manufactured BySOURIAU)Pin unctionDescriptionInputCommonInputCommon24 volts for Logic Power Input24 volts return for Logic Power24 volts for I/O Power Input24 volts return for I/O power.This is a list of mating connector and pin.Part 18W3KSOURIAUDescriptionCircular Conn Plug, Size 10, 6 pos, cableCABLE CLAMP, 10, BRASSCONTACT SOCKET, UT0W, 22-20AWG48V Motor48V Motor21Pin mon48 volts for Bus Input Power48 volts returnChassis GroundThis is a list of mating connector and pin.Part 14M30KSOURIAUGEO BRICK LV NSLS-II USER MANUAL REV CDescriptionCircular Conn Plug, Size 10, 3 pos, cableCABLE CLAMP, 10, BRASSCONTACT, FEMALE, AWG16-145
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Watchdog & Abort I/PWatchdog & Abort I/PGA(PN: UT00128SHManufactured BySOURIAU)HBFECPin #SymbolFunctionABC0V I/OAbortWD N.C.CommonInputOutputDDescriptionCommon return for 24V I/OAbort Input 24VDC reference to 0V I/OWatchdog Relay (Open Contact in NormalOperation)*DWD CommonCommonWatchdog CommonEWD N.O.OutputWatchdog Relay (Closed Contact in NormalOperation)*FPilz Reset1I/OWhen Abort Input is off, Pilz Reset1 to PilzReset2 are connected together. When AbortGPilz Reset2I/OInput is on, Pilz Reset1 to Pilz Reset2 are notconnected.H24V I/OOutput24V Power Output.* When the Geo Brick LV is operating normally, the contact for WD N.C. is open, and thecontact for WD N.O. is closed. When a watchdog condition occurs, the WD N.C. contact will beclosed, and the WD N.O. contact will be open.When Abort Input is off, Pilz Reset1 and Pilz Reset 2 are connected at normal condition. WhenAbort Input is On, Pilz Reset 1 and Pilz Reset 2 are not connected at normal condition. WhenPMAC gets watchdog, Pilz Reset 1 and Pilz Reset 2 are not connected in any conditions of AbortInput.There is a schematic in below as a reference.GEO BRICK LV NSLS-II USER MANUAL REV C6
DELTA TAU GEO BRICK LV NSLSII MANUALThis is a list of mating connector and pin.Part OURIAUSOURIAUGEO BRICK LV NSLS-II USER MANUAL REV CJULY 2011DescriptionCIRCULAR CONN PLUG, SIZE 12, 8POS,CABLECABLE CLAMP, 14, BRASSCONTACT, MALE7
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011ENCODER 1 – ENCODER 8: Digital A Quad BENCODER #D-sub 15 Female871561451341231121019Pin #SymbolFunctionDescription123456789101112131415CHA CHACHB CHBCHC CHCEncoder PwrGNDCHU/DIR CHV/DIRCHW/PUL coder PwrGNDInputCommonEncoder A Encoder AEncoder B Encoder BEncoder Index Encoder IndexEncoder Power 5VDCCommon GroundHall Effect U / Direction output for PFM modeHall Effect V / Direction- output for PFM modeHall Effect W /Pulse output for PFM modeHall Effect T / Pulse- output for PFM modeNot usedEncoder Power 5VDCCommon GroundGEO BRICK LV NSLS-II USER MANUAL REV C8
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011ENCODER 1 – ENCODER 8: SSI (Available for Enhanced Unit)ENCODER #D-sub 15 Female87615Pin #123456789101112131415Symbol51413FunctionEncoder PWR0VDATACLOCK CLOCKDATA OutputCommonInputOutputOutputInputEncoder PWR0VOutputCommon41231121019DescriptionNot used for SSI FeedbackNot used for SSI FeedbackNot used for SSI FeedbackNot used for SSI FeedbackNot used for SSI FeedbackNot used for SSI FeedbackEncoder Power 5VDCCommon GroundData- PacketSerial Encoder Clock Serial Encoder ClockData PacketNot used for SSI FeedbackEncoder Power 5VDCCommon GroundUSER FLAGSUser Flag Input voltage is 24V.USER FLAGSD-sub 9 Female549382716Pin InputInputInputInputCommonUser Flag Input for Channel 1User Flag Input for Channel 2User Flag Input for Channel 3User Flag Input for Channel 4User Flag Input for Channel 5User Flag Input for Channel 6User Flag Input for Channel 7User Flag Input for Channel 8Reference 0V I/OGEO BRICK LV NSLS-II USER MANUAL REV C9
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011EQUAll EQU outputs is TTL 5V.EQUD-sub 9 Female549382716Pin utInputInputCommonEQU Input for Channel 1EQU Input for Channel 2EQU Input for Channel 3EQU Input for Channel 4EQU Input for Channel 5EQU Input for Channel 6EQU Input for Channel 7EQU Input for Channel 8Reference 0V I/OGEO BRICK LV NSLS-II USER MANUAL REV C10
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011GPIOGPIO working voltage is 12-24V. It is configurable to work either sourcing or sinkingoutput/input by hardware wiring.GPIOD-sub 37 726Pin PI5GPI7GPI9GPI11GPI13GPI15IN COM GPI4GPI6GPI8GPI10GPI12GPI14GPI16IN COM9-16COM COLGPO1 GPO2 GPO3 GPO4 GPO5 GPO6 GPO7 GPO8 t 1Input 3Input 5Input 7Input 9Input 11Input 13Input 15Input 1 to 8 commonNot ConnectedCommon EmitterSourcing Output 1Sourcing Output 2Sourcing Output 3Sourcing Output 4Sourcing Output 5Sourcing Output 6Sourcing Output 7Sourcing Output 8Input 2Input 4Input 6Input 8Input 10Input 12Input 14Input 16Input 9 to 16 commonCommon CollectorSinking Output 1Sinking Output 2Sinking Output 3Sinking Output 4Sinking Output 5Sinking Output 6Sinking Output 7Sinking Output putGEO BRICK LV NSLS-II USER MANUAL REV C62552442332222112011
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Note:All General Purpose I/Os are optically isolated.The Inputs are 12-24V, and can be wired as sinking or ourcing.The Outputs are 24V nominal, 0.5A maximum current overload protected.For Sinking Outputs, connect the COM EMT (pin11) line to the Analog Ground of thepower supply and the outputs to the individual plus output lines, e.g. GPO1 For Sourcing Outputs, connect the COM COL (pin29) line to 12-24V and the outputs tothe individual minus output lines, e.g., GPO1Do not mix topologies, i.e., all sinking or all sourcing outputs. If the common emitter isused, the common collector should not be connected and vice versa.GEO BRICK LV NSLS-II USER MANUAL REV C12
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011AMP 1 – AMP 8AMP #(PN: UT001412SHManufactured BySOURIAU)JAKBHMCFDPin #SymbolGLFunctionEDescriptionAMotor GNDCommonCommonBPHASE A OutputMotor Phase A Output for Stepper Motor (1)CPHASE AOutputMotor Phase A- Output for Stepper Motor (2)DPHASE B OutputMotor Phase B Output for Stepper Motor (3)EPHASE BOutputMotor Phase B- Output for Stepper Motor (4)FSHIELDCommonCable ShieldGPLIMInputPositive Limit InputHMLIMInputNegative Limit InputJHOMEInputHome Flag InputK5VOutput5V power supply for Flag/LimitsL24VOutput24V power supply for Flag/LimitsM0VCommon0V power supply for Flag/LimitsNOTE:(1) Motor Phase U for 3-phase Blushless Motor(2) Motor Phase W for 3-phase Blushless Motor(3) Motor Phase V for 3-phase Blushless Motor(4) Not used for 3-phase Blushless MotorThis is a list of mating connector and pin.Part SOURIAUSOURIAUGEO BRICK LV NSLS-II USER MANUAL REV CDescriptionCIRCULAR CONN PLUG SIZE 14, 12POS,CABLECABLE CLAMP, 14, BRASSCRIMP PIN, 20-16AWG13
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Connectors on Front PanelRS232This port can be used as a primary communication mean or employed as a secondary port thatallows simultaneous communication.RS232Pin rectionalInputOutputReceive DataSend DataData set readyCommon GroundData term readyClear to sendRequest to sendMACRO (Available for Enhanced Unit)MACRO SCStyle FiberConnectorINOUTPin #12Symbol FunctionINMACRO Ring ReceiverOUTMACRO Ring TransmitterThe fiber optic version of MACRO uses 62.5/125 multi-mode glass fiber optic cable terminated in an SC-styleconnector. The optical wavelength is 1,300 nm.GEO BRICK LV NSLS-II USER MANUAL REV C14
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Reset & Bootstrap SwitchReset SwitchWhen this switch is on at power up, Geo Brick LV is going to re-initialize.Bootstrap SwitchWhen this switch is on at power up, geo Brick LV is now bootstrap mode. The user is able todownload PMAC Firmware.When this switch is on and hold at the normal operating condition, the user can change the IPaddress for Ethernet communication. There are two ways to change the IP address. The one wayis to connect USB cable to the unit and open “Configure Ethernet 100 BaseT”, which is comingwith PMAC Executive Pro2 Suite. The user can change to the desired IP address. After changeit, press “Store IP” button, and then click “Done” button.Another way is to Open PMAC Executive Pro2 and open PCOMM server. Select Ethernetcommunication, and then click “Properties ” button. Click “General” button, and then changethe IP address.GEO BRICK LV NSLS-II USER MANUAL REV C15
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011Appendix A: E-Point JumpersE-Point Jumper Description for Geo Brick LV Controller (603793)E0: Reset ControlE-PointE01DescriptionFactory use only; the board will not operate withE0 installed.2DefaultNo JumperE1: Card0 SelectE-PointE11DescriptionRemove jumper to specify that this PMAC isCard 0, which generates its own phase and servoclock (default).Jump pins 1 to 2 to specify that this PMAC is notCard 0, but Card 1 to F (15), which requiresexternal phase and servo clock signals from theserial port to operate.2DefaultNo JumperE2: (Reserved For Future Use)E-PointE21DescriptionFactory Use OnlyDefaultNo Jumper2E4: (Reserved For Future Use)E-PointE41DescriptionFactory Use OnlyDefaultNo Jumper2E5: (Reserved For Future Use)E-PointE512DescriptionFactory Use OnlyDefaultNo Jumper3GEO BRICK LV NSLS-II USER MANUAL REV C16
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011E6: AENA5 Source Selection on J15E-PointE61Description1-2 to set AENA5 on J15 connector from GPIO23Default1-22-3 to set AENA5 on J15 connector from AENA5E7: AENA6 Source Selection on J15AE-PointE71Description1-2 to set AENA6 on J15A connector from GPIO23Default1-22-3 to set AENA6 on J15A connector from AENA6E8: AENA7 Source Selection on J16E-PointE81Description1-2 to set AENA7 on J16 connector from GPIO23Default1-22-3 to set AENA7 on J16 connector from AENA3E9: AENA8 Source Selection on J16AE-PointE91Description1-2 to set AENA8 on J16A connector from GPIO23Default1-22-3 to set AENA8 on J16A connector from AENA4E10, E11 & E12: CPU ConfigurationE-Point121212DescriptionOther combination is for factory use only.E10DefaultE10—No JumperE11—1-2E12—1-2E11E12GEO BRICK LV NSLS-II USER MANUAL REV C17
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011E13: Load FirmwareE-PointE131Description1-2 to enable to re-download Turbo PMAC2Firmware2DefaultNo JumperNo jumper for normal operationE14: Watchdog DisableE-PointE41Description1-2 to disable watchdog circuit.2DefaultNo JumperNo jumper for normal operation.E15A, E15B & E15C: Flash Memory Bank SelectE-Point121212DescriptionFactory Use OnlyE15ADefaultE15A— No JumperE15B— No JumperE15C— No JumperE15BE15CE40: USB/Ethernet Firmware Re-Download EnableE-PointE4012Description1-2 for normal operation.Default1-2Remove Jumper at Power up and then installjumper. It will be able to download USB/ETHFirmware.E41: USB/Ethernet DisableE-PointE4112Description1-2 to disable USB/Ethernet communicationDefaultNo JumperNo jumper for normal operation.GEO BRICK LV NSLS-II USER MANUAL REV C18
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011E-Point Jumper Description for GIB Board (603946)PL1: Stepper Output Enable for CH1E-PointPL11Description1-2 to enable PFM output from Encoder 1connector2DefaultNo JumperPL2: Encoder Power Selection for Encoder 1E-PointPL212Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL3: Stepper Output Enable for CH2E-PointPL31Description1-2 to enable PFM output from Encoder 2connector2DefaultNo JumperPL4: Encoder Power Selection for Encoder 2E-PointPL412Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL5: Stepper Output Enable for CH3E-PointPL512Description1-2 to enable PFM output from Encoder 1connectorGEO BRICK LV NSLS-II USER MANUAL REV CDefaultNo Jumper19
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011PL6: Encoder Power Selection for Encoder 3E-PointPL612Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL7: Stepper Output Enable for CH4E-PointPL71Description1-2 to enable PFM output from Encoder 1connector2DefaultNo JumperPL8: Encoder Power Selection for Encoder 4E-PointPL812Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL9: Stepper Output Enable for CH5E-PointPL91Description1-2 to enable PFM output from Encoder 1connector2DefaultNo JumperPL10: Encoder Power Selection for Encoder 5E-PointPL212Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL11: Stepper Output Enable for CH6E-PointPL1112Description1-2 to enable PFM output from Encoder 1connectorGEO BRICK LV NSLS-II USER MANUAL REV CDefaultNo Jumper20
DELTA TAU GEO BRICK LV NSLSII MANUALJULY 2011PL12: Encoder Power Selection for Encoder 6E-PointPL1212Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL13: Stepper Output Enable for CH7E-PointPL131Description1-2 to enable PFM output from Encoder 1connector2DefaultNo JumperPL14: Encoder Power Selection for Encoder 7E-PointPL1412Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerPL15: Stepper Output Enable for CH8E-PointPL151Description1-2 to enable PFM output from Encoder 1connector2DefaultNo JumperPL16: Encoder Power Selection for Encoder 8E-PointPL1612Description1-2 is to use an internal 5V for Encoder Power.3Default1-22-3 is to use an external 5V for Encoder PowerLK1: HOME Flag Input Voltage Selection for Ch1E-PointLK112Description1-2 is for 5V Home flag Input3Default2-32-3 is for 24V Home flag InputGEO
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