Delta Tau GEO DIRECT PWM DRIVE User Manual

^1 INSTALLATION MANUAL

^2 Geo Direct PWM Amplifier

^3 Direct PWM Amplifier

^4 500-603700-xIxx

^5 November 15, 2013

Single Source Machine Control

……………………………………………..…...……………….

Power // Flexibility // Ease of Use

21314 Lassen St. Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

Copyright Information

WARNING

A Warning identifies hazards that could result in personal injury
or death. It precedes the discussion of interest.

Caution

A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.

Note

A Note identifies information critical to the understanding or use of
the equipment. It follows the discussion of interest.

© 2013 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. Technical Support

Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers
contain static sensitive components that can be damaged by incorrect handling. When
installing or handling 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 or conductive materials and/or environments that could cause harm to the
controller by damaging components or causing electrical shorts. When our products are
used in an industrial environment, install them into an industrial electrical cabinet or
industrial PC to protect them from excessive or corrosive moisture, abnormal ambient
temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are
directly exposed to hazardous or conductive materials and/or environments, we cannot
guarantee their operation.

REVISION HISTORY

REV.

DESCRIPTION

DATE

CHANGE

APPROVAL

1

Added Power On/Off procedures,
Power PMAC section,
Refurbished entire manual

11/15/2013

RN

RN

Geo Direct PWM Amplifier

Table of Contents

INTRODUCTION .....................................................................................................................6

SPECIFICATIONS ...................................................................................................................7

PART NUMBER .............................................................................................................................7

ENVIRONMENTAL SPECIFICATIONS ...............................................................................................7

ELECTRICAL SPECIFICATIONS .......................................................................................................8

230 VAC Drives – Single Axis .................................................................................................8

230 VAC Drives – Dual Axis...................................................................................................9

480 VAC Drives – Single Axis ............................................................................................... 10

480 VAC Drives – Dual Axis................................................................................................. 11

RECEIVING AND UNPACKING ......................................................................................... 12

USE OF EQUIPMENT .................................................................................................................... 12

MOUNTING, PHYSICAL LAYOUT .................................................................................... 13

GPX012 ..................................................................................................................................... 14

Low Profile, Single Width, No Fan ....................................................................................... 14

GPL032 .................................................................................................................................... 15

Single Width, No Fan............................................................................................................ 15

GPX05X, GPX102, GPL101, GPH032 ........................................................................................ 16

Single Width with Fan .......................................................................................................... 16

GPX201, GPX301, GPX152, GPH102 ........................................................................................ 17

Double Width, Two Fans ...................................................................................................... 17

CONNECTOR PINOUTS AND WIRING ............................................................................. 18

J1: MAIN BUS POWER INPUT ...................................................................................................... 18

Recommended Main Bus Power Wiring/Protection ............................................................... 19

Recommended Bus Power Fuse and Wire Gauge ................................................................ .. 22

J4: 24 VDC LOGIC CONTROL ..................................................................................................... 23

J2 – J3: MOTOR WIRING ............................................................................................................. 24

Motor Cable, Noise Elimination ........................................................................................... 25

Motor Selection .................................................................................................................... 26

J5: EXTERNAL SHUNT RESISTOR ................................................................................................. 28

Recommended Shunt Resistors ................................ .............................................................. 29

Shunt Resistor Layout ................................................................................................ ........... 30

X1 – X2: PWM CONNECTORS .................................................................................................... 31

X3: DISCRETE I/O FOR MOTOR THERMALS ................................................................................. 32

X4: SAFETY RELAY.................................................................................................................... 33

POWER ON/OFF PROCEDURES ........................................................................................ 34

Cycling Main Bus Power ...................................................................................................... 34

Table Of Contents 4

Geo Direct PWM Amplifier

PWM FREQUENCY .............................................................................................................. 36

POWER PMAC3 DRIVE SETUP .......................................................................................... 37

KEY GATE PARAMETERS ............................................................................................................ 37

KEY CHANNEL PARAMETERS ..................................................................................................... 38

POWER PMAC2 DRIVE SETUP .......................................................................................... 40

KEY GATE PARAMETERS ............................................................................................................ 40

KEY CHANNEL PARAMETERS ..................................................................................................... 41

TURBO PMAC2 DRIVE SETUP ........................................................................................... 43

KEY GATE PARAMETERS ............................................................................................................ 43

KEY CHANNEL PARAMETERS ..................................................................................................... 44

DRIVE COMMAND STRUCTURE ...................................................................................... 46

DEFAULT MODE ......................................................................................................................... 46

ENHANCED MODE ...................................................................................................................... 47

TROUBLESHOOTING .......................................................................................................... 49

LED STATUS ............................................................................................................................. 49

7-SEGMENT DISPLAY ................................................................................................................. 49

Error Codes.......................................................................................................................... 50

APPENDIX A: CABLE/CONNECTOR KITS ...................................................................... 52

PWM CABLES ........................................................................................................................... 52

CONNECTOR KITS ...................................................................................................................... 52

CABLE KITS ............................................................................................................................... 53

Table Of Contents 5

Geo Direct PWM Amplifier

INTRODUCTION

The Geo Direct PWM amplifiers provide a 1- or 2-axis motor power using highly integrated IGBT based
power circuitry. They support a wide variety of motors and power ranges. The Geo Direct PWM
amplifiers interface directly with Delta Tau’s PMAC2 or PMAC3 style digital ASICs, typically found in
the axis expansion cards inside a Turbo or Power UMAC rack.

The Geo Direct PWM Drive takes the actual power-transistor on/off signals from PMAC, while providing
digital phase-current feedback and status for closed-loop operation. The interface to the direct PWM
amplifier is through a standard 36-pin Mini-D style cable.

The Geo Direct PWM amplifiers are capable of driving brush, brushless, or induction motors. They
operate in the 100 VAC – 480 VAC (156 – 678 DC) range at 50/60Hz, while providing full protection:

 Over voltage
 Under voltage
 Over temperature
 PWM frequency limit
 Motor over temperature input
 Short circuit (phase – phase)
 Over current
 Safety relay circuit

Introduction 6

Geo Direct PWM Amplifier

Main AC Voltage Input:
L = 115 - 230 VAC
H = 300 - 480 VAC

Number of Axes:
1 = Single Axis
2 = Dual Axis

P

Continuous/Peak Current Rating (Sinusoidal Amp rms)

G 0 0 0

0 = No Safety Relay
1 = Safety Relay

01 = 1.5 / 4.5
03 = 3 / 9
05 = 5 / 10
10 = 10 / 20
15 = 15 / 30
20 = 20 / 40
30 = 30 / 60

Description

Specifications

Operating Temperature

0 to 45°C
Above 45°C,de-rate current output by 2.5% per °C

Storage Temperature

-25°C to +70°C

Humidity

10% to 90% non-condensing

Operating Altitude

~3300 Feet (1000 m)
De-rate current output by 1.1% per additional 330 feet (100m)

Air Flow Clearances

~3 inches (76.2mm) above and below unit for air flow

Operating Environment

Pollution Degree 2 or equivalent

SPECIFICATIONS

Part Number

Environmental Specifications

Specifications 7

Geo Direct PWM Amplifier

230 VAC Drives – Single Axis

GxL051

GxL101

GxL151

GxL201

GxL301

Main Input Power

Main AC Input

[VAC rms]

110

-20%

– 240

+10%

(~87 – 264)

Rated Input Current @ 240VAC 3󰡆

[A rms]

3.3

6.6

9.9

13.2

19.8

Frequency

[Hz]

50/60 Hz

Rated Input Power

[Watts]

1315

2629

3944

5259

7888

Main Bus Capacitance

[µf]

3380

5020

6800

AC Input Phase Requirement

1Φ or 3Φ

3Φ

Output

Continuous Current Output per Axis

[A rms]

5

10

15

20

30

Peak Current Output per Axis @ 2 sec

[A rms]

10

20

30

40

60

Power Output per Axis

[Watts]

1195

2390

3585

4780

7171

Bus Protection

Nominal DC Bus

[VDC]

325

Over-Voltage Trip Level

[VDC]

410

Under-Voltage Lockout Level

[VDC]

137

Shunt Resistor

Shunt Turn-On Voltage

[VDC]

392

Shunt Turn-Off Voltage

[VDC]

372

Shunt Resistor (300 W max)

GAR78

GAR48

GAR48-3

Logic Power

Input Voltage

[VDC]

20 – 27

Input Current

[A rms] 2 Inrush Current

[A]

4

Current Feedback

Full Scale Reading

[A]

16.26

32.53

48.79

65.05

97.58

Resolution

[bits]

12

Transistor Control

Recommended PWM Frequency

[KHz]

12

10 8 Minimum Dead time

[µs]

1

Charge Pump Time (% of PWM Period)

5

Note

All values are at ambient temperature of 0 – 45°C (113 F) unless
otherwise stated.

Electrical Specifications

Specifications 8

Geo Direct PWM Amplifier

230 VAC Drives – Dual Axis

GxL012

GxL032

GxL052

GxL102

GxL152

Main Input Power

Main AC Input

[VAC rms]

110

-20%

– 240

+10%

(~87 – 264)

Rated Input Current @ 240VAC 3󰡆

[A rms]

1.98

3.96

6.6

13.2

19.8

Frequency

[Hz]

50/60 Hz

Rated Input Power

[Watts]

789

1578

2629

5259

7888

Main Bus Capacitance

[µf]

3380

5020

AC Input Phase Requirement

1Φ or 3Φ

3Φ

Output

Continuous Current Output per Axis

[A rms]

1.5 3 5

10

15

Peak Current Output per Axis @ 2 sec

[A rms]

4.5 9 10

20

30

Power Output per Axis

[Watts]

359

717

1195

2390

3585

Bus Protection

Nominal DC Bus

[VDC]

325

Over-Voltage Trip Level

[VDC]

410

Under-Voltage Lockout Level

[VDC]

137

Shunt Resistor

Shunt Turn-On Voltage

[VDC]

392

Shunt Turn-Off Voltage

[VDC]

372

Shunt Resistor (300 W max)

GAR78

GAR48

Logic Power

Input Voltage

[VDC]

20 – 27

Input Current

[A rms] 2 Inrush Current

[A]

4

Current Feedback

Full Scale Reading

[A]

7.32

14.64

16.26

32.53

48.79

Resolution

[bits]

12

Transistor Control

Recommended PWM Frequency

[KHz]

16

12

10

Minimum Dead time

[µs]

1

Charge Pump Time (% of PWM Period)

5

Note

All values are at ambient temperature of 0–45°C (113 F) unless
otherwise stated.

Specifications 9

Geo Direct PWM Amplifier

480 VAC Drives – Single Axis

GxH051

GxH101

GxH151

GxH201

GxH301

Main Input Power

Main AC Input

[VAC rms]

375

-20%

– 480

+10%

(~300 – 525)

Rated Input Current

[A rms]

3.3

6.6

9.9

13.2

19.8

Frequency

[Hz]

50/60 Hz

Rated Input Power

[Watts]

2744

5487

8231

10974

16461

Main Bus Capacitance

[µf]

845

1255

1700

AC Input Phase Requirement

1Φ or 3Φ

3Φ

Output

Continuous Current Output per Axis

[A rms]

5

10

15

20

30

Peak Current Output per Axis @ 2 sec

[A rms]

10

20

30

40

60

Power Output per Axis

[Watts]

2494

4988

7482

9977

14965

Bus Protection

Nominal DC Bus

[VDC]

678

Over-Voltage Trip Level

[VDC]

828

Under-Voltage Lockout Level

[VDC]

137

Shunt Resistor

Shunt Turn-On Voltage

[VDC]

784

Shunt Turn-Off Voltage

[VDC]

744

Shunt Resistor (300 W max)

GAR78

GAR48

GAR48-3

Logic Power

Input Voltage

[VDC]

20 – 27

Input Current

[A rms] 2 Inrush Current

[A]

4

Current Feedback

Full Scale Reading

[A]

16.26

32.53

48.79

65.05

97.58

Resolution

[bits]

12

Transistor Control

Recommended PWM Frequency

[KHz]

12

10 8 Minimum Dead time

[µs]

1.6

Charge Pump Time (% of PWM Period)

5

Note

All values are at ambient temperature of 0–45°C (113 F) unless
otherwise stated.

Specifications 10

Geo Direct PWM Amplifier

480 VAC Drives – Dual Axis

GxH012

GxH032

GxH052

GxH102

GxH152

Main Input Power

Main AC Input

[VAC rms]

375

-20%

– 480

+10%

(~300 – 525)

Rated Input Current @ 240VAC 3󰡆

[A rms]

1.98

3.96

6.6

13.2

19.8

Frequency

[Hz]

50/60 Hz

Rated Input Power

[Watts]

1646

3292

5487

10974

16461

Main Bus Capacitance

[µf]

845

1255

AC Input Phase Requirement

1Φ or 3Φ

3Φ

Output

Continuous Current Output per Axis

[A rms]

1.5 3 5

10

15

Peak Current Output per Axis @ 2 sec

[A rms]

4.5 9 10

20

30

Power Output per Axis

[Watts]

748

1496

2494

4988

7482

Bus Protection

Nominal DC Bus

[VDC]

678

Over-Voltage Trip Level

[VDC]

828

Under-Voltage Lockout Level

[VDC]

137

Shunt Resistor

Shunt Turn-On Voltage

[VDC]

784

Shunt Turn-Off Voltage

[VDC]

744

Shunt Resistor (300 W max)

GAR78

GAR48

Logic Power

Input Voltage

[VDC]

20 – 27

Input Current

[A rms] 2 Inrush Current

[A]

4

Current Feedback

Full Scale Reading

[A]

7.32

14.64

16.26

32.53

48.79

Resolution

[bits]

12

Transistor Control

Recommended PWM Frequency

[KHz]

12

10 8 Minimum Dead time

[µs]

1.6

Charge Pump Time (% of PWM Period)

5

Note

All values are at ambient temperature of 0–45°C (113 F) unless
otherwise stated.

Specifications 11

Geo Direct PWM Amplifier

RECEIVING AND UNPACKING

Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
Geo Direct PWM Drive is received, there are several things to be done immediately:

 Observe the condition of the shipping container and report any damage immediately to the

commercial carrier that delivered the drive.

 Remove the drive from the shipping container and remove all packing materials. Check all shipping

material for connector kits, documentation, or other small pieces of equipment. Be aware that some
connector kits and other equipment pieces may be quite small and can be accidentally discarded if
care is not used when unpacking the equipment. The container and packing materials may be retained
for future shipment.

 Verify that the part number of the drive received is the same as the part number listed on the purchase

order.

 Inspect the drive for external physical damage that may have been sustained during shipment and

report any damage immediately to the commercial carrier that delivered the drive.

 Electronic components in this product are design-hardened to reduce static sensitivity. However, use

proper procedures when handling the equipment.

 If the Geo Direct PWM Drive is to be stored for several weeks before use, be sure that it is stored in a

location that conforms to published storage humidity and temperature specifications.

Use of Equipment

The following restrictions will ensure the proper use of the Geo Direct PWM Drive:

 The components built into electrical equipment or machines can be used only as integral components

of such equipment.

 The Geo Direct PWM Drive must not be operated on power supply networks without a ground or

with an asymmetrical ground.

 If the Geo Direct PWM Drive is used in residential areas, or in business or commercial premises,

implement additional filtering measures.

 The Geo Direct PWM Drive may be operated only in a closed switchgear cabinet, taking into account

the ambient conditions defined in the environmental specifications.

Delta Tau guarantees the conformance of the Geo Direct PWM Drives with the standards for industrial
areas stated in this manual, only if Delta Tau components (cables, controllers, etc.) are used.

Receiving and Unpacking 12

Geo Direct PWM Amplifier

Caution

Unit must be installed in an enclosure that meets the environmental IP
rating of the end product (ventilation or cooling may be necessary to
prevent enclosure ambient from exceeding 45° C [113° F]).

MOUNTING, PHYSICAL LAYOUT

The location of the Geo Direct PWM Drive is important. Installation should be in an area that is
protected from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and other
contaminants. Exposure to these can reduce the operating life and degrade performance of the drive.

Several other factors should be carefully evaluated when selecting a location for installation:

 For effective cooling and maintenance, the Geo Direct PWM Drive should be mounted on a

smooth, non- flammable vertical surface.

 At least 76 mm (3 inches) top and bottom clearance must be provided for air flow. At least 10

mm (0.4 inches) clearance is required between units (each side).

 Temperature, humidity and Vibration specifications should also be taken in account.

The Geo Direct PWM Drive can be mounted with a traditional 4-hole panel mount, two U shape/notches
on the bottom and two pear shaped holes on top.

If multiple Geo Direct PWM Drives are used, they can be mounted side-by-side, leaving at least a 122
mm clearance between drives. This means a 122 mm center-to-center distance (0.4 inches) with the 4­axis Drives. 8- and 6-axis Geo Direct PWM Drives can be mounted side by side at 214 mm center-to­center distance (8.4 inches). It is extremely important that the airflow is not obstructed by the placement
of conduit tracks or other devices in the enclosure.
If the drive is mounted to a back panel, the back panel should be unpainted and electrically conductive to
allow for reduced electrical noise interference. The back panel should be machined to accept the
mounting bolt pattern of the drive.

The Geo Direct PWM Drive can be mounted to the back panel using four M4 screws and internal-tooth
lock washers. It is important that the teeth break through any anodization on the drive’s mounting gears
to provide a good electrically conductive path in as many places as possible. Mount the drive on the back
panel so there is airflow at both the top and bottom areas of the drive (at least three inches).

Mounting, Physical Layout 13

Geo Direct PWM Amplifier

Width

Height

Depth

Weight

3.30 in. / 84 mm

11.00 in. / 280 mm

5.80 in. / 147 mm

4.2 lbs / 1.9 kgs

GATE ENABLE

DELTA TAU

Data Systems, Inc.

24VDC INPUT (J4)

L2

AC INPUT (J1)

L1

24VDC

+24VDC

RET

L3

DISCRETE I/O (X3)

Wait 5 minutes after

N/A

(X4)

SAFETY RELAY (X4)

before servicing unit.

removing power

WARNING:

HIGH VOLTAGE!

RELAY COMM
RELAY WB
RELAY WA

RELAY N/O

NOT USED

MTR1 PTC RET

MTR2 PTC RET

24V RET

MTR1 PTC

MTR2 PTC

Residual Voltage.

WARNING!

INPUT 1

DC BUS

AMP

STATUS

(D1)

SHUNT

ENABLE 1

+5V

ENABLE 2

(X1)

PWM

INPUT 2

PWM

(X2)

EXT SHUNT (J5)

REGEN -

REGEN +

MOTOR 2 (J3)

W V U

MOTOR 1 (J2)

W V U

10.625”

(269.875 mm)

2.7”

(68.6 mm)

9.875”

(250.825 mm)

3.3”

(83.82 mm)

5.79”

(147.066 mm)

GPx012

Low Profile, Single Width, No Fan

Mounting, Physical Layout 14

Geo Direct PWM Amplifier

Width

Height

Depth

Weight

3.30 in./ 84 mm

11.00 in./ 280 mm

8.00 in./ 203 mm

5.4 lbs/ 2.45 kgs

L1

24VDC

+24VDC

24VDC INPUT (J4)

L2

AC INPUT (J1)

L3

RET

EXT SHUNT (J5)

REGEN +

REGEN -

MOTOR 2 (J3)

W V

MOTOR 1 (J2)

U W UV

GATE ENABLE

DELTA TAU

Data Systems, Inc.

DISCRETE I/O (X3)

Wait 5 minutes after

N/A

(X4)

SAFETY RELAY (X4)

before servicing unit.

removing power

WARNING:

HIGH VOLTAGE!

RELAY COMM
RELAY WB
RELAY WA

RELAY N/O

NOT USED

MTR1 PTC RET

MTR2 PTC RET

24V RET

MTR1 PTC

MTR2 PTC

Residual Voltage.

WARNING!

INPUT 1

DC BUS

AMP

STATUS

(D1)

SHUNT

ENABLE 1

+5V

ENABLE 2

(X1)

PWM

INPUT 2

PWM
(X2)

10.625”

(269.875 mm)

2.7”

(68.6 mm)

9.875”

(250.825 mm)

3.3”

(83.82 mm)

5.79”

(147.066 mm)

GPL032

Single Width, No Fan

Mounting, Physical Layout 15

Geo Direct PWM Amplifier

Width

Height

Depth

Weight

3.30 in./ 84 mm

11.00 in./ 280 mm

8.00 in./ 203 mm

5.5 lbs/ 2.5 kgs

AC INPUT (J1)

L2

L1

24VDC INPUT (J4)

+24VDC

RET

24VDC

L3

EXT SHUNT (J5)

REGEN -

REGEN +

MOTOR 2 (J3)

W V U

MOTOR 1 (J2)

W V U

GATE ENABLE

DELTA TAU

Data Systems, Inc.

DISCRETE I/O (X3)

Wait 5 minutes after

N/A

(X4)

SAFETY RELAY (X4)

before servicing unit.

removing power

WARNING:

HIGH VOLTAGE!

RELAY COMM
RELAY WB
RELAY WA

RELAY N/O

NOT USED

MTR1 PTC RET

MTR2 PTC RET

24V RET

MTR1 PTC

MTR2 PTC

Residual Voltage.

WARNING!

INPUT 1

DC BUS

AMP

STATUS

(D1)

SHUNT

ENABLE 1

+5V

ENABLE 2

(X1)

PWM

INPUT 2

PWM
(X2)

10.625”

(269.875 mm)

2.7”

(68.6 mm)

9.875”

3.3”

(83.82 mm)

5.79”

(147.066 mm)

GPx05x, GPx102, GPL101, GPH032

Single Width with Fan

Mounting, Physical Layout 16

Geo Direct PWM Amplifier

Width

Height

Depth

Weight

6.50 in./ 165 mm

11.00 in./ 280 mm

8.00 in./ 203 mm

11.5 lbs/ 5.2 kgs

5.860”

(148.844 mm)

10.625”

(269.875 mm)

8”

(203.2 mm)

6.46”

(164.084 mm)

9.875”

(250.825 mm)

GPx201, GPx301, GPx152, GPH102

Double Width, Two Fans

Mounting, Physical Layout 17

Geo Direct PWM Amplifier

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.

J1: Molex 3-pin Female

Mating: Molex 3-pin Male

L1

L2

L3

Tie Ground to

chassis stud

Pin #

Symbol

Function

Three Phase

Single Phase

DC

1

L3

Input

AC Line Phase 3

Line

DC+

2

L2

Input

AC Line Phase 2

Neutral

DC Return

3

L1

Input

AC Line Phase 1

Not connected

Not connected

DT Housing pn: 014-H00F03-049
DT Pins pn: 014-042815-0031

Molex housing pn: 42816-0312
Molex pins pn: 42815-0031

GPx201 and GPx301

J1: Molex 4-pin Female

Mating: Molex 4-pin Male

L3

L2

L1

GND

Pin #

Symbol

Function

Three Phase

Single Phase

DC

1

L3

Input

AC Line Phase 3

Line

DC+

2

L2

Input

AC Line Phase 2

Neutral

DC Return

3

L1

Input

AC Line Phase 1

Not connected

Not connected

4

GND

Common Ground

DT Housing pn: 014-H00F04-049
DT Pins pn: 014-042815-0031

Molex housing pn: 42816-0412
Molex pins pn: 42815-0031

CONNECTOR PINOUTS AND WIRING

J1: Main Bus Power Input

J1 is used to bring the main AC/DC bus power into the Geo Direct PWM Drive.

Connector PinOuts and Wiring 18

Geo Direct PWM Amplifier

Note

AC input wires must be twisted together to eliminate as much noise
radiation as possible.

Caution

Main bus power lines should run in a separate duct (at least 12” or 30

cm away) from and should never be bundled with the I/O signal,
communication, or encoder cables.

Recommended Main Bus Power Wiring/Protection

Grounding, Bonding

System grounding is crucial for proper performance of the Geo Direct PWM Drive. Panel wiring requires
that a central earth-ground (also known as ground bus bar) location be installed at one part of the panel.
The ground bus bar is usually a copper plate directly bonded to the back panel. This electrical ground
connection allows for each device within the enclosure to have a separate wire brought back to the central
earth-ground.

 Motor shields are best grounded at both ends of the cable. Motor cable shields should be

bonded to the back panel using 360-degree clamps at the point they enter or exit the panel.
Always use metal shells.

 Implement a star point ground connection scheme; so that each device wired to earth ground

has its own conductor brought directly back to the central earth ground plate (bus bar).

 Use an unpainted back panel. This allows a wide area of contact for all metallic surfaces,

reducing frequency impedances.

 Use a heavy gauge ground earth conductors made up of many strands of fine conducts.
 The Geo Direct PWM Drive is brought to the earth-ground via one or two wire(s) connected

to the M4 mounting stud(s) through a heavy gauge multi-strand conductor to the central
earth-ground.

Connector PinOuts and Wiring 19

Geo Direct PWM Amplifier

Three-Phase Main AC Power Wiring Diagram

3-PHASE

TRANSFORMER

110-240 VAC

GND L1 L2 L3

PROTECTION EARTH

FUSE

FUSE

FUSE

MAGNETIC

CONTACTOR

L1

L2

L3

GND

Shielded

And

Twisted

EMC/EMI

FILTER

Phase-Phase

Voltage

Suppressors

Single-Phase Main AC Power Wiring Diagram

GND

Neutral

Line

PROTECTION EARTH

FUSE

FUSE

MAGNETIC

CONTACTOR

L2

L3

GND

Shielded

And

Twisted

EMC/EMI

FILTER

Phase-Phase

Voltage

Suppressors

Single Phase Source

110-240 VAC

Note

If the Geo Direct PWM Drive model does not have a ground pin on
the bus input connector, then the transformer ground (GND) can be
tied to the grounding stud or chassis ground.

Connector PinOuts and Wiring 20

Geo Direct PWM Amplifier

Note

A line reactor should be installed if a transformer or reliable source of
power is not available. Line reactors suppress harmonics bi­directionally, eliminating low frequency spikes.

Transformers

Y-Y or Y- transformers should be used.

- Transformers are NOT advised. They try to balance phases dynamically, creating instances of

instability in the Geo Direct PWM Drive’s rectifying circuitry.

Fuses

High peak currents and high inrush currents demand the use of slow blow time delayed type fuses.
RK1 or RK5 (i.e. current limiting) classes are recommended. FRN-R and LPN-RK from Cooper

Bussmann or similar fuses can be used.

Magnetic Contactors

SC-E series from Fuji Electric or similar contactor can be used.

Line Filters

Line filters eliminate electromagnetic noise in a bi-directional manner (from and into the system).
T type filters are NOT recommended. PI type line filters are highly advised:

 Filter should be mounted on the same panel as the drive and power source.
 Filter should be mounted as close as possible to the power source.
 Filter should be mounted as close as possible to incoming cabinet power.

FN-258 series from Schaffner or similar filter can be used.

Voltage Suppressors

Voltage suppressors eliminate undesirable voltage spikes typically generated by the magnetic contactor or
external machinery in the plant.
This 3-phase voltage arrester from Phoenix Contact or similar suppressor can be used.

Connector PinOuts and Wiring 21

Geo Direct PWM Amplifier

Model

GPL01

2

GPL03

2

GPL05

1

GPL05

2

GPL10

1

GPL10

2

GPL15

1

GPL15

2

GPL20

1

GPL30

1

GPH01

2

GPH03

2

GPH05

1

GPH05

2

GPH10

1

GPH10

2

GPH15

1

GPH15

2

GPH20

1

GPH30

1

Fuse

(FRN/LPN

)

15

20

25

30

15

20

25

30

Wire

Gauge

14

12

10 8 14

12

25

30

Note

All ground conductors should be 8AWG minimum using wires
constructed of many strands of small gauge wire. This ensures the
lowest impedance to high-frequency noises.

Recommended Bus Power Fuse and Wire Gauge

Geo Drive electronics create a DC bus by rectifying the incoming AC lines. The current flow into the
drive is not sinusoidal but rather a series of narrow, high-peak pulses. Keep the incoming impedance
small so that these current pulses are not hindered. Conductor size, transformer size, and fuse size
recommendations may seem larger than normally expected.

Connector PinOuts and Wiring 22

Geo Direct PWM Amplifier

J4: Molex 2-pin Female

Mating: Molex 2-pin Male

+24VDC

24VDC RET

Pin #

Symbol

Function

Description

Notes

1

24VDC RET

Common

Control power return

2

+24VDC

Input

Control power input

24V+/-10%, @ 2A

DT Housing pn: 014-000F02-HSG
DT Pins pn: 014-043375-001

Molex housing pn: 44441-2002
Molex pins pn: 43375-0001

Note

This connection can be made using 16 AWG wire.

J4: 24 VDC Logic Control

J4 is used to bring the 24VDC logic power into the Geo Direct PWM Drive. This power can remain on,
regardless of the main AC/DC bus power input, allowing the digital control electronics to be active while
the main motor power control is passive.

It is recommended to use a protected power supply. In situations where the power supply is shared with
other devices, it may be desirable to insert a filter before applying it to the Geo Direct PWM Drive.

If multiple drives are driven out of the same 24VDC power supply, it is recommended that each Geo
Direct PWM Drive be wired back to the power supply terminals independently. It is also recommended
that the power supply be sized to handle the instantaneous inrush current required to start up the DC-to­DC converter action inside the Drive(s). See electrical specifications.

Connector PinOuts and Wiring 23

Geo Direct PWM Amplifier

J2 – J3: Molex 3-Pin Female

Mating: Molex 3-Pin Male

W

V

U

Tie ground and shield

to chassis stud

Symbol

Function

Description

U

Motor Output

Axis 1 Phase 1

V

Motor Output

Axis 1 Phase 2

W

Motor Output

Axis 1 Phase 3

DT Housing pn: 014-H00F03-049
DT Pins pn: 014-042815-0031

Molex housing pn: 42816-0312
Molex pins pn: 42815-0031

GPx201, GPx301

J2 – J3: Molex 4-pin Female

Mating: Molex 4-pin Male

GND

W

V

U

Symbol

Function

Description

U

Motor Output

Axis 1 Phase 1

V

Motor Output

Axis 1 Phase 2

W

Motor Output

Axis 1 Phase 3

GND

Ground

DT Housing pn: 014-H00F04-049
DT Pins pn: 014-042815-0031

Molex housing pn: 42816-0412
Molex pins pn: 42815-0031

Note

The Geo Direct PWM Drive endorses the U, V, and W nomenclature
for phases 1 through 3 respectively. Some motor manufacturers will
call them A, B, and C. Others may call them L1, L2, and L3.

Note

For wiring DC brush motors, use phases U and W, and leave V
floating.

J2 – J3: Motor Wiring

The cable wiring must be shielded and have a separate conductor connecting the motor frame back to the
Geo Direct PWM Drive’s chassis.

Connector PinOuts and Wiring 24

Geo Direct PWM Amplifier

Note

The motor thermostats are brought in through connector X3.

U

V

W

GND

Tie cable shield to

shield stud or chassis ground

Motor Cable

Motor Cable, Noise Elimination

The Geo Direct PWM Drives’ voltage output has a fundamental frequency and amplitude that

corresponds to motor speed, torque, and number of poles. The Geo Direct PWM Drive produces higher
frequency voltage components corresponding to the rise, fall and repetition rate of the fast switching
PWM signals. Subsequently, it could naturally couple current noise to nearby conductors. This electrical
coupling can be problematic, especially in noise-sensitive applications such as using high-resolution
sinusoidal encoders, or high rate of communication which could suffer from Electro-Magnetic
Interference EMI. Proper grounding, shielding, and filtering can alleviate most noise issues. Some
applications may require additional measures such as PWM edge filters. The following; are general
guidelines for proper motor cabling:

 Use a motor cable with high quality shield. A combination braid-and-foil is best.
 The motor drain wires and cable shield should be tied together, and attached at both ends

of the motor and Geo Direct PWM Drive chassis. At the motor end, make a 360 degree
connection between the shield and motor frame. If the motor has a metal shell connector, then
you can tie the shield directly to the metal shell of the mating connector. The connection between
the cable shield and the motor frame should be as short as possible). At the Geo Direct PWM
Drive end, make a 360 degree connection between the shield and the provided studs or grounded
chassis (protection earth) at the M4 mounting screws.

 The motor cable should have a separate conductor (drain wire) tying the motor frame to the

Geo Direct PWM drive’s chassis.

 Keep the motor cable as short as possible to maintain lower capacitance (desirable). A

capacitance of up to 50 PicoFarads per foot (0.3048 m), and runs of up to 200 feet (60 m) are
acceptable with 240VAC. Exceeding these lengths requires the installation of a Snubber at the
motor end or an in-series inductor at the Geo Direct PWM Drive end.

 If the grounding/shielding techniques are insufficient, you may install chokes in the motor

phases at the Geo Direct PWM Drive end such as wrapping individual motor leads several

times through a ferrite core ring. DigiKey, Micro-Metals (T400-26D), Fair Rite (2643540002), or
equivalent ferrite cores are recommended. This adds high-frequency impedance to the outgoing
motor cable thereby making it harder for high-frequency noise to leave the control area.

Connector PinOuts and Wiring 25

Geo Direct PWM Amplifier

Note

Ferrite cores are also commonly used with lower inductance motors to
enhance compatibility with the Geo Direct PWM Drive, which is
specified to a minimum of 2 mH.

 Do not use a motor wire gauge less than 14 AWG for 5/10A or 8/16A axes, and 10 AWG for

15/30A or 30/60A axes unless otherwise specified by the motor manufacturer. Refer to Motor
manufacturer and local code recommendations.

 Avoid running sensitive signal cables (i.e. encoders, small signal transducers) in the same cable

bundle as the motor cable(s).

 Install dv/dt filter, Trans-coil V1K series (Optional).

Motor Selection

The Geo Direct PWM Drive interfaces with a wide variety of motors. It supports virtually any kind of
three-phase AC/DC rotary, linear brushless, or induction motors. Using two out of the three phases, it is
also possible to drive permanent magnet DC brush motors.

Motor Inductance

Digital direct PWM control requires a significant amount of motor inductance to drive the on-off voltage

signals resulting smooth current flow with minimal ripple. Typically, servomotors’ phase inductance

ranges from 2 to 15mH. The lower the inductance, the higher is the suitable PWM frequency.
Low inductance motors (less than 2 mH) can see large ripple currents causing excessive energy waste and
overheating. Additional in-series inductance is recommended in these cases.
High inductance motors (greater than 15 mH) are slower to react and generally not considered high
performance servo motors.

Motor Resistance

Motor resistance is not typically a determining factor in the drive/system performance but rather comes
into play when extracting a desired torque or horsepower out of the motor is a requirement.

Motor Inertia

Motor inertia is an important parameter in motor sizing. Considering the reflected load inertia back to the
motor in this process is important. In general, the higher the motor inertia, the more stable the system will
inherently be. A high ratio of load to motor inertia shrinks the operating bandwidth (gain limited) of the
system, especially in applications using belt or rubber based couplings. The ratio of load to motor inertia
is typically around 3:1. Mechanical gearing is often used to reduce reflected inertial load going back to
the shaft of the motor.

Motor Speed

In some applications, it is realistically impossible to achieve the motors’ specified maximum velocity.

Fundamentally, providing sufficient voltage and proper current-loop tuning should allow attaining motor
maximum speeds. Consider feedback devices being a limitation in some cases, as well as the load
attached to the motor. In general, the maximum speed can be determined dividing the line-to-line input
voltage by the back EMF constant Kb of the motor. Input voltage headroom of about 20% is
recommended for good servo control at maximum speed.

Connector PinOuts and Wiring 26

Geo Direct PWM Amplifier

6/V

DC

 

6

V

Mπ2

3

K

60

R

R

K

T

K

T

Lπ2N

60

R

VVV

DC

derate

2

t

RPM

p

t

M

2

t

M

pp

RPM

2

BEMFR

2

L



































V

L

: Voltage Across equivalent inductor

V

R

: Voltage Across equivalent resistor

V

BEMF

: Back electromotive force voltage

R

RPM

: Required Motor Speed [rpm]

N

P

: Number of pole pairs

L

P

: Phase Inductance [H]

R

P

: Phase Resistance [Ω]

T

M

: Required Continuous Torque [N.M]

K

T

: Motor Torque Constant RMS [N.M/A]

M

derate

: De-rate parameter (typically 0.8)

 

6

V

M

3

K

D

V

R

K

F

K

F

L

D

V

VVV

DC

derate

2

t

pitch

motor

p

t

M

2

t

M

p

pitch

motor

2

BEMFR

2

L



































V

L

: Voltage across equivalent inductor

V

R

: Voltage across equivalent resistor

V

BEMF

: Back electromotive Force voltage

V

motor

: Required Motor Speed [m/s]

M

derate

: De-rate parameter (typically 0.8)

L

P

: Phase Inductance [H]

R

P

: Phase Resistance [Ω]

F

M

: Required Motor Force RMS [N]

K

t

: Motor Force Constant RMS [N/A]

D

Pitch

: Magnetic Pitch [m]

10mHLp

2OhmRp, 16Np

ps2.187Nm/AmKt

Motor Torque

Torque requirements in an application can be viewed as both instantaneous and average
Typically, the instantaneous or peak torque is the sum of machining, and frictional forces required to
accelerate the inertial load. The energy required to accelerate a load follows the equation T=JA where T is
the torque, J is the inertia, and A is the acceleration. The required instantaneous torque is then divided by
the motor torque constant (Kt) to determine the necessary peak current of the Geo Direct PWM Drive.
Headroom of about 10% is always desirable to account for miscellaneous losses (aging, wear and tear,
calculation roundups).
The continuous torque rating of the motor is bound by thermal limitation. If the motor applies more
torque than the specified threshold, it will overheat. Typically, the continuous torque ceiling is the RMS
current rating of the motor, also known as torque output per ampere of input current.

Required Bus Voltage for Speed and Torque

For a required motor Speed, and continuous Torque, the minimum DC Bus Voltage (VDC) can be
estimated by looking at the equivalent single phase circuit:

The vector sum of back EMF, voltage across resistor and inductor should be less than

For a Rotary Motor:

.

Where:

For a Linear Motor:

Where:

Example:

An application requires running a motor at 500 RPM with a continuous torque of 30 N.M. The motor
specs are as follow:

Using the equation above, a minimum bus of 233 VDC (~165VAC) is necessary to achieve the speed and
torque requirements.

,

,

Connector PinOuts and Wiring 27

Geo Direct PWM Amplifier

Caution

All applications using Geo direct PWM Drives (all configurations) are
strongly advised to install an external shunt resistor.

J5: Molex 2-Pin Female

Mating: Molex 2-Pin Male

Regen+
Regen-

Pin #

Symbol

Function

1

REGEN-

Output

2

REGEN+

Output

Molex Mating Connector p/n: 0444412002
Molex Crimper tool p/n: 63811-0400
Molex Pins p/n: 0433751001

Delta Tau Mating Connector p/n: 014-000F02-HSG
Delta Tau Pins p/n: 014-043375-001

Gxx201, Gxx301

J5: Molex 3-Pin Female

Mating: Molex 3-Pin Male

1

2

3

Regen+
Regen-

Regen+

Regen­CAP-

1

CAP-

Bus – (do NOT wire)

2

REGEN-

Output

3

REGEN+

Output

Molex Mating Connector p/n: 0428160312
Molex Crimper tool p/n: 63811-1500
Molex Pins p/n: 0433751001

Delta Tau Mating Connector p/n: 014-H00F03-049
Delta Tau Pins p/n: 014-042815-001

Caution

The external shunt resistors can reach temperatures of up to 200°C.
They must be mounted away from other devices and ideally near the
top of the cabinet, also ensure they are enclosed and cannot be touched
during operation or anytime they are hot. Sufficient warning labels
should be placed prominently nearby.

J5: External Shunt Resistor

J5 is used to wire an external shunt resistor to expel the excess power during demanding deceleration
profiles. These shunt resistors are designed to drain excess bus energy very quickly.

Connector PinOuts and Wiring 28

Geo Direct PWM Amplifier

The black wires are for the thermostat and the white wires are
for the shunt resistor.

The shunt resistor incorporates a normally closed (N.C)
thermal overload protection thermostat that opens up when the
core temperature of the resistor exceeds 225°C (450° F). This
thermostat is accessible through the two black leads. It is
important that these two leads be wired in a safety circuit to
halt operation should the resistor temperature exceed the
specified threshold.

The external shunt resistor Ohm rating range is found so that
the minimum value limits the current to the permissible
amperage, and that the maximum value limits the bus (during
deceleration) to the permissible voltage.

Safety

Logic

Circuit

Regen+

Regen-

Hot!

Note

For GPL models, the shunt circuitry turn-on threshold is 392 VDC
(~278 VAC). The turn-off threshold is 372 VDC (~263VAC).

Note

For GPH models, the shunt circuitry turn-on threshold is 784 VDC
(~555 VAC). The turn-off threshold is 744 VDC (~526VAC).

Model

Ω

W

Peak

Power(W)

Pins

Shunt

Resistor

Model

Ω

W

Peak

Power(W)

Pins

Shunt

Resistor

GPL011

48

150

3,134

2

GAR48

GPH011

78

150

7,971

2

GAR78

GPL031

48

150

3,134

2

GAR48

GPH031

78

150

7,971

2

GAR78

GPL051

22

300

6,839

2

GAR22

GPH051

78

150

7,971

2

GAR78

GPL101

22

300

6,839

2

GAR22

GPH101

48

300

12,455

2

GAR48

GPL151

10

300

15,045

2

GAR10-2

GPH151

22

300

27,175

2

GAR22

GPL201

10

300

15,045

3

GAR10-3

GPH201

15

300

39,856

3

GAR15-3

GPL301

10

300

15,045

3

GAR10-3

GPH301

15

300

39,856

3

GAR15-3

GPL012

48

150

3,134

2

GAR48

GPH012

78

150

7,971

2

GAR78

GPL032

48

150

3,134

2

GAR48

GPH032

78

150

7,971

2

GAR78

GPL052

22

300

6,839

2

GAR22

GPH052

48

150

12,455

2

GAR48

GPL102

22

300

6,839

2

GAR22

GPH102

48

150

12,455

2

GAR48

GPL152

10

300

15,045

2

GAR10-2

GPH152

22

300

27,175

2

GAR22

Recommended Shunt Resistors

Connector PinOuts and Wiring 29

Geo Direct PWM Amplifier

Shunt Resistor Layout

Connector PinOuts and Wiring 30

Geo Direct PWM Amplifier

X1 – X2: 36-Pin Mini-D Connector

Pin#

Symbol

Function

Description

Notes

1

Reserved

2

Reserved

3

ADC_CLK1+

Command

A/D converter clock

4

ADC_STB1+

Command

A/D converter strobe

5 CURRENT1A+

Feedback

Phase A actual current data

Serial digital

6

CURRENT1B+

Feedback

Phase B actual current data

Serial digital

7

AENA1+

Command

Amplifier enable

High is enable

8

FAULT1+

Feedback

Amplifier fault

High is fault

9

PWMATOP1+

Command

Phase A top cmd

High is on command

10

PWMABOT1+

Command

Phase A bottom cmd

High is on command

11

PWMBTOP1+

Command

Phase B top cmd

High is on command

12

PWMBBOT1+

Command

Phase B bottom cmd

High is on command

13

PWMCTOP1+

Command

Phase C top cmd

High is on command

14

PWMCBOT1+

Command

Phase C bottom cmd

High is on command

15

GND

Common

Reference voltage

16

+5V

Power

+5V Power

From controller

17

Reserved

18

Reserved

19

Reserved

20

Reserved

21

ADC_CLK1-

Command

A/D converter clock

22

ADC_STB1-

Command

A/D converter strobe

23

CURRENT1A-

Feedback

Phase A actual current DATA

Serial digital

24

CURRENT1B-

Feedback

Phase B actual current DATA

Serial digital

25

AENA1-

Command

Amplifier enable

Low is enable

26

FAULT1-

Feedback

Amplifier fault

Low is fault

27

PWMATOP1-

Command

Phase A top cmd

Low is on command

28

PWMABOT1-

Command

Phase A bottom cmd

Low is on command

29

PWMBTOP1-

Command

Phase B top cmd

Low is on command

30

PWMBBOT1-

Command

Phase B bottom cmd

Low is on command

31

PWMCTOP1-

Command

Phase C top cmd

Low is on command

32

PWMCBOT1-

Command

Phase C bottom cmd

Low is on command

33

GND

Common

Reference Voltage

34

+5V

Power

+5V Power

From controller

35

Reserved

36

Reserved

X1 – X2: PWM Connectors

This mini D36 connector provides the interface to the PWM output channel from the controller (PMAC).

Connector PinOuts and Wiring 31

Geo Direct PWM Amplifier

X3: Phoenix 6-Pin TB Female

Mating: Phoenix 6-pin TB Male

6
5

1 2 3 4

Pin #

Symbol

Function

Description

1

MTR1 PTC

Input

Motor 1 thermal

2

MTR 1 PTC RTN

Return

3

MTR2 PTC

Input

Motor 2 thermal

4

MTR2 PTC RTN

Return

5

24V RET

Common

6

N.C.

Not Connected

Part Type: FKMC 0,5/6-ST-2,5
Phoenix Contact p/n: 1881367

Note

If nothing is wired fault codes 5 and A are triggered respectively for
motors 1 and 2. Tie MTR PTC and MTR PTC RET to disable this
function.

Note

These contacts can be used for other general purpose safety functions
to kill motor power when desired.

X3: Discrete I/O for Motor Thermals

This 6-pin Phoenix Contact terminal block provides connectivity to low impedance 12 – 24 VDC motor
thermostat overload detection. This is a normally closed contact, in normal mode operation the Geo direct
PWM Drive expects to see 12 – 24 VDC coming into Pins #1 and #3 respectively for motors 1 and 2.

Connector PinOuts and Wiring 32

Geo Direct PWM Amplifier

X4: Phoenix Contact 4-Pin TB Female

Mating: Phoenix Contact 4-Pin TB Male

1 2 3 4

TB-4: 016-PL0F04-38P

Pin #

Symbol

Function

Description

1

RELAY WA

Input

Safety Input 24V

2

RELAY WB

Input

Safety Input Return

3

RELAY COM

Common

4

RELAY N/O

Relay

Normally Open

Note

There are no software configurable parameters to enable/disable or
otherwise manipulate the Safety Input functionality.

X4: Safety Relay

This 4-pin Phoenix Contact Terminal Block provides connectivity to a safety relay input, and

If the Safety Relay option is installed, there is a dedicated Safety Input @24VDC (user supplied). When
the Safety Input is asserted, then the hardware will cut the 20V power to the gate driver which will
prevent all output from the power stage (the Gate Enable LED will turn off).

If the user doesn’t need to use the Safety Input and the drive has it installed, the user has to bypass it by

wiring a 24VDC input to WA (pin 1) and the return (24VDC) to WB (pin 2).

Connector PinOuts and Wiring 33

Geo Direct PWM Amplifier

Caution

Changing the ADC clock on the controller (PMAC) side requires
recycling power on the Geo Direct PWM Drive.

Caution

Main bus power should NEVER be applied if the 24V logic power is
NOT applied.

Caution

Make sure that no motor commands (e.g. phasing, jogging, or open
loop) are being executed by or sent by the controller (PMAC) at the
time of applying main bus power.

Caution

Main bus power should NEVER be applied or cycled if the 24V logic
power is NOT applied.

Caution

Do NOT to cycle main bus power frequently and rapidly within a few
seconds.

POWER ON/OFF PROCEDURES

 Powering up the Geo Direct PWM Drive must obey the following procedure:

1. Make sure that PMAC is powered up, and that the PWM cable is connected

2. Apply 24V logic power to the Geo Direct PWM Drive

3. Wait a minimum of ~3 seconds

4. Apply main bus power

5. Wait ~ 3seconds before enabling the drive (motor)

 Powering down the Geo Direct PWM Drive must obey the following procedure:

1. Disconnect main bus power

2. Wait a minimum of ~5 seconds

3. Disconnect 24V logic power

Cycling Main Bus Power

Cycling main bus power must obey the following warning restrictions. A delay should be inserted in
either software, hardware or both to ensure that these restrictions are conformed.

Power On/Off Procedures 34

Geo Direct PWM Amplifier

Caution

Main bus power should Not be recycled within a time range of about ~
5 minutes.

Note

With the GPx201 and GPx301 models, it is possible to use the
external shunt resistor as a bleeding resistor to avoid the downtime
delay. Contact Delta Tau for details.

If the main bus power is removed (i.e. E-Stop condition), it is necessary to keep it off until the Bus LED
is turned off or dimmed completely. About 5-6 minutes. This ensures that the capacitors’ voltage has
dropped below 97 VAC and that the soft start circuitry has been armed.

Power On/Off Procedures 35

Geo Direct PWM Amplifier















;













=>





󰇛󰇜











Note

Systems with very low time constants (needing higher PWM
frequencies) may require the addition of chokes or in-line inductive
loads to obtain a good current loop bandwidth.

Note

The maximum PWM frequency for each model of the Geo Direct
PWM Drives is listed in the electrical specifications.

PWM FREQUENCY

The minimum PWM frequency of a system is based on the time constant of the motor. In general, the
lower the time constant, the higher the PWM frequency should be. The motor time constant is calculated
dividing the motor inductance by the resistance (phase-phase). The minimum PWM Frequency is then
determined using the following relationship:

Example: A motor with an inductance of 6.1 millihenries (mH), and a resistance of 11.50 Ohms (
phase-phase) yields a time constant of 0.53 milliseconds. Therefore, the minimum PWM Frequency is
about ~6000Hz (6.0 KHz).

PWM Frequency 36

Geo Direct PWM Amplifier

Caution

The ADC Strobe Word, Gate3[i].AdcAmpStrobe, must be set to
$FFFFFC for proper operation in default mode. Failure to do so could

result in damage to the amplifier.

Structure Element

Description

Typical/Default

Notes

Sys.WpKey

PMAC3 Write Protection

0

$AAAAAAAA to
allow writing

Gate3[i].PhaseFreq

Phase Frequency

9000

9.00 KHz Phase

Gate3[i].ServoClockDiv

Servo clock divider

3

2.25 KHz Servo

Gate3[i].HardwareClockCtrl

Hardware Clocks

$55555403

2.50 MHz ADC Clock

Sys.ServoPeriod

=1000*(Gate3[i].ServoClockDiv+1)/Gate3[i].PhaseFreq

Sys.PhaseOverServoPeriod

= 1 /(Gate3[i].ServoClockDiv + 1)

Gate3[i].AdcAmpStrobe

ADC Strobe Word

$FFFFFC

Default Mode

Gate3[i].Chan[j].OutputMode

Output mode

0

PWM output

Note

Sys.ServoPeriod and Sys.PhaseOverServoPeriod must be re-computed
if the main clocks (Phase, and Servo) are changed.

Note

The above settings require a Save and a Reset ($$$) on the PMAC
side in order to take effect.

POWER PMAC3 DRIVE SETUP

Key Gate Parameters

The following Gate-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

Power PMAC3 Drive Setup 37

Geo Direct PWM Amplifier

Structure Element

Description

Typical/Default

Notes

Gate3[i].Chan[j].PwmFreqMult

PWM Frequency

0

4.5 KHz PWM

Motor[x].ServoCtrl

Activate channel

1

Motor[x].PhaseCtrl

Commutation enable

1

With PackInData = 0

Motor[x].PhaseOffset

Commutation Phase angle

-683

-512 for Brush Motor

Motor[x].pAdc

Current Feedback Address

Pointer

Initiated by the firmware

Motor[x].AdcMask

ADC Mask

$FFF00000

Motor[x].PwmSf

PWM Scale Factor

= 0.9 * 16384

Voltage limiter

Motor[x].I2TSet

Continuous current limit

To be

Computed

Motor I2T protection

Motor[x].I2TTrip

Integrated current limit

Motor I2T protection

Motor[x].MaxDac

Maximum command output

Current limiter

Motor[x].IiGain

Integral

Current Loop

Tuning

Motor[x].IpfGain

Forward path proportional

Motor[x].IpbGain

Back-path proportional

Note

A Save and a Reset ($$$) is necessary for these parameters to take
effect.

Key Channel Parameters

The following channel-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

 Motor[x].PwmSf is calculated based on the motor and bus voltages

If the Motor Rated Voltage is greater than > Bus Voltage:
Motor[x].PwmSf = 0.9 * 16384

If the Motor Rated Voltage is less than < Bus Voltage:
Motor[x].PwmSf = 0.9 * 16384 * V

Motor/VBus

 I2T Settings Example:

GLOBAL ContCurrent = 3; // RMS Continuous Current Limit [Amps] -User Input
GLOBAL PeakCurrent = 9; // RMS Instantaneous Current Limit [Amps] -User Input
GLOBAL MaxADC = 16.26; // =16.26 for 5/10A -User Input, see electrical specs
GLOBAL I2TOnTime = 2; // Time allowed at peak Current [sec] -User Input

Motor[1].MaxDac = (PeakCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tSet = (ContCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2tSet,2)) * I2TOnTime

Power PMAC3 Drive Setup 38

Geo Direct PWM Amplifier

Caution

Trying to enable the Geo Direct PAM Drive with misreported current
data could result in damaging the electronics of the Drive.

Note

Complete closed loop setup procedure can be found in the pertaining
hardware axis-interface, and Power PMAC User/Software Reference
manuals.

At this point of the drive-motor setup, and before tuning the current loop, a couple of sanity checks can be
performed, making sure that:

 Enabling the drive with a #nOut0 command does not produce any faults in neither the drive nor the

PMAC.

 The current sensors are operating properly by monitoring the current measurements (i.e.

Motor[x].IaMeas, and Motor[x].IbMeas). These should be reporting values fluctuating around 0.
Frozen values, or values greater than 1000 indicate that the current sensors are not functioning
properly, or a software parameter is incorrect (i.e. Gate3[i].AdcAmpStrobe, Motor[x].PhaseOffset,
Motor[x].AdcMask)

Subsequently, the current loop (Motor[x].IiGain, Motor[x].IpfGain, and Motor[x].IpbGain) can be tuned
using the tuning utility in the IDE software. Commutation, encoder feedback, phasing, and position loop
tuning can then be configured for closed loop control.

Power PMAC3 Drive Setup 39

Geo Direct PWM Amplifier

Caution

The ADC Strobe Word, Gate1[i].AdcStrobe, must be set to $3FFFFF
for proper operation in default mode. Failure to do so could result in
damage to the amplifier.

Structure Element

Description

Typical/Default

Notes

Gate1[i].PwmPeriod

PWM Frequency

6527

4.50 KHz PWM

Gate1[i].PhaseClockDiv

Phase clock divider

0

9.00 KHz Phase

Gate1[i].ServoClockDiv

Servo clock divider

3

2.25 KHz Servo

Gate1[i].HardwareClockCtrl

Hardware Clocks

2258

2.50 MHz ADC Clock

Sys.ServoPeriod

= 1000 * (Gate1[4].ServoClockDiv + 1) / 18000

Sys.PhaseOverServoPeriod

= 1 / (Gate1[4].ServoClockDiv + 1)

Gate1[i].AdcStrobe

ADC Strobe Word

$3FFFFF

Default Mode

Gate1[i].Chan[j].OutputMode

Output mode

0

PWM output

Note

Sys.ServoPeriod and Sys.PhaseOverServoPeriod must be re-computed
if the main clocks (Phase, PWM, and Servo) are changed.

Note

The above settings require a Save and a Reset ($$$) on the PMAC
side in order to take effect.

POWER PMAC2 DRIVE SETUP

Key Gate Parameters

The following Gate-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

Power PMAC2 Drive Setup 40

Geo Direct PWM Amplifier

Structure Element

Description

Typical/Default

Notes

Motor[x].ServoCtrl

Activate channel

1

Motor[x].PhaseCtrl

Commutation enable

1

Motor[x].PhaseOffset

Commutation Phase angle

683

512 for Brush Motor

Motor[x].pAdc

Current Feedback Address

Pointer

Initiated by the firmware

Motor[x].AdcMask

ADC Mask

$FFF000

Motor[x].PwmSf

PWM Scale Factor

= 0.9 * Gate1[i].PwmPeriod

Voltage limiter

Motor[x].I2TSet

Continuous current limit

To be

computed

Motor I2T protection

Motor[x].I2TTrip

Integrated current limit

Motor I2T protection

Motor[x].MaxDac

Maximum command output

Current limiter

Motor[x].IiGain

Integral gain

Current Loop

Tuning

Motor[x].IpfGain

Forward path proportional gain

Motor[x].IpbGain

Back-path proportional gain

Note

A Save and a Reset ($$$) is necessary for these parameters to take
effect.

Key Channel Parameters

The following channel-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

 Motor[x].PwmSf is calculated based on the motor and bus voltages

If the Motor Rated Voltage is greater than > Bus Voltage:
Motor[x].PwmSf = 0.9 * Gate1[i].PwmPeriod

If the Motor Rated Voltage is less than < Bus Voltage:
Motor[x].PwmSf = 0.9 * Gate1[i].PwmPeriod * V

Motor/VBus

 I2T Settings Example:

GLOBAL ContCurrent = 3; // RMS Continuous Current Limit [Amps] -User Input
GLOBAL PeakCurrent = 9; // RMS Instantaneous Current Limit [Amps] -User Input
GLOBAL MaxADC = 16.26; // = 16.26 for 5/10A -User Input, see electrical specs
GLOBAL I2TOnTime = 2; // Time allowed at peak Current [sec] -User Input

Motor[1].MaxDac = (PeakCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tSet = (ContCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2tSet,2)) * I2TOnTime

Power PMAC2 Drive Setup 41

Geo Direct PWM Amplifier

Caution

Trying to enable the Geo Direct PAM Drive with misreported current
data could result in damaging the electronics of the Drive.

Note

Complete closed loop setup procedure can be found in the pertaining
hardware axis-interface, and Power PMAC User/Software Reference
manuals.

At this point of the drive-motor setup, and before tuning the current loop, a couple of sanity checks can be
performed, making sure that:

 Enabling the drive with a #nOut0 command does not produce any faults in neither the drive nor the

PMAC.

 The current sensors are operating properly by monitoring the current measurements (i.e.

Motor[x].IaMeas, and Motor[x].IbMeas). These should be reporting values fluctuating around 0.
Frozen values, or values greater than 1000 indicate that the current sensors are not functioning
properly, or a software parameter is incorrect (i.e. Gate1[i].AdcStrobe, Motor[x].PhaseOffset,
Motor[x].AdcMask)

Subsequently, the current loop (Motor[x].IiGain, Motor[x].IpfGain, and Motor[x].IpbGain) can be tuned
using the tuning utility in the IDE software. Commutation, encoder feedback, phasing, and position loop
tuning can then be setup for closed loop control.

Power PMAC2 Drive Setup 42

Geo Direct PWM Amplifier

Caution

The ADC Strobe Word, I7m06 ($C014 in Non-Turbo PMAC), must
be set to $3FFFFF for proper operation in default mode. Failure to set
I7m06 equal to $3FFFFF could result in damage to the amplifier.

Turbo

Non-Turbo

Description

Typical/Default

Notes

I7m00

I900

Max phase clock

6527

4.50 KHz PWM

I7m01

I901

Phase clock divider

0

9.00 KHz Phase

I7m02

I902

Servo clock divider

3

2.25 KHz Servo

I7m03

I903

Hardware Clocks

2258

2.50 MHz ADC Clock

I10

I10

Servo interrupt time

3713991

I7m06

X:$C014

ADC Strobe Word

$3FFFFF

Default Mode

I7mn6

I9n6

Output mode

0

PWM output

Note

Non-Turbo ADC Strobe words are at addresses X:$C014 for axis 1-4
(1st PMAC2 Gate), and X:$C024 for axis 5-8 (2nd PMAC2 Gate).

Note

The servo interrupt time I10 must be re-computed if the main clocks
(Phase, PWM, and Servo) are changed.

Note

The above settings require a Save and a Reset ($$$) on the PMAC
side in order to take effect.

TURBO PMAC2 DRIVE SETUP

Key Gate Parameters

The following Gate-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

Turbo PMAC2 Drive Setup 43

Geo Direct PWM Amplifier

Variable

Description

Typical/Default

Notes

Ixx00

Activate channel

1

Ixx01

Commutation enable

1

Ixx72

Commutation Phase angle

683

512 for Brush Motor

Ixx82

Current Feedback Address

Address Location

Found in the SRM Manual

Ixx84

ADC Mask

$FFF000

Ixx66

PWM Scale Factor

= 0.9 * I7m00

Voltage limiter

Ixx57

Continuous current limit

To be

computed

Motor I2T protection

Ixx58

Integrated current limit

Motor I2T protection

Ixx69

Maximum command output

Current limiter

Ixx61

Integral gain

Current Loop

Tuning

Ixx62

Forward path proportional gain

Ixx76

Back-path proportional gain

Note

A Save and a Reset ($$$) is necessary for these parameters to take
effect.

Channel 1

$078206

Channel 5

$078306

Channel 2

$07820E

Channel 6

$07830E

Channel 3

$078216

Channel 7

$078316

Channel 4

$07821E

Channel 8

$07831E

Key Channel Parameters

The following channel-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:

 Ixx82 Turbo PMAC2 UMAC addresses (first 8 channels)

 Ixx66 is calculated based on the motor and bus voltages

If the Motor Rated Voltage is greater than > Bus Voltage: Ixx66 = 0.9 * I7000
If the Motor Rated Voltage is less than < Bus Voltage: Ixx66 = 0.9 * I7000 * V

Motor/VBus

Turbo PMAC2 Drive Setup 44

Geo Direct PWM Amplifier

Caution

Trying to enable the Geo Direct PAM Drive with misreported current
data could result in damaging the electronics of the Drive.

Note

Complete closed loop setup procedure can be found in the pertaining
hardware axis-interface, and Turbo User/Software reference manuals.

 I2T Settings, Ixx57, Ixx58, and Ixx69 Example:

#define ServoClk 2.258 ; Servo Clock [KHz]—computed in Dominant Clock Settings Section
#define ContCurrent 3 ; Continuous Current Limit [Amps] -User Input
#define PeakCurrent 9 ; Instantaneous Current Limit [Amps] -User Input
#define MaxADC 16.26 ; =16.26 for 5/10A -User Input, see electrical specs
#define I2TOnTime 2 ; Time allowed at peak Current [sec] -User Input

I157 = INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169 = INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158 = INT((I169*I169- I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))

At this point of the drive-motor setup, and before tuning the current loop, a couple of sanity checks can be
performed, making sure that:

 Enabling the drive with a #nO0 command does not produce any faults in neither the drive nor PMAC.
 The current sensors are operating properly by monitoring the current measurements (i.e. Mxx05, and

Mxx06). These should be reporting value fluctuating around 0. Frozen values, or values greater than
1000 indicate that the current sensors are not functioning properly, or a software parameter is
incorrect (i.e. I7m06, Ixx72, Ixx84)

Subsequently, the current loop (Ixx61, Ixx62, and Ixx76) can be tuned using the tuning utility in the
Pewin32Pro2 software. Commutation, encoder feedback, phasing, and position loop tuning can then be
setup for closed loop control.

Turbo PMAC2 Drive Setup 45

Geo Direct PWM Amplifier

Caution

Failure to set the ADC strobe word correctly could result in damaging
the drive’s electronics.

ADC A Data Register

23

22

21

20

19

18

17

16

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Phase A Current Measurement

Global and Axis Faults

PMAC Type

ADC Strobe Word

Value

ADC A data register

Non-Turbo

WX:$C014

$3FFFFF Y:$C005

Turbo

I7m06

$3FFFFF Mxx05

Power PMAC2

Gate1[i].AdcStrobe

$3FFFFF

Gate1[i].Chan[j].Adc[0]

Power PMAC3

Gate3[i].AdcAmpCtrl

$FFFFFC02

Gate3[i].Chan[j].AdcAmp[0]

Note

In normal mode operation, the ADC Strobe word has to be set for each
Servo IC which has a PWM Drive attached to it.

Note

The ADC Strobe word can be saved with the SAVE command. It will
be set automatically on the next power-up or normal reset.

Note

In default mode, ADC B does not contain any significant data.

DRIVE COMMAND STRUCTURE

Default Mode

In default mode, the Geo Direct PWM Drive returns phases A and B current measurements as well as
global and axis faults.

The global and axes faults are in the lower 12 bits of ADC A, whereas the current measurements are in
the upper 12bits of ADC A:

The ADC Strobe word must be set up properly for the data to come back correctly (and proper operation):

Drive Command Structure 46

Geo Direct PWM Amplifier

Caution

The drive must be put in enhanced mode before accessing the
additional functions.

Caution

Once the drive is set up for enhanced mode, do not set it back to
default mode until the next logic power cycle.

PMAC Type

ADC Strobe Word

Enhanced

mode

Additional Functions

IGBT Temp

Bus Voltage

PWM For

Brush

Line

Monitor Off

Non-Turbo

WX:$C014

$C00003

$800003

$880003

$A00013

$A00023

Turbo

I7m06

Power PMAC2

Gate1[i].AdcStrobe

Power PMAC3

Gate3[i].AdcAmpCtrl

$C0000204

$80000204

$88000204

$A0001204

$A0002204

Note

Once in enhanced mode, the drive’s communication will remain in

enhanced mode until the next logic power cycle.

Enhanced Mode

Enhanced mode enables access to and control of additional functions:

 Bus voltage reading
 IGBT temperature(s) reading
 Set PWM control for brush motor
 Turn Line Monitor off

With Power PMAC3, setting the drive to enhanced mode requires the following motor setting changes:

 Motor[x].PhaseCtrl = 4
 Gate3[i].Chan[j].PackInData = 0
 Gate3[i].Chan[j].PackOutData = 0

Drive Command Structure 47

Geo Direct PWM Amplifier

PMAC Type

ADC B data register

Non-Turbo

Y:$C006

Turbo

Mxx06

Power PMAC2

Gate1[i].Chan[j].Adc[1]

Power PMAC3

Gate3[i].Chan[j].AdcAmp[1]

ADC B Data Register

23

22

21

20

19

18

17

16

15

14

13

12

11

10 9 8 7 6 5 4 3 2 1 0

Phase B Current Measurement

Enhanced Mode Data

Note

Subsequent additional information command code must follow the
same procedure with the drive always in enhanced mode until the next
logic power cycle.

And the data is found in the lower 12 bits of ADC B for each axis:

This is a read-modify-write register, once the drive is set up for enhanced mode, the following procedure
can be followed to access additional information:

 Read the ADC B data register (i.e. query it in the terminal window)
 Set the strobe word to the desired command code of a function (i.e. Reading Bus Voltage)
 Read the lower 12 bits of ADC B to access the reported bus voltage value

Drive Command Structure 48

Geo Direct PWM Amplifier

LED

Description

ENABLE 1

 Green when axis 1 is enabled
 Red when axis 1 is not enabled
 Unlit does not necessarily mean a faulty condition

ENABLE 2

 Green when axis 2 is enabled
 Red when axis 2 is not enabled
 Unlit does not necessarily mean a faulty condition

BUS

 Red when bus is connected (capacitors are charged)
 Unlit when bus is not connected (capacitors fully discharged)

SHUNT

 Yellow when the drive is dissipating power
 Unlit when the drive is not dissipating (most cases)

+5V

 Green when 5 VDC power is present
 Unlit indicates that the 5VDC is not present (failure condition)

GATE ENABLE

 Green when the gate is enabled
 Unlit when the gate is disabled

The Global and Axis faults are interpreted by the Amplifier processor(s) and sent to the 7­segment 3-character scrolling display (D1 amp status).

The blinking dot is the heartbeat of the drive processor(s) and is always active in normal
mode operation. It is turned off or not blinking when the drive is in reset mode (reloading
firmware) or has no logic power.

Note

The Geo Drive disables (kills the output to the motors) automatically
at the occurrence of a fault.

TROUBLESHOOTING

LED Status

7-Segment Display

The display is blank if there are no axes enabled, and no faults. It shows a 0 if any of the axes are enabled,
this is the normal mode operation. Not all errors reflect a message back to the PMAC. In these cases, the
error is only sent to the Status Display.

The response of the Geo Drive to an error depends on the error's severity. There are two levels of severity:

 Warnings, simply called errors and not considered faults. They do not disable operation.
 Fatal errors which disable the drive’s output to the motors, occasionally communication to PMAC

Troubleshooting 49

Geo Direct PWM Amplifier

Display

Code

Error / Fault

Description

Description

AXIS 1

AXIS 2

Over Current

RMS

Indicates that the I2T model, hard-coded in the
amplifier processor projecting current output over
time, has been violated within the operating current
specification range of the amplifier.

Over Current

Peak

Indicates that an excessive amount of current
(exceeding the specs of the amplifier) has been
detected through the motor leads. This could be due
to a shorted motor lead or a current/voltage surge.

PWM

Over Frequency

Indicates that the PWM frequency has exceeded the
permissible limit. This can occur if the clock settings
are incorrect, or the presence of a bad PWM cable.

IGBT

Over Temperature

Indicates excessive IGBT temperature (close to 75
ºC) has been detected. Power off the drive and let it
cool down.
Check cabinet ventilation, and fan functionality.
Check for blocked airflow.

Motor

Thermal Relay

Indicates that the normally closed Motor Thermal
contact (connector X3) is in open circuit.

Error Codes

Troubleshooting 50

Geo Direct PWM Amplifier

Display

Code

Error / Fault

Description

Troubleshooting

Notes

GLOBAL

Normal Mode

Operation

 No faults reported

Over

Voltage

 The bus voltage has exceeded the permissible threshold:

420 VAC for GPL Drives
820 VAC for GPH Drives

 Make sure that the external shunt is connected properly.
 Make sure that the AC input is not excessively over spec.

Under

Voltage

 No bus voltage input.
 Bus voltage has dropped below the permissible threshold (97 VAC).

Shunt

Regulator

 Shunt resistor leads or pins shorted.
 Internal shunt regulator resistor failure.

Ground

Short

 Motor leads shorted.
 Shunt resistor leads or pins shorted.

Gate

Driver

 Motor leads shorted
 Shunt leads or pins shorted
 Gate driver (internal) failure.

Line

Monitor

 AC line voltage is low or not present.

Troubleshooting 51

Geo Direct PWM Amplifier

Option

Cable Length

Part Number

CABPWM-1

24” (600 mm)

200-602739-024X

CABPWM-2

36” (900 mm)

200-602739-036x

CABPWM-3

60” (1.5 m)

200-602739-060x

CABPWM-4

72” (1.8 m)

200-602739-072x

CABPWM-5

84” (2.1 m)

200-602739-084x

CABPWM-6

144” (3.6 m)

200-602739-144x

Note

PWM cables are compatible with all models of the Geo Direct PWM
Drives.

Part Number

Model

Description

CONKIT1A

Gxx012xx
Gxx032xx
Gxx052xx

GxL102xx

Molex Connectors for 2 axes,

AC input, and 24 VDC input.

CONKIT1C

Gxx051xx

Molex Connectors for 1 axis,
AC input, and 24 VDC input.

CONKIT2A

GxH102xx

Gxx152xx

Molex Connectors for 2 axes,

AC input, and 24 VDC input.

CONKIT2C

Gxx101xx
Gxx151xx

Molex Connectors for 1 axis,
AC input, and 24 VDC input.

CONKIT4A

Gxx201xx
Gxx301xx

Molex Connectors for 1 axis

(4 pins), AC input (4 pins),

and 24 VDC input.

Note

The connector kits require Molex Crimping tools for proper
installation.

APPENDIX A: CABLE/CONNECTOR KITS

PWM Cables

Connector Kits

Appendix D: Compatible Motors 52

Geo Direct PWM Amplifier

Part Number

Model

Description

CABKIT1B

Gxx012xx
Gxx032xx
Gxx052xx

GxL102xx

Molex mating connectors pre-crimped for 2 axes:

 3 ft. AC Input Cable
 3 ft. 24 VDC Power Cable
 10 ft. shielded Motor Cables

CABKIT1C

Gxx051xx

Molex mating connectors pre-crimped for 1 axis:

 3 ft. AC Input Cable
 3 ft. 24 VDC Power Cable
 10 ft. shielded Motor Cables

CABKIT2B

GxH102xx

Gxx152xx

Molex mating connectors pre-crimped for 2 axes:

 3 ft. AC Input Cable
 3 ft. 24 VDC Power Cable
 10 ft. shielded Motor Cables

CABKIT2D

Gxx101xx
Gxx151xx

Molex mating connectors pre-crimped for 1 axis:

 3 ft. AC Input Cable
 3 ft. 24 VDC Power Cable
 10 ft. shielded Motor Cables

CABKIT4B

Gxx201xx
Gxx301xx

Molex mating connectors pre-crimped for 1 axis:

 3 ft. AC Input Cable (4 pins)
 3 ft. 24 VDC Power Cable
 10 ft. shielded Motor Cables (4 pins)

G14AWG

Gxx051xx
Gxx101xx
Gxx151xx
Gxx012xx
Gxx032xx
Gxx052xx
Gxx102xx
Gxx152xx

Extended cable length. Per foot per cable for the CABKITs.

Customer must specify length.

Note

Cable kits have terminated cables on the drive end and flying leads on
the other.

Cable Kits

Appendix D: Compatible Motors 53