Delta Tau GEO PMAC User Manual
^1 USER MANUAL
^2 Geo PMAC Drive
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
^3 Programmable Servo Amplifier
^4 500-603704-xUxx
^5 April 28, 2010
Copyright Information
© 2010 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: (818) 717-5656
Fax: (818) 998-7807
Email: support@deltatau.com
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.
Safety Instructions
Qualified personnel must transport, assemble, install, and maintain this equipment. Properly
qualified personnel are persons who are familiar with the transport, assembly, installation, and
operation of equipment. The qualified personnel must know and observe the following standards
and regulations:
IEC 364 resp. CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Incorrect handling of products can result in injury and damage to persons and machinery. Strictly
adhere to the installation instructions. Electrical safety is provided through a low-resistance earth
connection. It is vital to ensure that all system components are connected to earth ground.
This product contains components that are sensitive to static electricity and can be damaged by
incorrect handling. Avoid contact with high insulating materials (artificial fabrics, plastic film,
etc.). Place the product on a conductive surface. Discharge any possible static electricity build-up
by touching an unpainted, metal, grounded surface before touching the equipment.
Keep all covers and cabinet doors shut during operation. Be aware that during operation, the
product has electrically charged components and hot surfaces. Control and power cables can
carry a high voltage, even when the motor is not rotating. Never disconnect or connect the
product while the power source is energized to avoid electric arcing.
After removing the power source from the equipment, wait at least 10 minutes before touching or
disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors,
contacts, screw connections). To be safe, measure the electrical contact points with a meter before
touching the equipment.
The following text formats are used in this manual to indicate a potential for personal injury or
equipment damage. Read the safety notices in this manual before attempting installation,
operation, or maintenance to avoid serious bodily injury, damage to the equipment, or operational
difficulty.
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 user’s understanding or use of
the equipment. It follows the discussion of interest.
REVISION HISTORY
REV. DESCRIPTION DATE CHG APPVD
1 ADDED SAFETY RELAY PN INFO, P. 38 04/28/10 CP S.MILICI
Geo PMAC Drive User Manual
Table of Contents
Copyright Information................................................................................................................................................i
Operating Conditions .................................................................................................................................................i
Safety Instructions......................................................................................................................................................i
INTRODUCTION .......................................................................................................................................................1
User Interface ............................................................................................................................................................1
Geo MACRO Drives .............................................................................................................................................1
Geo Direct-PWM Drives ......................................................................................................................................1
Geo PMAC Drives ................................................................................................................................................2
Feedback Devices......................................................................................................................................................3
Compatible Motors....................................................................................................................................................3
Maximum Speed....................................................................................................................................................3
Torque...................................................................................................................................................................4
Motor Poles ..........................................................................................................................................................4
Motor Inductance..................................................................................................................................................5
Motor Resistance ..................................................................................................................................................5
Motor Back EMF ..................................................................................................................................................5
Motor Torque Constant ........................................................................................................................................5
Motor Inertia ........................................................................................................................................................5
Motor Cabling ......................................................................................................................................................5
SPECIFICATIONS .....................................................................................................................................................7
Part Number ..............................................................................................................................................................7
Geo PMAC Feedback Options..................................................................................................................................8
Package Types...........................................................................................................................................................8
Electrical Specifications............................................................................................................................................9
240VAC Input Drives............................................................................................................................................9
480VAC Input Drives..........................................................................................................................................11
Environmental Specifications..................................................................................................................................13
Recommended Fusing and Wire Gauge..................................................................................................................13
RECEIVING AND UNPACKING...........................................................................................................................15
Use of Equipment....................................................................................................................................................15
MOUNTING ..............................................................................................................................................................17
Low Profile .........................................................................................................................................................18
Single Width........................................................................................................................................................19
Double Width......................................................................................................................................................20
CONNECTIONS .......................................................................................................................................................21
System (Power) Wiring...........................................................................................................................................21
Wiring AC Input, J1 ................................................................................................................................................23
Wiring Earth-Ground ..............................................................................................................................................23
Wiring 24 V Logic Control, J4................................................................................................................................24
Wiring the Motors ...................................................................................................................................................24
J2: Motor 1 Output Connector Pinout...............................................................................................................24
J3: Motor 2 Output Connector Pinout (Optional).............................................................................................24
Wiring the Motor Thermostats................................................................................................................................25
Wiring the Regen (Shunt) Resistor J5.....................................................................................................................25
J5: External Shunt Connector Pinout................................................................................................................26
Shunt Regulation.................................................................................................................................................27
Minimum Resistance Value.................................................................................................................................27
Maximum Resistance Value................................................................................................................................27
Energy Transfer Equations.................................................................................................................................27
Bonding...................................................................................................................................................................30
Filtering...................................................................................................................................................................30
CE Filtering........................................................................................................................................................30
Table of Contents i
Geo PMAC Drive User Manual
Input Power Filtering .........................................................................................................................................30
Motor Line Filtering...........................................................................................................................................31
I/O Filtering........................................................................................................................................................31
CONNECTORS.........................................................................................................................................................33
Connector Pinouts ...................................................................................................................................................33
X1: Encoder Input 1...........................................................................................................................................33
X2: Encoder Input 2...........................................................................................................................................34
X3: General Purpose I/O...................................................................................................................................35
X4: Safety Relay (Optional)...............................................................................................................................38
X5: USB 2.0 Connector .....................................................................................................................................38
X6: RJ45, Ethernet Connector...........................................................................................................................38
X7: Analog I/O (Optional, Option 3/4/5)...........................................................................................................39
X8: S. Encoder 1................................................................................................................................................39
X9: S. Encoder 2................................................................................................................................................41
X10: Discrete I/O...............................................................................................................................................42
J1: AC Input Connector Pinout .........................................................................................................................45
J2: Motor 1 Output Connector Pinout...............................................................................................................45
J3: Motor 2 Output Connector Pinout (Optional).............................................................................................45
J4: 24VDC Input Logic Supply Connector ........................................................................................................45
J5: External Shunt Connector Pinout................................................................................................................45
SETTING UP THE ENCODERS.............................................................................................................................46
Setting up Quadrature Encoders..............................................................................................................................46
Signal Format .....................................................................................................................................................46
Hardware Setup..................................................................................................................................................46
Setting up SSI Encoders..........................................................................................................................................47
Hardware Setup..................................................................................................................................................47
Software Setup ....................................................................................................................................................48
Setting up Sinusoidal Encoders...............................................................................................................................52
Encoder Connections..........................................................................................................................................52
Hardware Setup..................................................................................................................................................52
Software Setup ....................................................................................................................................................53
Principle of Operation........................................................................................................................................54
Setting up EnDat Interface ......................................................................................................................................56
Hardware Setup..................................................................................................................................................56
Software Setup ....................................................................................................................................................57
Ix10 Setup for Geo PMAC drive in use with EnDat............................................................................................57
Ix81 Setup for Geo PMAC drive in use with EnDat............................................................................................57
Setting up Resolvers................................................................................................................................................59
Hardware Setup..................................................................................................................................................59
Software Setup ....................................................................................................................................................60
I1010 Resolver Excitation Phase Offset ......................................................................................................61
I1011 Resolver Excitation Gain...................................................................................................................61
I1012 Resolver Excitation Frequency Divider ............................................................................................61
Setting Up Digital Hall Sensors ..............................................................................................................................62
Signal Format .....................................................................................................................................................62
Hardware Setup..................................................................................................................................................62
Using Hall Effect Sensors for Phase Reference..................................................................................................63
Determining the Commutation Phase Angle.......................................................................................................63
Finding the Hall Effect Transition Points...........................................................................................................64
Calculating the Hall Effect Zero Point (HEZ)....................................................................................................64
Determining the Polarity of the Hall Effects – Standard or Reversed................................................................67
Software Settings for Hall Effect Phasing...........................................................................................................67
Optimizing the Hall Effect Phasing Routine for Maximum Performance...........................................................68
Encoder Loss Setup.................................................................................................................................................73
Program Accessible Amplifier Status Codes...........................................................................................................75
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Geo PMAC Drive User Manual
DIRECT PWM COMMUTATION CONTROLLER SETUP ..............................................................................76
Key Servo IC Variables...........................................................................................................................................76
Key Motor Variables...............................................................................................................................................76
DC BRUSH MOTOR DRIVE SETUP.....................................................................................................................78
I-Variable Setup ......................................................................................................................................................78
Hardware Connection..............................................................................................................................................79
SETTING I2T PROTECTION .................................................................................................................................80
CALCULATING MINIMUM PWM FREQUENCY.............................................................................................82
TROUBLESHOOTING............................................................................................................................................85
Error Codes .............................................................................................................................................................85
D1: AMP Status Display Codes..........................................................................................................................85
7-segment LED ...................................................................................................................................................85
Status LEDs.............................................................................................................................................................86
APPENDIX A.............................................................................................................................................................87
Mating Connector and Cable Kits...........................................................................................................................87
Mating Connector and Cable Kits...........................................................................................................................87
Mating Connector and Cable Kits......................................................................................................................87
Connector and Pins Part Numbers.....................................................................................................................88
Cable Drawings.......................................................................................................................................................90
Regenerative Resistor: GAR78/48 .........................................................................................................................96
Type of Cable for Encoder Wiring..........................................................................................................................97
APPENDIX B.............................................................................................................................................................99
Schematics...............................................................................................................................................................99
X8 and X9 S.Encoder..........................................................................................................................................99
X3: General Purpose IO.....................................................................................................................................99
X10: Limits for Axis 1 and 2 .............................................................................................................................100
APPENDIX C...........................................................................................................................................................101
SUGGESTED M-VARIABLE DEFINITIONS....................................................................................................101
MEMORY AND I/O MAP ADDENDUM.............................................................................................................107
Table of Contents iii
Geo PMAC Drive User Manual
INTRODUCTION
The Geo Drive family of “bookcase”-style servo amplifiers provides many new capabilities for users.
This family of 1- and 2-axis 3-phase amplifiers, built around a common core of highly integrated IGBTbased power circuitry, supports a wide variety of motors, power ranges, and interfaces. The 2-axis
configurations share common power input, bus, and shunt for a very economical implementation.
Three command interfaces are provided: direct-PWM, MACRO-ring, and integrated PMAC controller,
each described in following sections. In all three cases, fully digital “direct PWM” control is used. Direct
PWM control eliminates D-to-A and A-to-D conversion delays and noise, allowing higher gains for more
robust and responsive tuning without sacrificing stability.
All configurations provide these power-stage features:
• Direct operation off AC power mains (100 – 240 or 300 – 480 VAC, 50/60 Hz) or optional DC
power input (24 – 350 or 24 – 700 VDC)
• Integrated bus power supply including soft start and shunt regulator (external resistor required)
• Separate 24VDC input to power logic circuitry
• Complete protection: over voltage, under voltage, over temperature, PWM frequency limit,
minimum dead time, motor over temperature, short circuit, over current, input line monitor
• Ability to drive brushed and brushless permanent-magnet servo motors, or AC induction motors
• Single-digit LED display and six discrete LEDs for status information
• Optional safety relay circuitry. Please contact factory for more details and pricing.
• Easy setup with Turbo PMAC and UMAC controllers.
User Interface
The Geo Drive family is available in different versions distinguished by their user interface styles.
Geo MACRO Drives
The Geo MACRO Drive interfaces to the controller through the 125 Mbit/sec MACRO ring, with
either a fiber-optic or Ethernet electrical medium, accepting numerical command values for direct
PWM voltages and returning numerical feedback values for phase current, motor position, and status.
It accepts many types of position feedback to the master controller, as well as axis flags (limits, home,
and user) and general-purpose analog and digital I/O. Typically, the Geo MACRO Drives are
commanded by either a PMAC2 Ultralite bus-expansion board, or a UMAC rack-mounted controller
with a MACRO-interface card. This provides a highly distributed hardware solution, greatly
simplifying system wiring, while maintaining a highly centralized software solution, keeping system
programming simple.
• Choices for main feedback for each axis: A/B quadrature encoder, sinusoidal encoder with
• Secondary A/B quadrature encoder for each axis
EnDat
TM
or HiperfaceTM, SSI encoder, resolver
• General-purpose isolated digital I/O: 4 in, 4 out at 24VDC
• 2 optional A/D converters, 12- or 16-bit resolution
Geo Direct-PWM Drives
The direct-PWM interface versions accept the actual power-transistor on/off signals from the PMAC2
controller, while providing digital phase-current feedback and drive status to the controller for closed-
Introduction 1
Geo PMAC Drive User Manual
loop operation. Interface to the direct-PWM amplifier is through a standard 36-pin Mini-D style
cable. The drive performs no control functions but has protection features. Drive installation,
maintenance, and replacement are simplified because there is less wiring (position feedback and I/O
are not connected to the drive) and there are no variables to set or programs to install in the drive.
• Fully centralized control means that all gains and settings are made in the PMAC; no software
setup of drive is required
• No position feedback or axis flags required at the drive
Geo PMAC Drives
The Geo PMAC Drive is a standalone-capable integrated controller/amplifier with a built-in full
PMAC2 controller having stored-program capability. It can be operated standalone, or commanded
from a host computer through USB2.0 or 100 Mbps Ethernet ports. The controller has the full
software capabilities of a PMAC (see descriptions), with an internal fully-digital connection to the
advanced Geo power-stage , providing a convenient, compact, and cost-effective installation for one
and two-axis systems, with easy synchronization to other drives and controls.
• Choices for main feedback for each axis: A/B quadrature encoder, sinusoidal encoder with
• Secondary A/B quadrature encoder for each axis
• General-purpose isolated digital I/O: 8 in, 6 out at 24VDC
• 2 optional A/D converters 12- or 16-bit resolution
EnDat
TM
or HiperfaceTM, SSI encoder, resolver
Motion Controller Standard Features:
• Motorola DSP 56k digital signal processor
• PMAC2 CPU
• Fully Configurable via USB2.0 and Ethernet TCP/IP
• Operation from a PC via setup software
• Stand-alone operation
• Linear and circular interpolation
• 256 motion programs capacity
• 64 asynchronous PLC program capability
• Rotating buffer for large programs
• 36-bit position range (± 64 billion counts)
• Adjustable S-curve acceleration and deceleration
• Cubic trajectory calculations, splines
• Set and change parameters in real time
• Torque, Velocity and Position control standard
• Full rated temperature cooling standard (no need for additional fans except small power models)
• Eight inputs @12-24V, fully-protected and isolated with separate commons for two banks of four.
• Six thermal-fuse protected outputs rated for 0.5A @, 24VDC each. (Flexible outputs allow for sinking
or sourcing of current depending on whether the common emitter or common collector is used.)
• On single axis drives: One primary encoder with TTL differential/single-ended inputs with A, B
quadrature channels and C index channel, 10 MHz cycle rate, or SSI feedback and Hall-effect inputs.
Plus one secondary encoder with TTL differential/single-ended input with A, B quadrature feedback
2 Introduction
Geo PMAC Drive User Manual
• On two axis drives: Two primary encoders with TTL differential/single-ended inputs with A, B
quadrature channels and C index channel, 10 MHz cycle rate, or SSI feedback and Hall-effect inputs,
plus two secondary encoders with TTL differential/single-ended input with A, B quadrature feedback
for Axis 1 and 2.
• Four flags per axis: HOME, PLIM, MLIM, and USER inputs; EQU compare output per axis.
Amplifier Standard Features:
• Direct Line Connections: models for either 240VAC or 480VAC, single or three phases
• DC operation from 24VDC to 740VDC
• Designed for UL and CE Certification (approval pending)
• Small footprint saves space.
• Dual-axis configurations are more economical and save panel space and installation wiring
• Complete protection: over voltage, under voltage, over temperature, motor over temperature, short
circuit, over current, motor over temperature, input phase loss detection, shunt over-current detection.
• Integrated bus power supply including shunt regulator (external resistor required)
• Full ratings to 45°C ambient.
Optional Features:
• Resolvers or sine/cosine interpolator with Options 1 or 4
• Absolute encoder Inputs, Endat, Hiperface, SSI, with Options 2 or 5
• Two 16-bit analog-to-digital converter inputs, +/-10VDC, included with Options 3, 4 or 5.
• One differential 12-bit filtered PWM analog output, +/- 10V, included with Options 3, 4 or 5.
• Modbus Ethernet Connection, with Option M, special firmware.
Feedback Devices
Many motors incorporate a position feedback device. Devices are incremental encoders, resolvers, and
sine encoder systems. The PMAC2 version of the Geo drive accepts feedback. In its standard form, it is
set up to accept incremental encoder feedback and SSI encoders (one at a time). With the appropriate
option, it is possible to use either resolver or sinusoidal encoder feedback. Historically, the choice of a
feedback device has been guided largely by cost and robustness. Today, feedbacks are relatively constant
for the cost and picked by features such as size and feedback data. More feedback data or resolution
provides the opportunity to have higher gains in a servo system.
Geo PMAC drives have standard Secondary quadrature encoder feedback. One secondary encoder (X8)
for one axis Drive and two secondary encoders (X8 and X9) for dual axis Drives.
Compatible Motors
The Geo drive product line is capable of interfacing to a wide variety of motors. The Geo drive can
control almost any type of three-phase brushless motor, including DC brushless rotary, AC brushless
rotary, induction, and brushless linear motors. Permanent magnet DC brush motors can also be controlled
using two of the amplifiers three phases. Motor selection for an application is a science in itself and
cannot be covered in this manual. However, some basic considerations and guidelines are offered. Motor
manufacturers include a host of parameters to describe their motor.
Some basic equations can help guide an applications engineer to mate a proper drive with a motor. A
typical application accelerates a load to a speed, running the speed for a while and then decelerating the
load back into position.
Maximum Speed
The motor’s maximum rated speed is given. This speed may or may not be achievable in a given system.
The speed could be achieved if enough voltage and enough current loop gain are available. In addition,
consider the motor’s feedback adding limitations to achievable speeds. The load attached to the motor
Introduction 3
Geo PMAC Drive User Manual
also limits the maximum achievable speed. In addition, some manufacturers will provide motor data with
their drive controller, which is tweaked to extend the operation range that other controllers may be able to
provide. In general, the maximum speed can be determined by input voltage line-to-line divided by Kb
(the motor’s back EMF constant). It is wise to de-rate this a little for proper servo applications.
Torque
The torque required for the application can be viewed as both instantaneous and average. Typically, the
instantaneous or peak torque is calculated as a sum of machining forces or frictional forces plus the forces
required to accelerate the load inertia. The machining or frictional forces on a machine must be
determined by the actual application. The energy required to accelerate the inertia follows the equation:
T = JA, where T is the torque in Newton-meters or pound-feet required for the acceleration, J is the inertia
in kilogram-meters-squared or pound-feet-second squared, and A is in radians per second per second.
The required torque can be calculated if the desired acceleration rate and the load inertia reflected back to
the motor are known. The T=JA equation requires that the motor's inertia be considered as part of the
inertia-requiring torque to accelerate.
Once the torque is determined, the motor’s specification sheet can be reviewed for its torque constant
parameter (Kt). The torque required at the application divided by the Kt of the motor provides the peak
current required by the amplifier. A little extra room should be given to this parameter to allow for good
servo control.
Most applications have a duty cycle in which the acceleration profile occurs repetitively over time.
Calculating the average value of this profile gives the continuous rating required by the amplifier.
Applications also concern themselves with the ability to achieve a speed. The requirements can be
reviewed by either defining what the input voltage is to the drive, or defining what the voltage
requirements are at the motor. Typically, a system is designed at a 230 or 480V input line. The motor
must be able to achieve the desired speed with this voltage limitation. This can be determined by using
the voltage constant of the motor (Kb), usually specified in volts-per-thousand rpm. The application
speed is divided by 1000 and multiplied by the motor's Kb. This is the required voltage to drive the motor
to the desired velocity. Headroom of 20% is suggested to allow for good servo control.
Peak Torque
The peak torque rating of a motor is the maximum achievable output torque. It requires that the amplifier
driving it be able to output enough current to achieve this. Many drive systems offer a 3:1 peak-tocontinuous rating on the motor, while the amplifier has a 2:1 rating. To achieve the peak torque, the drive
must be sized to be able to deliver the current to the motor. The required current is often stated on the
datasheet as the peak current through the motor. In some sense, it can also be determined by dividing the
peak amplifier's output rating by the motor's torque constant (Kt).
Continuous Torque
The continuous torque rating of the motor is defined by a thermal limit. If more torque is consumed from
the motor than this on average, the motor overheats. Again, the continuous torque output of the motor is
subject to the drive amplifier’s ability to deliver that current. The current is determined by the
manufacturer’s datasheets stating the continuous RMS current rating of the motor and can also be
determined by using the motor's Kt parameter, usually specified in torque output per amp of input current.
Motor Poles
Usually, the number of poles in the motor is not a concern to the actual application. However, it should
be noted that each pole-pair of the motor requires an electrical cycle. High-speed motors with high motor
pole counts can require high fundamental drive frequencies that a drive amplifier may or may not be able
to output. In general, drive manufacturers with PWM switching frequencies (16kHz or below) would like
to see commutation frequencies less than 400 Hz. The commutation frequency is directly related to the
4 Introduction
Geo PMAC Drive User Manual
number of poles in the motor.
Motor Inductance
PWM outputs require significant motor inductance to turn the on-off voltage signals into relatively
smooth current flow with small ripple. Typically, motor inductance of servomotors is 1 to 15 mH. The
Geo drive product series can drive this range easily. On lower-inductance motors (below 1mH), problems
occur due to PWM switching where large ripple currents flow through the motor, causing excessive
energy waste and heating. If an application requires a motor of less than 1mH, external inductors are
recommended to increase that inductance. Motors with inductance in excess of 15mH can still be driven,
but are slow to react and typically are out of the range of high performance servomotors.
Motor Resistance
Motor resistance is not really a factor in determining the drive performance, but rather, comes into play
more with the achievable torque or output horsepower from the motor. The basic resistance shows up in
the manufacturer's motor horsepower curve.
Motor Back EMF
The back EMF of the motor is the voltage that it generates as it rotates. This voltage subtracts from the
bus voltage of the drive and reduces the ability to push current through the motor. Typical back EMF
ratings for servomotors are in the area of 8 to 200 volts-per-thousand rpm. The Geo drive product series
can drive any range of back EMF motor, but the back EMF is highly related to the other parameters of the
motor such as the motor inductance and the motor Kt. It is the back EMF of the motor that limits the
maximum achievable speed and the maximum horsepower capability of the motor.
Motor Torque Constant
Motor torque constant is referred to as Kt and usually it is specified in torque-per-amp. It is this number
that is most important for motor sizing. When the load that the motor will see and knowing the motor’s
torque constant is known, the drive amplifier requirements can be calculated to effectively size a drive
amplifier for a given motor. Some motor designs allow Kt to be non-linear, in which Kt will actually
produce less torque per unit of current at higher output speeds. It is wise to de-rate the systems torque
producing capability by 20% to allow headroom for servo control.
Motor Inertia
Motor inertia comes into play with motor sizing because torque to accelerate the inertia of the motor is
effectively wasted energy. Low inertia motors allow for quicker acceleration. However, consider the
reflected inertia from the load back to the motor shaft when choosing the motor’s inertia. A high ratio of
load-to-motor inertia can limit the achievable gains in an application if there is compliance in the
transmission system such as belt-drive systems or rubber-based couplings to the systems. The closer the
rotor inertia matches the load’s reflected inertia to the motor shaft, the higher the achievable gains will be
for a given system. In general, the higher the motor inertia, the more stable the system will be inherently.
Mechanical gearing is often placed between the load and the motor simply to reduce the reflected inertia
back to the motor shaft.
Motor Cabling
Motor cables are an integral part of a motor drive system. Several factors should be considered when
selecting motor cables. First, the PWM frequency of the drive emits electrical noise. Motor cables must
have a good-quality shield around them. The motor frame must also have a separate conductor to bring
back to the drive amplifier to help quench current flows from the motor due to the PWM switching noise.
Both motor drain wire and the cable shield should be tied at both ends to the motor and to the drive
amplifier.
Another consideration in selecting motor cables is the conductor-to-conductor capacitance rating of the
cable. Small capacitance is desirable. Longer runs of motor cable can add motor capacitance loading to
Introduction 5
Geo PMAC Drive User Manual
the drive amplifier causing undesired spikes of current. It can also cause couplings of the PWM noise
into the earth grounds, causing excessive noise as well. Typical motor cable ratings would be 50 pf per
foot maximum cable capacitance.
Another factor in picking motor cables is the actual conductor cross-sectional area. This refers to the
conductor’s ability to carry the required current to and from the motor. When calculating the required
cable dimensions, consider agency requirements, safety requirements, maximum temperature that the
cable will be exposed to, the continuous current flow through the motor, and the peak current flow
through the motor. Typically, it is not suggested that any motor cable be less than 14 AWG.
The motor cable’s length must be considered as part of the application. Motor cable length affects the
system in two ways. First, additional length results in additional capacitive loading to the drive. The
drive’s capacitive loading should be kept to no more than 1000pf. Additionally, the length sets up
standing waves in the cable, which can cause excessive voltage at the motor terminals. Typical motor
cable length runs up to 60 meters (200 feet) for 230V systems and 15 meters (50 feet) for 480V systems
are acceptable. Exceeding these lengths may put other system requirements in place for either a snubber
at the motor end or a series inductor at the drive end. The series inductor at the drive end provides
capacitance loading isolation from the drive and slows the rise time of the PWM signal into the cable,
resulting in less voltage overshoot at the motor.
6 Introduction
Geo PMAC Drive User Manual
SPECIFICATIONS
Part Number
Geo PMAC Drive
Model Number Definition
GIL03 01 0
Voltage Rating (Direct M ains )
L = 110 - 240 VAC
H = 300 - 480 VAC
Continuous/Peak Current Rating
(Sinusoidal RMS)
01 = 1.5/4.5 Amp (single or 3
03 = 3/9 Amp (single or 3
05 = 5/10 Amp (3
10 = 10/20 Amp (3
15 = 15/30 Amp (3
20 = 20/40 Amp (3
30 = 30/60 Amp (3
*For single phase input, need to derate 30%
Product Width According to Ratings
Single-Width U nits :
1.5/4.5 Dual Axis 10/20 Dual Axis (480VAC)
3/9 Dual Axis 15/30 Dual Axis
5/10 Single and Dual Axis 20/40 Single Axis
10/20 Single Axis and Dual Axis (240VAC) 30/60 Single Axis
15/30 Single Axis
φ
φ
φ
φ
φ
φ
operation)
φ
operation)
input, for single φ need to derate 20%)
input*)
input*)
input*)
input*)
Number of Axes:
1 = Single Axis
2 = Dual Axis
Double-Width Units:
Feedback Options :
0 = No options, Default; Standard feedback
per axis is quadrature differential encoder
with hall effect inputs or SSI absolute
encoder .
1 = Analog Feedback including :
• Option 0 Standard Feedback
• 4096x Sin/Cos interpolator
• Resolver Interface
2 = Absolute Feedback including :
• Option 1 Analog Feedback
• Endat™
• Hiperface™
3, 4, 5 = Same as Options 0, 1 and 2
described above but with two 16-bit analogto-digital converter inputs and one
differential 12-bit filtered P WM analog
output
Note: Any available method can be used f or
feedback but only one method can be used at any
time. Feedback method is selected by wiring .
Communication Options :
0 = No options
L = Lookahead firmware option
M = Modbus/TCP firmware option for Ethernet port
T = Lookahead and Modbus options combined
GIx012xx
GIx051xx
GIx101xx
GIx151xx
GIx032xx
Single axis
Axis
Dual Axis
Low Profile
Single Width
Sizing
Double Width
GIx052xx
√ √ √ √ √
√ √ √ √ √ √
√
√ √ √ √ √ √
√ √ √ √
GIx201xx
GIL102xx
GIx301xx
GIH102xx
GIx152xx
Specifications 7
Geo PMAC Drive User Manual
Geo PMAC Feedback Options
Default Configuration:
Quadrature Encoders,
or SSI Absolute
Encoders and Hall
Model
GIxxxxx0
GIxxxxx1
GIxxxxx2
GIxxxxx3
GIxxxxx4
GIxxxxx5
GIxxxxLx Lookahead firmware option
GIxxxxMx Ethernet Modbus TCP
GIxxxxTx Combination of Lookahead option and Modbus
Effect inputs
√
√
√
√ √
√ √
√ √
Analog (Sin/Cos)
Encoders: x4096
Interpolator
Resolver to Digital
Converters
Absolute
Encoder
Interface:
Endat
Hiperface
Addition of two channels
of 16-bit A/D converters
with each feedback option
and one 12-bit filtered
PWM- DAC output
Package Types
Geo package types provide various power levels and one or two axis capability with three different
package types.
The Geo Drive has a basic package size of 3.3"W x 9.875"H x 8.0"D (84mm W x 251mm H x 203mm
D). This size includes the heat sink and fan. In this package size, Single Width, the Geo can handle one
or two low-to-medium power axes OR only a single axis for medium to high power.
The mechanical design of the Geo drive is such that it allows two heat sinks to be easily attached together
so as to provide two high power axes in a Double Width configuration. This double package size is 6.5"
W x 9.875" H x 8.0" D (165 mm W x 251 mm H x 203 mm D). It provides a highly efficient package
size containing two axes of up to about 10kW each thus driving nearly 24kW of power, but using a single
interface card. This results in a highly cost efficient package.
There is also one more package type only for the low power (1.5A/4.5A) single width Geo drive, model
GIx012xx. This package substitutes the heatsink and the fan with a smaller plate which has the same
mounting pattern with the regular single width drive making the unit’s depth 2.2 inches (56 mm) less than
the single width drive, 5.8" D.
• Low Profile: GIx012xx (only)
3.3" wide (84 mm) (no heatsink, no fan), Maximum Power Handling ~1200 watts
Package Dimensions: 3.3" W x 9.875" H x 5.8" D (84 mm W x 251 mm H x 148 mm D)
Weight: 4.3lbs. (1.95kgs)
• Single Width: GIx051xx, GIx101xx, GIx151xx, GIH032xx, GIx052xx and GIL102xx
3.3" wide (84 mm)(with heatsink and fan), Maximum Power Handling ~12000 watts
GIL032xx Single Width, with heatsink, no Fan (Weight 5.4lbs/2.45kgs)
Package Dimensions: 3.3" W x 9.875" H x 8.0" D (84 mm W x 251 mm H x 203 mm D)
Weight: 5.5lbs. (2.50kgs)
• Double Width: GIx201xx, GIx301xx, GIH102xx and GIx152xx.
6.5” wide (164mm) (with heatsink and fan), Maximum Power Handling ~24,000 watts
Package Dimensions: 6.5" W x 9.875" H x 8.0" D (164mm W x 251 mm H x 203 mm D)
Weight: 11.6lbs (5.3kgs)
8 Specifications
Geo PMAC Drive User Manual
g
g
Electrical Specifications
240VAC Input Drives
Nominal Input Voltage (VAC)
Rated Input Voltage (VAC)
Rated Continuous Input Current (A
AC
)
Main
Input
Power
Output
Power
Bus
Protection
Shunt
Re
ulator
Ratings
Control
Lo
ic
Power
Current
Feedback
Transistor
Control
RMS
Rated Input Power (Watts)
Frequency (Hz)
Phase Requirements
Charge Peak Inrush Current (A)
Main Bus Capacitance (µf)
Rated Output Voltage (V)
Rated Cont. Output Current per Axis
Peak Output Current (A) for 2 seconds
Rated Output Power per Axis (Watts)
Nominal DC Bus
Over-voltage Trip Level (VDC)
Under-voltage Lockout Level (VDC)
Turn-On Voltage (VDC)
Turn-Off Voltage (VDC) 372
Delta Tau Recommended Load Resistor
(300 W Max.)
Input Voltage (VDC)
Input Current (A)
Inrush Current (A)
Resolution (bits)
Full-scale Signed Reading (±A)
Delta Tau Recommended PWM
Frequency (kHz) @rated current
Minimum Dead Time (µs)
Charge Pump Time (% of PWM period.)
GxL051 GxL101 GxL151 GxL201 GxL301
230
97-265
3.3 6.6 9.9 13.2 19.8
1315 2629 3944 5259 7888
50/60
1Φ or 3Φ 3Φ
3380 5020 6800
138
5 10 15 20 30
10 20 30 40 60
1195 2390 3585 4780 7171
325
410
10
392
GAR78 GAR48 GAR48-3
20-27
2A
4A
12
16.26 32.53
12 10 8
48.79 65.05 97.58
1
5
Note:
All values at ambient temperature of 0-45°C (113F) unless otherwise stated.
Specifications 9
Geo PMAC Drive User Manual
g
g
Main
Input
Power
GxL012 GxL032 GxL052 GxL102 GxL152
Output Circuits (axes)
Nominal Input Voltage (VAC)
Rated Input Voltage (VAC)
Rated Continuous Input Current (A
AC
)
RMS
Rated Input Power (Watts)
Frequency (Hz)
Phase Requirements
1.98 3.96 6.6 13.2 19.8
789 1578 2629 5259 7888
1Φ or 3Φ 1Φ or 3Φ 3Φ
2
230
97-265
50/60
Output
Power
Bus
Protection
Shunt
Re
ulator
Ratings
Control
Lo
ic
Power
Current
Feedback
Transistor
Control
Charge Peak Inrush Current (A)
Main Bus Capacitance (µf)
Rated Output Voltage (V)
Rated Cont. Output Current per Axis
Peak Output Current (A) for 2 seconds
Rated Output Power per Axis (Watts)
Nominal DC Bus
Over-voltage Trip Level (VDC)
Under-voltage Lockout Level (VDC)
Turn-On Voltage (VDC)
Turn-Off Voltage (VDC)
Delta Tau Recommended Load Resistor
(300 W Max.)
Input Voltage (VDC)
Input Current (A)
Inrush Current (A)
Resolution (bits)
Full-scale Signed Reading (±A)
Delta Tau Recommended PWM
Frequency (kHz)
Minimum Dead Time (µs)
Charge Pump Time (% of PWM period.)
3380 5020
138
1.5 3 5 10 15
4.5 9 10 20 30
359 717 1195 2390 3585
325
410
10
392
372
GAR78 GAR48
20-27
2A
4A
12
7.32 14.64
16 12 10
16.26 32.53
1
5
48.79
Note:
All values at ambient temperature of 0-45°C (113F) unless otherwise stated.
10 Specifications
Geo PMAC Drive User Manual
g
g
480VAC Input Drives
Main
Input
Power
Bus
Protection
Shunt
Re
ulator
Ratings
Control
Lo
ic
Power
Current
Feedback
Transistor
Control
Output Circuits (axes)
Nominal Input Voltage (VAC)
Rated Input Voltage (VAC)
Rated Continuous Input Current (A
AC
)
RMS
Rated Input Power (Watts)
Frequency (Hz)
Phase Requirements
Charge Peak Inrush Current (A)
Main Bus Capacitance (µf)
Rated Output Voltage (V) @ Rated
Current
Rated Cont. Output Current per Axis
Peak Output Current (A) for 2 seconds
Rated Output Power per Axis (Watts)
Nominal DC Bus
Over-voltage Trip Level (VDC)
Under-voltage Lockout Level (VDC)
Turn-On Voltage (VDC)
Turn-Off Voltage (VDC) 744
Delta Tau Recommended Load
Resistor (300 W Max.)
Input Voltage (VDC)
Input Current (A)
Inrush Current (A)
Resolution (bits)
Full-scale Signed Reading (±Amperes)
Delta Tau Recommended PWM
Frequency (KHz) @ rated current
Minimum Dead Time (µs)
Charge Pump Time (% of PWM
period.)
GxH051 GxH101 GxH151 GxH201 GxH301
1
480
300-525
3.3 6.6 9.9 13.2 19.8
2744 5487 8231 10974 16461
50/60
1Φ or 3Φ 3Φ
845 1255 1700
288
5 10 15 20 30
10 20 30 40 60
2494 4988 7482 9977 14965
678
828
20
784
GAR78 GAR48 GAR48-3
20-27
2A
4A
12
16.26 32.53 48.79 65.05 97.58
12 10 8
1.6
5
Specifications 11
Geo PMAC Drive User Manual
g
g
Main
Input
Power
Bus
Protection
Shunt
Re
ulator
Ratings
Control
Lo
ic
Power
Current
Feedback
Transistor
Control
GxH012 GxH032 GxH052 GxH102 GxH152
Output Circuits (axes)
Nominal Input Voltage (VAC)
Rated Input Voltage (VAC)
Rated Continuous Input Current (A
AC
)
RMS
Rated Input Power (Watts)
Frequency (Hz)
Phase Requirements
Charge Peak Inrush Current (A)
Main Bus Capacitance (µf)
Rated Output Voltage (V) @ Rated
Current
Rated Cont. Output Current per Axis
Peak Output Current (A) for 2 seconds
Rated Output Power per Axis (Watts)
Nominal DC Bus
Over-voltage Trip Level (VDC)
Under-voltage Lockout Level (VDC)
Turn-On Voltage (VDC)
1.98 3.96 6.6 13.2 19.8
1646 3292 5487 10974 16461
1Φ or 3Φ 3Φ
1.5 3 5 10 15
4.5 9 10 20 30
748 1496 2494 4988 7482
2
480
300-525
50/60
845 1255
288
678
828
20
784
Turn-Off Voltage (VDC) 744
Delta Tau Recommended Load Resistor
(300 W Max.)
Input Voltage (VDC)
Input Current (A)
Inrush Current (A)
Resolution (bits)
Full-scale Signed Reading (±Amperes)
Delta Tau Recommended PWM
Frequency (KHz) @ rated current
Minimum Dead Time (µs)
Charge Pump Time (% of PWM period.)
7.32 14.64 16.26 32.53 48.79
GAR78 GAR48
20-27
2A
4A
12
12 10 8
1.6
5
Note:
All values at ambient temperature of 0-45°C (113F) unless otherwise stated.
12 Specifications
Geo PMAC Drive User Manual
Environmental Specifications
Description Unit Specifications
Operating Temperature °C +0 to 45 (113F). Above 45°C, de-rate the continuous peak output
current by 2.5% per °C above 45°C. Maximum Ambient is 55°C (131F).
Rated Storage Temperature °C -25 to +70
Humidity % 10% to 90% non-condensing
Shock Call Factory
Vibration Call Factory
Operating Altitude Feet
(Meters)
Air Flow Clearances in (mm) 3" (76.2mm) above and below unit for air flow
To 3300 feet (1000 meters). De-rate the continuous and peak output
current by 1.1% for each 330 feet (100 meters) above the 3300 feet
Recommended Fusing and Wire Gauge
Model Recommended Fuse
(FRN/LPN)
GIL012xx 15 14 AWG
GIL032xx 20 12 AWG
GIL051xx 20 12 AWG
GIL052xx 20 12 AWG
GIL101xx 20 12 AWG
GIL102xx 20 12 AWG
GIL151xx 25 10 AWG
GIL152xx 25 10 AWG
GIL201xx 25 10 AWG
GIL301xx 30 8 AWG
GIH012xx 15 14 AWG
GIH032xx 20 12 AWG
GIH051xx 20 12 AWG
GIH052xx 20 12 AWG
GIH101xx 20 12 AWG
GIH102xx 20 12 AWG
GIH151xx 25 10 AWG
GIH152xx 25 10 AWG
GIH201xx 25 10 AWG
GIH301xx 30 8 AWG
* See local and national code requirements
Wire Sizes
Geo Drive electronics create a DC bus by rectifying the incoming AC electricity. The current flow into
the drive is not sinusoidal but rather a series of narrow, high-peak pulses. Keep the incoming impedance
small to not hinder these current pulses. Conductor size, transformer size, and fuse size recommendations
may seem larger than normally expected. All ground conductors should be 8AWG minimum using wires
constructed of many strands of small gauge wire. This provides the lowest impedance to high-frequency
noises.
Recommended Wire Gauge*
Specifications 13
Geo PMAC Drive User Manual
14 Specifications
Geo PMAC Drive User Manual
RECEIVING AND UNPACKING
Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
Geo Drive is received, do the following immediately.
1. Observe the condition of the shipping container and report any damage immediately to the
commercial carrier that delivered the drive.
2. Remove the drive from the shipping container and remove all packing materials. Check all shipping
material for connector kits, documentation, diskettes, CD ROM, 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.
3. Verify that the part number of the drive received is the same as the part number listed on the purchase
order.
4. 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 controller.
5. Electronic components in this amplifier are design-hardened to reduce static sensitivity. However,
use proper procedures when handling the equipment.
6. If the Geo 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 stated in this manual.
Use of Equipment
The following guidelines describe the restrictions for proper use of the Geo Drive:
• The components built into electrical equipment or machines can be used only as integral components
of such equipment.
• The Geo Drives are to be used only on grounded three-phase industrial mains supply networks (TN-
system, TT-system with grounded neutral point).
• The Geo Drives must not be operated on power supply networks without a ground or with an
asymmetrical ground.
• If the Geo Drives are used in residential areas, or in business or commercial premises, implement
additional filter measures.
• The Geo Drives 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 Drives with the standards for industrial areas stated in
this manual, only if Delta Tau components (cables, controllers, etc.) are used.
Geo PMAC drive is a combination of a PMAC2 controller and Geo Amplifier. So parallel with this
manual the user needs to use the PMAC1/2 Software reference
Note:
Always download the latest manual revision from the Delta Tau website
www.deltatau.com
manual and the PMAC USERS manual.
Receiving and Unpacking 15
Geo PMAC Drive User Manual
Note:
If Ethernet communications is used, Delta Tau Systems strongly recommends use
of RJ45 CAT5e or better shielded cable.
Newer network cards have the Auto-MDIX feature that eliminates the need for
crossover cabling by performing an internal crossover when a straight cable is
detected during the auto-negotiation process.
For older network cards, one end of the link must perform media dependent
interface (MDI) crossover (MDIX), so that the transmitter on one end of the data
link is connected to the receiver on the other end of the data link (a crossover/patch
cable is typically used). If an RJ45 hub is used, then a regular straight cable must
be implemented..
Maximum length for Ethernet cable should not exceed 100m (330ft).
16 Receiving and Unpacking
Geo PMAC Drive User Manual
MOUNTING
The location of the control 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 control.
Several other factors should be evaluated carefully when selecting a location for installation:
• For effective cooling and maintenance, the control should be mounted on a smooth, non-flammable
vertical surface.
• At least 3 inches (76mm) top and bottom clearance must be provided for airflow. At least 0.4 inches
(10mm) clearance is required between controls (each side).
• Temperature, humidity and Vibration specifications should also be taken in account.
The Geo Drives can be mounted with a traditional 4-hole panel mount, two U shape/notches on the
bottom and two pear shaped holes on top. This keeps the heat sink and fan (single width and double
width drives), inside the mounting enclosure. On the low profile units (low power), the heat sink and fan
are replaced with a flat plate, and use the mounting enclosure itself as a heat sink and reduce the depth of
the Geo amplifier by about 2.2 inches (~56 mm) to a slim 5.8 inch D (150 mm D). Mounting is also
identical to the single and double width drives through the 4-hole panel mount.
If multiple Geo drives are used, they can be mounted side-by-side, leaving at least a 0.4inch clearance
between drives. This means a 3.7 inch center-to-center distance (94 mm) with the Single width and low
profile Geo drives. Double Width Geo amplifiers can be mounted side by side at 6.9 inch center-to-center
distance (175 mm).
It is extremely important that the airflow is not obstructed by the placement of conduit tracks or other
devices in the enclosure.
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. Make sure that all metal chips are cleaned up before the drive is
mounted so there is no risk of getting metal chips inside the drive.
The drive is mounted to the back panel with 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).
Caution:
Units 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 ]).
The figures below show the mounting dimensions of the drives.
Note:
For more detail drawings (SolidWorks, eDrawings, DXF) visit our website under
the product that you are looking for.
Mounting 17
Geo PMAC Drive User Manual
Low Profile
GIx012xx (only)
Geo PMAC
Low Profile, Dual Axis
(Without Heatsink, Without Fan )
GIL012XX, GIH012XX
11.00
(5.790)
2.7
10.625
3.3
18 Mounting
Geo PMAC Drive User Manual
Single Width
GIx051xx, GIx101xx, GIx151xx, GIx032, GIx052xx, and GIL102xx
A
N
A
L
O
G
I
/
O
(
X
7
)
S ENCODER 1 (X8)
S ENCODER 2 (X9)
TOP VIEW
+3.3V
GND
GND
EQU1
EQU2
FL RT1
FL RT2
USER1
USER2
MLIM1
MLIM2
PLIM1
PLIM2
HOME1
HOME2
WARNING!
Residual Voltage.
Wait 5 minutes after
removing power
before servicing unit.
SAFETY RELAY (X4)
(X4)
N/A
WARNING:
HIGH VOLTAGE!
DISCRETE I/O (X10)
GENERAL PURPOSE I/O (X3)
COM EMT
COM COL
IN COM 5-8
IN COM 1-4
GP IN8
GP IN7
GP IN6
GP IN5
GP IN4
GP IN3
GP IN2
GP IN1
GP O6GP O6+
GP O5GP O5+
GP O4GP O4+
GP O3GP O3+
GP O2GP O2+
GP O1GP O1+
BOTTOM VIEW
Mounting 19
Geo PMAC Drive User Manual
Double Width
GIx201xx and GIx301xx (single axis), GIH102xx and GIx152xx (dual axis)
GIH102, GIL152 & GIH152
10.0/20.0 & 15.0/30.0 AMPS CONT/PEAK (306-603705 )
PMAC Version, Internal Heatsink Mtg ,
Double wide with 2 Fans
8.00
6. 46
9.875
10. 625
EXT SHUNT (J 5)
SAFETY RELAY (X4)
24VDC INPUT (J4)
GATE ENABLE
DC BUS
WARNI NG !
Resid ual Vo ltage.
Wait 5 minutes after
remov ing power
before ser vic ing unit.
(X4)
N/A
WARNIN G:
HIGH VOLTAGE!
RELAY N/O
RELAY COMM
RELAY WB
RELAY WA
W U
MOTOR 2 (J3)
REGEN +
REGEN -
24VDC
RET
+24VDC
WVU
V
MOTOR 1 (J2)
5.860
ENCODER INPUT 1 (X1)
ENCODER INPUT 2 (X2)
ANALO G I/O (X7)
USB
REG
AMP
+5V
STATUS
(D1)
W
D
+3.3V
USB
S ENCODER 1 (X8)
(X5)
S ENCODER 2 (X9)
RJ45
(X6)
GND
GND
EQU2
EQU1
FL RT2
FL RT1
USER2
USER1
MLIM2
MLIM1
PLIM2
PLIM1
HOME2
HOME1
DISCRETE I/O (X10)
GENERAL PURPOSE I/O (X3)
COM EMT
GP O6-
COM COL
GP O6+
IN COM 5-8
GP O5-
IN COM 1-4
GP O5+
GP O4-
GP IN8
GP O4+
GP IN7
GP O3-
GP IN6
GP O3+
GP IN5
GP O2-
GP IN4
GP O2+
GP IN3
GP O1-
GP IN2
GP O1+
GP IN1
DELTA TAU
Data Systems, Inc .
AC I N PU T (J1)
L2
L1 L3
20 Mounting
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