Delta Tau controllers improve quality, increase productivity and lower costs for mid to high volum multi-axis motion control systems.

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Delta Tau Geo Brick Drive

geobrick

Integrated Controller-Amplifiers

32 Axis Controller

The Geo Brick Drive combines the intelligence and capability of the Turbo PMAC2 motion controller with IGBT-based drive technology, resulting in a compact, smart 4-, 6- or 8-axis servo drive package. The flexibility of the Turbo PMAC2 enables the Geo Brick to drive Brush, Brushless or AC induction motors with unsurpassed pure digital DSP performance. The absence of analog signals – required for typical motion controller/drive interfacing – enables higher gains, better overall performance and tighter integration, while significantly driving down costs and setup time. The Geo Brick’s embedded 32-axis Turbo PMAC2 motion controller is programmable for virtually any kind of motion control application.

The built-in software PLCs allow for complete machine logic control. The Geo Brick Drive supports the following types of motors: Three-phase AC/DC brushless, servo, synchronous rotary/linear; DC brush; AC Induction, asynchronous –with or without encoder. The Geo Brick Drive also supports the following feedback types: Digital A Quad B; SSI; EnDat 2.2; BiSS B/C; HiperFace; Tamagawa; Panasonic; Sinusoidal; Resolver; Interferometers: Sinusoidal and Parallel; LVDTs, RVDTs, MLDts; Potentiometers.

Spec Sheet

Hardware Features

Feedback Protocols Supported

  • Digital A Quad B
  • SSI
  • EnDat 2.1/2.2
  • BiSS B/C
  • HiperFace
  • Tamagawa
  • Panasonic
  • Matsushita (Nikon D)
  • Mitutoyo
  • Sinusoidal
  • Resolver
  • Interferometers: Sinusoidal and Parallel
  • LVDTs, RVDTs, MLDTs
  • Potentiometers
  • Yaskawa Sigma II/III/V

Motor Types Supported

  • Synchronous three-Phase AC/DC brushless servo (rotary or linear)
  • Synchronous rotary/linear
  • DC brush
  • AC Induction, asynchronous (with or without encoder)

Power Stage Features

  • 4, 6 or 8 channels of direct digital PWM up to 18 kHz
  • Locking connector contacts for motor outputs and bus input
  • Universal single- or three-phase AC input 97–240 VAC, or DC operation from 12–340 VDC
  • Complete protection: over voltage, under voltage, IGBT over temperature, short circuit, over current, input phase loss detection, shunt over-current detection
  • Two contacts for shunt regulator resistor termination (connector type is locking style)
  • Integrated bus power supply including shunt regulator (GAR10 or GAR15 external resistor required)

Amplifier Ratings

  • 5A Continuous, 10A Peak (for two seconds), RMS
  • 8A Continuous, 16A Peak (for two seconds), RMS
  • 15A Continuous, 30A Peak (for two seconds), RMS

Other Hardware Features

  • Up to 32 general-purpose digital inputs and 16 outputs, all at 0.5 A @ 12–24 VDC 80 or 240 MHz CPU speed
  • ModBus, MACRO, DPRAM, RS232, and RS422 communication
  • Up to 4 analog inputs at 16 bits and 4 analog outputs at 12 bits
  • Up to 4 Amplifier Enable relays
  • Up to 8 total encoder feedback inputs
  • Soft Torque Off (STO) feature (optional) for disconnecting the amplifier from the motors

Software Features

Trajectory Generation Features

  • Linear interpolation mode with S-curve accel./decel.
  • Circular interpolation mode with S-curve accel./decel.
  • Rapid point-to-point move modeCubic B-spline interpolation mode
  • Cubic Hermite-spline (PVT) interpolation mode
  • Automatic move-until-trigger functions with hardware capture
  • Dynamic destination alteration
  • Interactive jog moves
  • Multi-move lookahead for velocity and acceleration limiting

Servo Features

  • Standard digital PID feedback filter
  • Velocity, acceleration, and friction feedforward
  • 2nd-order notch/low-pass filter
  • Gains changeable at any time
  • Programmable input, integrator, and output limits
  • Alternate 30-term “pole-placement” servo filter
  • Alternate user-written, high-level “Open Servo” algorithms

Commutation Features

  • Sinusoidal commutation of AC servo motors
  • Vector control of AC induction motors
  • Digital current-loop closure with direct PWM output (PMAC2)
  • Pulse and direction (PFM) control of stepper motors

Compensation Features

  • Position compensation tables (1D & 2D)
  • Torque compensation tables
  • Backlash compensation
  • Tool radius compensation

Safety Features

  • Hardware and software overtravel limits
  • Amplifier enable/fault handshaking
  • Following error limits
  • Integrated current limit
  • Encoder loss detection (some versions)
  • Watchdog timer
  • Program and communications checksums

Computational Features

  • Real-time multitasking operating system
  • 48-bit floating-point math for user programs
  • Trigonometric and transcendental functions
  • Automatic type matching of different variable types (e.g. integer, floating point

Coordination and Master/Slave Features

  • User-defined coordinate systems for automatic coordination of axes
  • Separate coordinate systems for independent motion of axes
  • Multi-motor axis support (e.g. gantries)
  • Dynamic axis transformations (e.g. offsets, rotations, mirroring)
  • User-written forward and inverse-kinematic algorithms for non-Cartesian geometries
  • Electronic gearing (no programming required)

Motion Program Features

  • High-level programming language
  • Automatic sequenced execution of moves
  • Calculations and I/O synchronous to motion
  • Axes programmed in user engineering units
  • Motion values as constants or expressions
  • Automatic coordination of multiple axes
  • Ability to execute G-code programs

PLC Program Features

  • Execution asynchronous to programmed motion
  • I/O control as in hardware PLC
  • Executive functions for standalone applications
  • Safety and status monitoring
  • Servo gain scheduling
  • Data reporting functions
  • Access to all registers in controller
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Industries / Applications

Semiconductor Manufacturing

Water Handling, Slicing, Stepping, Inspection, Die Bonding, Wire Bonding

Aerospace

Flight Simulator, Turbine Blades, Manufacturing, Machine Tool

Machine Tool

Mills, Lathes, Grinders, Engravers, EDM, Water Jet Cutting

Robotics

Pick-and-Place, Process Production, SCARA, Delta Robots, Hexapods

Packaging & Assembly

Mixing, Cutting, Packaging, Sewing, Web Handling, Conveyor Belt Synchronization

Positioning

Telescope, Synchrotron, Inspection, Sub-Micron Operations, DNA Sampling

Medical

Robotic Surgery, M.R.I Machine, Laser Eye Surgery, Optical Surface Grinding

Specialty

Wind Power, Hexapod, Robotics, Remote Machinery Control, Print on the Fly, Autonomous Vehicle Control

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Catalogs & Videos

Literature downloads and videos for all Delta Tau products.

Geo Brick Brochure

Geo Brick LV Brochure

Geo PMAC Brochure

Turbo Clipper Brochure