Delta Tau Geo Brick User manual

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
^3 Programmable Servo Amplifier
^4 5xx-603800-xUxx
^5 March 8, 2016
^1 USER MANUAL
^2 Geo Brick Drive
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION …

Geo Brick Drive User Manual
Copyright Information
© 2016 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]
Web: www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller, accessory, and amplifier products 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 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.

Geo Brick Drive User Manual
2
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:
IEC364resp.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.
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.

Geo Brick Drive User Manual
3
MANUAL REVISION HISTORY
REV
DESCRIPTION
DATE
CHANGE
APPROVED
10
MANUAL REFORMATTING. CORRECTIONS AVAILABLE UPON
REQUEST.
8/10/11
R.N
R.N
11
CORRECTED Ixx71 FOR QUADRATURE LINEAR
10/10/11
R.N
R.N
12
UPDATED +5V ENC PWR SECTION
10/13/11
R.N
R.N
13
UPDATED ABSOLUTE SERIAL ENCODER SECTION. GENERAL
UPDATES.
4/15/12
R.N
R.N
14
- UPDATED PART NUMBER TREE
- UPDATED UPDATES AND MODIFICATIONS SECTION
- UPDATED MAIN POWER INPUT SECTION
- ADDED POWER ON/OFF SEQUENCE
- UPDATED LOGIC POWER INPUT SECTION
- ADDED STO INFORMATION
- UPDATED X9-X12 SECTION
- UPDATED MACRO CONNECTIVITY SECTION
- ADDED SERIAL N0 AND BOARD IDENTIFICATION
- CORRECTED IXX81 TABLE IN HALLS
- GENERAL FORMATTING, CORRECTIONS, AND UPDATES
12/14/12
R.N
R.N
15
MISCELLANEOUS CORRECTIONS.
02/24/14
R.N
R.N
16
- CORRECTED ENCODER LOSS FOR SINUSOIDAL ENCODERS
- UPDATED GP IO, LIMITS EQU SECTIONS
- CORRECTED HALLS SCALE FACTOR
- GENERAL FORMATTING AND UPDATES
02/04/2015
R.N
R.N
17
UPDATED GP IO DESCRIPTION
01/14/2016
R.N
R.N
Note
Older revision correction notes have been removed for obsolescence
and clarity.

4

Geo Brick Drive User Manual
Table of Contents vi
TABLE OF CONTENTS
INTRODUCTION...................................................................................................................12
Documentation............................................................................................................................12
Downloadable Turbo PMAC Script ...............................................................................................13
SPECIFICATIONS.................................................................................................................14
Part Number ...............................................................................................................................14
Geo Brick Drive Options..............................................................................................................16
Environmental Specifications........................................................................................................17
Protection Specifications ..............................................................................................................17
Agency Approvals.......................................................................................................................17
Electrical Specifications ...............................................................................................................18
4-Axis Geo Brick Drive.....................................................................................................................18
6-Axis Geo Brick Drive.....................................................................................................................18
8-Axis Geo Brick Drive.....................................................................................................................19
RECEIVING AND UNPACKING .........................................................................................20
Use of Equipment........................................................................................................................20
MOUNTING ...........................................................................................................................21
Connector Locations....................................................................................................................22
4-Axis Geo Brick Drive ...............................................................................................................23
6-Axis Geo Brick Drive ...............................................................................................................24
8-Axis Geo Brick Drive ...............................................................................................................25
PINOUTS AND SOFTWARE SETUP...................................................................................26
J1: Main Bus Power Input ............................................................................................................26
Power On/Off Sequence....................................................................................................................27
Cycling Main Bus Power..................................................................................................................27
Recommended Main Bus Power Wiring/Protection...........................................................................29
J2: 24VDC Logic Power and Safe Torque Off (STO).......................................................................33
Older Models ...................................................................................................................................34
Newer Models ..................................................................................................................................34
Disabling the STO (Backward compatibility)....................................................................................35
Wiring and Using the STO................................................................................................................35
J3: External Shunt Resistor...........................................................................................................36
J4: Limits, Flags, EQU [Axis 1- 4].................................................................................................38
J5: Limits, Flags, EQU [Axis 5- 8].................................................................................................39
Wiring the Limits and Flags .............................................................................................................40
Limits and Flags [Axis 1- 4] Suggested M-Variables ........................................................................41
Limits and Flags [Axis 5- 8] Suggested M-Variables ........................................................................41
J6: General Purpose Inputs/Outputs ...............................................................................................42
J7: General Purpose Inputs/Outputs (Additional).............................................................................43
About the Digital Inputs and Outputs................................................................................................44

Geo Brick Drive User Manual
Table of Contents vii
Wiring the Digital Inputs and Outputs ..............................................................................................45
General Purpose I/Os (J6) Suggested M-Variables...........................................................................46
General Purpose I/Os Additional (J7) Suggested M-Variables..........................................................46
J8: PWM Amplifier Interface........................................................................................................47
J9: Handwheel and Analog I/O......................................................................................................48
Setting up the Analog Inputs (J9)......................................................................................................49
Setting up the Analog Output (J9).....................................................................................................51
Setting up Pulse And Direction Output PFM (J9)..............................................................................53
Setting up the Handwheel Port (J9) ..................................................................................................55
X1-X8: Encoder Feedback, Digital A Quad B.................................................................................56
Setting up Quadrature Encoders.......................................................................................................58
Encoder Count Error (Mxx18)..........................................................................................................58
Encoder Loss Detection, Quadrature................................................................................................59
Step and Direction PFM Output (To External Stepper Amplifier)......................................................61
X1-X8: Encoder Feedback, Sinusoidal...........................................................................................64
Setting up Sinusoidal Encoders.........................................................................................................65
Counts Per User Units......................................................................................................................66
Encoder Count Error (Mxx18)..........................................................................................................67
Encoder Loss Detection, Sinusoidal..................................................................................................68
X1-X8: Encoder Feedback, Resolver .............................................................................................69
Setting up Resolvers .........................................................................................................................69
Resolver Excitation Magnitude.........................................................................................................70
Resolver Excitation Frequency .........................................................................................................70
X1-X8: Encoder Feedback, HiperFace ...........................................................................................75
Setting up HiperFace On-Going Position..........................................................................................76
Setting up HiperFace Absolute Power-On Position...........................................................................78
Setting up HiperFace Encoders Example..........................................................................................82
Encoder Count Error (Mxx18)..........................................................................................................87
Encoder Loss Detection, HiperFace .................................................................................................88
X1-X8: Encoder Feedback, SSI.....................................................................................................89
Configuring SSI................................................................................................................................89
SSI Control Registers Setup Example................................................................................................93
X1-X8: Encoder Feedback, EnDat 2.1/2.2 ......................................................................................95
Configuring EnDat...........................................................................................................................95
EnDat Control Registers Setup Example...........................................................................................99
X1-X8: Encoder Feedback, BiSS C/B..........................................................................................101
Configuring BiSS............................................................................................................................101
BiSS Control Registers Setup Example............................................................................................105
Setting up SSI | EnDat | BiSS......................................................................................................107
Setup Summary...............................................................................................................................108
Technique 1 Example .....................................................................................................................110
Technique 2 Example .....................................................................................................................113
Technique 3 Example .....................................................................................................................118
X1-X8: Encoder Feedback, Yaskawa Sigma II & III......................................................................123
Yaskawa Sigma II 16-Bit Absolute Encoder....................................................................................128

Geo Brick Drive User Manual
Table of Contents viii
Yaskawa Sigma II 17-Bit Absolute Encoder....................................................................................131
Yaskawa Sigma III 20-Bit Absolute Encoder...................................................................................134
Yaskawa Sigma II 13-Bit Incremental Encoder...............................................................................137
Yaskawa Sigma II 17-Bit Incremental Encoder...............................................................................139
Yaskawa Incremental Encoder Alarm Codes...................................................................................141
Homing with Yaskawa Incremental Encoders .................................................................................142
X9-X10: Analog Inputs/Outputs..................................................................................................143
X11-X12: Analog Inputs/Outputs................................................................................................143
Setting up the Analog (ADC) Inputs................................................................................................144
Setting up the Analog (DAC) Outputs .............................................................................................146
Setting up the General Purpose Relay, Brake..................................................................................148
Setting up the External Amplifier Fault Input..................................................................................150
X13: USB 2.0 Connection ..........................................................................................................151
X14: RJ45, Ethernet Connection .................................................................................................151
X15: Watchdog and ABORT (TB2).............................................................................................152
Wiring the Abort Input....................................................................................................................152
Wiring the Watchdog Output ..........................................................................................................153
RS232: Serial Communication Port .............................................................................................154
A1 - A8: Motor Wiring ..............................................................................................................155
Motor Cable, Noise Elimination .....................................................................................................156
Motor Selection..............................................................................................................................158
+5V ENC PWR (Alternate Encoder Power)..................................................................................160
Wiring the Alternate (+5V) Encoder Power....................................................................................161
Functionality, Safety Measures.......................................................................................................162
MOTOR SETUP...................................................................................................................163
Motor Setup Flow Chart.............................................................................................................163
Dominant Clock Settings............................................................................................................164
ADC Strobe Word (I7m06).........................................................................................................166
AC/DC Brushless (Rotary/Linear) Motor Setup ............................................................................167
Before you start..............................................................................................................................167
Commutation Angle, Current Mask: Ixx72, Ixx84............................................................................167
PWM Scale Factor: Ixx66...............................................................................................................167
Current Feedback Address: Ixx82...................................................................................................167
Commutation Position Address, Commutation Enable: Ixx83, Ixx01 ...............................................168
I2T Protection: Ixx57, Ixx58, Ixx69.................................................................................................170
Commutation Cycle Size: Ixx70, Ixx71............................................................................................171
ADC Offsets: Ixx29, Ixx79 ..............................................................................................................172
Current-Loop Tuning: Ixx61, Ixx62, Ixx76......................................................................................173
Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91................................................174
Open-Loop Test, Encoder Decode: I7mn0 ......................................................................................194
Position-Loop PID Tuning: Ixx30…Ixx39 .......................................................................................196
High Speed Motors.........................................................................................................................197
AC Induction (Asynchronous) Motor Setup –With Encoder...........................................................198
Before you start..............................................................................................................................198

Geo Brick Drive User Manual
Table of Contents ix
Commutation Angle, Current Mask: Ixx72, Ixx84............................................................................198
PWM Scale Factor: Ixx66...............................................................................................................198
Current Feedback Address: Ixx82...................................................................................................198
Commutation Position Address, Commutation Enable: Ixx83, Ixx01 ...............................................199
Magnetization Current, Slip Gain: Ixx77 ........................................................................................199
Motor Slip Gain: Ixx78...................................................................................................................199
I2T Protection: Ixx57, Ixx58, Ixx69.................................................................................................200
Commutation Cycle Size: Ixx70, Ixx71............................................................................................201
ADC Offsets: Ixx29, Ixx79 ..............................................................................................................201
Current-Loop Tuning: Ixx61, Ixx62, Ixx76......................................................................................201
Open-Loop Test, Encoder Decode: I7mn0 ......................................................................................202
Position-Loop PID Tuning: Ixx30…Ixx39 .......................................................................................204
Optimizing Magnetization Current Ixx77, Slip Gain Ixx78 ..............................................................205
Correcting I2T Settings ..................................................................................................................207
Closed-Loop vs. Open-Loop Operation...........................................................................................207
Field Weakening.............................................................................................................................208
High Speed Spindles.......................................................................................................................209
AC Induction (Asynchronous) Motor Setup –Without Encoder, Direct Micro-Stepping ....................210
Before you start..............................................................................................................................210
Encoder Conversion Table Setup....................................................................................................210
Motor Activation, Position, Velocity Pointers: Ixx03, Ixx04 ............................................................211
Commutation Angle, Current Mask, Flag Mode Control: Ixx72, Ixx84, Ixx24..................................211
PWM Scale Factor: Ixx66...............................................................................................................211
Current Feedback Address: Ixx82...................................................................................................211
Commutation Position Address, Commutation Enable: Ixx83, Ixx01 ...............................................211
Commutation Cycle size: Ixx70, Ixx71 ............................................................................................211
Maximum Achievable Motor Speed, Output Command Limit: Ixx69................................................212
I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77 .................................................213
Magnetization Current: Ixx77.........................................................................................................213
Motor Slip Gain: Ixx78...................................................................................................................214
ADC Offsets: Ixx29, Ixx79 ..............................................................................................................214
Current-Loop Tuning: Ixx61, Ixx62, Ixx76......................................................................................215
Position-Loop PID Tuning: Ixx30…Ixx39 .......................................................................................215
Moving the Motor...........................................................................................................................216
DC Brush Motor Setup...............................................................................................................217
Before you start..............................................................................................................................217
Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96)................................................217
Commutation Enable, Phase Angle, Current Mask: Ixx01, Ixx72, Ixx84 ..........................................217
PWM Scale Factor: Ixx66...............................................................................................................218
Current Feedback Address: Ixx82...................................................................................................218
Commutation Cycle Size: Ixx70, Ixx71............................................................................................218
I2T Protection: Ixx57, Ixx58, Ixx69.................................................................................................219
ADC Offsets: Ixx29, Ixx79 ..............................................................................................................220
Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0....................................220
Position-Loop PID Gains: Ixx30…Ixx39.........................................................................................221
MACRO CONNECTIVITY .................................................................................................222

Geo Brick Drive User Manual
Table of Contents x
Introduction to MACRO.............................................................................................................222
MACRO Configuration Examples ...............................................................................................223
Review: MACRO Nodes and Addressing.........................................................................................224
Review: MACRO Auxiliary Commands...........................................................................................225
Configuration Example 1: Brick - Brick.......................................................................................226
Setting up the Slave in Torque Mode...............................................................................................227
Setting up the Master in Torque Mode............................................................................................230
Setting up the Slave in PWM Mode.................................................................................................233
Setting up the Master in PWM Mode...............................................................................................234
Configuration Example 2: Brick –Geo MACRO Drive..................................................................240
Brick –Brick MACRO I/O Data Transfer.....................................................................................248
Transferring the Digital (Discrete) Input and Outputs ....................................................................249
Transferring the X9-X12 Analog Inputs/Outputs.............................................................................254
Transferring the J9 Analog Inputs ..................................................................................................256
MACRO Limits, Flags and Homing.............................................................................................257
Limits and Flags.............................................................................................................................257
Homing from Master......................................................................................................................257
Homing from Slave.........................................................................................................................257
MACRO Suggested M-Variables.....................................................................................................258
Absolute Position Reporting over MACRO ..................................................................................260
MACRO Configuration Power-Up Sequence................................................................................260
DRIVE STRUCTURE AND TROUBLESHOOTING ........................................................261
Geo Brick Drive Structure..........................................................................................................261
Serial Number and Board Revisions Identification.........................................................................262
Default Mode, Strobe Word (I7m06) Setting.................................................................................263
Enhanced Mode (Reading IGBT Temperature and Bus Voltage) .....................................................264
Error Codes ..............................................................................................................................265
Axis Faults (n = 1 - 8) ....................................................................................................................265
Global Faults.................................................................................................................................266
Reading IGBT Temperature and Bus Voltage .................................................................................267
Calculating Motor Current Output Example...................................................................................268
LED Status...............................................................................................................................269
Error 18 (Erro18).......................................................................................................................270
Watchdog Timer Trip.................................................................................................................271
Geo Brick Drive Specific Online Commands ................................................................................272
Type...............................................................................................................................................272
Ampversion ....................................................................................................................................273
Ampmod.........................................................................................................................................273
Ampsid...........................................................................................................................................274
Ampclrf ..........................................................................................................................................274
Boot Switch SW (Firmware Reload) –Write-Protect Disable..........................................................275
Reloading PMAC firmware.............................................................................................................276
Changing IP Address, Gateway IP, Gateway Mask.........................................................................278
Enabling ModBus...........................................................................................................................279

Geo Brick Drive User Manual
Table of Contents xi
Reloading Boot and Communication Firmware ..............................................................................280
Reset Switch SW (Factory Reset)................................................................................................281
LIST OF CHANGES AND UPDATES ................................................................................282
AMPVER Command, December 2007.........................................................................................282
External Encoder Power Supply Connector, April 2010 .................................................................283
EEPROM Write-Protect Enable. April 2010 .................................................................................283
AMPVER Fail-Safe Mechanism. Configuration Error, May 2010....................................................284
Modifications and Improvements, October 2012 ...........................................................................285
Control board.................................................................................................................................285
Power board(s) ..............................................................................................................................285
APPENDIX A........................................................................................................................286
Schematic Samples....................................................................................................................286
APPENDIX B........................................................................................................................289
DB Connector Spacing Specifications..........................................................................................289
APPENDIX C........................................................................................................................290
Control Board Jumpers (For Internal Use) ....................................................................................290
APPENDIX D........................................................................................................................292
Absolute Serial Encoders Limitation With Turbo PMAC................................................................292

Geo Brick Drive User Manual
Introduction 12
INTRODUCTION
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, synchronous rotary/linear
DC brush
AC Induction, asynchronous –with or without encoder
Stepper output to third party drives or through MACRO connectivity
Documentation
In conjunction with this user manual, the Turbo Software Reference Manual and Turbo PMAC User
Manual are essential for proper use, motor setup, and configuration of the Geo Brick Drive. It is highly
recommended to refer to the latest revision of the manuals found on Delta Tau’s website, under
Support>documentation>Manuals: Delta Tau Manuals

Geo Brick Drive User Manual
Introduction 13
Downloadable Turbo PMAC Script
Caution
Some code examples require the user to input specific information
pertaining to their system hardware. When user information is
required, a commentary ending with –User Input is inserted.
This manual contains downloadable code samples in Turbo PMAC script. These examples can be copied
and pasted into the editor area in the Pewin32pro2. Care must be taken when using pre-configured Turbo
PMAC code, some information may need to be updated to match hardware and system specific
configurations. Downloadable Turbo PMAC Scripts are enclosed in the following format:
// TURBO PMAC SCRIPT EXAMPLE
P1=0 ; Set P1=0 at download
Open PLC 1 Clear ; Open PLC Buffer 1, clear contents
CMDP"Geo Brick User Manual Test PLC" ; Send unsolicited response to host port
P1=P1+1 ; Counter using variable P1
Disable PLC 1 ; Disable plc 1
Close ; Close open buffer
Caution
All PLC examples are stated in PLC number 1. It is the user’s
responsibility to arrange their application PLCs’properly and handle
power-on sequencing for various tasks.
It is the user’s responsibility to use the PLC examples presented in this manual properly. That is,
incorporating the statement code in the application configuration, and handling tasks in a sequential
manner. For example, with serial absolute encoders, setting up the global control registers should be
executed before trying to read absolute position, and absolute phase referencing. Furthermore, other PLC
programs (which would be trying to move motors) should be disabled until these functions are executed.
Caution
Often times, downloadable example codes use suggested M-variables,
it is the user’s responsibility to make sure they are downloaded, or
perform necessary changes to use the intended registers.

Geo Brick Drive User Manual
Specifications 14
SPECIFICATIONS
Part Number
B L 0 0000C5
- - 04 00000
** ** ** **
G
Axes GBLA-BB-CDD-EFGHHHI0
4 : Four Axes Silver Enclosure
6: Six Axes Silver Enclosure
8: Eight Axes Silver Enclosure
CPU Options –GBLA-BB-CDD-EFGHHHI0
Turbo PMAC 2 Processor
C0: 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default)
C3: 80Mhz, 8Kx24 Internal, 1Mx24SRAM, 4MB Flash
F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash
Axes 1 to 4 Options GBLA-BB-CDD-EFGHHHI0
5: 5A/10A, with encoders and Flags for every axis (Default)
8: 8A/16A, with encoders and Flags for every axis
(Continuous / Peak)
4
axes
5-8 axis, 5A/10A, with encoder inputs for all axes
5-8 axis, 8A/16A, with encoder inputs for all axes
5 and 6 axis, 15A/30A, with encoders for channels 5 to 8 (2 secondary encoders)
5 and 6 axis, 15A/30A, plus PWM amplifier Interface for channel 7 with 2 secondary encoders on 7 & 8)
Axes 5 to 8 Options GBLA-BB-CDD-EFGHHHI0
If user wants to order 5V flag inputs then he needs to specify it at the Axes 5 to 8 options
For example:
“05" No secondary encoder inputs (total of 4 encoder inputs), 5V Flag inputs
“07" Four secondary encoder inputs (total of 8 encoder inputs), 5V Flag inputs
“W8” Hi-Power 5 & 6 axes, plus PWM amplifier Interface for channels 7 (total of 8 encoder inputs) , 5V Flag inputs
If the above Number of Amplifier Axes are selected then only the corresponding Axes 5 to 8 Options are available.
12-24V 5V Flags
00 05
02
P3
F2
W3
07
P8
F7
W8
52 57
82 87
6
axes
8
axes
Digital I/O Option GBLA-BB-CDD-EFGHHHI0
0: 16 IN / 8 OUT (Default)
1: Expanded digital I/O, additional 16 inputs and 8 outputs
(Total of 32 IN / 16 OUT)
Outputs are rated: 0.5A@12-24VDC
No options, 4-axis system
Four secondary encoders inputs (total of 8 encoder inputs)
PWM amplifier Interface for channel 7 with encoders for axes 5 to 8 ( 4 secondary encoders)
0: No options (Default)
2: Four GPIO Relays (On connectors X9-X12)
3: Two Analog In, two analog Out (On conn. X11-X12) & 4 GPIO Relays (On connectors X9-X12)
4: Four Analog In, four analog Out (On conn. X9-X12) & 4 GPIO Relays (On connectors X9-X12)
5: Two Analog In, two analog Out (On conn. X11-X12) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 GPIO Relays
(On conn. X9-X10)
6: Four Analog In, four analog Out (Connectors X9-X12) with 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and 2 GPIO
Relays (On conn. X9-X10)
9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 GPIO Relays (On conn.X9-X10)
4 axes
00 / 05
02 / 07
Note: Analog outputs are 12-bit filtered PWM and Analog Inputs are 16-bit.
0: No Analog Options available, for this configurations
To receive Analog Inputs for these configurations, you must order GBLA-BB-CDD-EFGHHHI0MUXED ADC
Option in “MACRO and Special Feedback Options”
2: Four GPIO Relays (On connectors X9-X12)
9: Four AENA Relays for Chan.3&4 (On conn.X11-X12) and Chan.5&6 (On conn.X9-X10)
Analog I/O Options GBLA-BB-CDD-EFGHHHI0
4 axes
P3 / P8
0: No options (Default)
2: Four GPIO Relays (On connectors X9-X12)
7: Two Analog In, 2 analog Out (Conn.X9-X10) & 4 GPIO Relays (On connectors X9-X12)
8: Two Analog In, 2 analog Out (Conn.X9-X10) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12) and
2 GPIO Relays (On connectors X9-X10)
9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 GPIO Relays (On conn.X9-X10)
6 axes
F2 / F7
0:No options (Default)
2: Four GPIO Relays (On connectors X9-X12)
3: Two Analog In, two analog Out (On conn. X11-X12) & 4 GPIO Relays (On connectors X9-X12)
5: Two Analog In, two analog Out (On conn. X11-X12) & 4 AENA Relays for Chan.3&4 (On conn.X11-X12) and
Chan.5&6 (On conn.X9-X10)
9: Four AENA Relays for Chan.3&4 (On conn.X11-X12) and Chan.5&6 (On conn.X9-X10)
8 axes
52 / 57
82 / 87
6 axes
W3 / W8
BCDEFGHI
AB
C
D
E
F
-
A

Geo Brick Drive User Manual
Specifications 15
Communication Options GBLA-BB-CDD-EFGHHHI0
USB2 and Eth100 are included
Note: To use PMAC-NC software, DPRAM is required
0xxxxx: No Options, Default
Dxxxxx: DPRAM option, size 8K x 16-bit wide
Mxxxxx: ModBus Ethernet Communication Protocol (Software) option
Sxxxxx: DPRAM and Modbus Options Combined
R00000: RS232 port on 9-pin D-sub Connector*
E00000: DPRAM & RS232 Options Combined*
N00000: RS232 & ModBus Options Combined*
T00000: Modbus, DPRAM & RS232 Combined*
* If any of the “H” or “I” digits is non zero (GBLA-BB-CDD-EFGHHHI0) then RS232
is included as default. Options R, E, N and T are Incompatible
Special Feedback Number and Type of Channels
GBLA-BB-CDD-EFGHHHI0
000: No Special Feedback Channels
4A0: 4 Sinusoidal Encoder Feedback Channels
4B0: 4 Resolver Feedback Channels
4C1: 4 Serial Encoder Feedback Channels (SSI Protocol)
4C2: 4 Serial Encoder Feedback Channels (Yaskawa Sigma II & III & V Protocol)
4C3: 4 Serial Encoder Feedback Channels (EnDat 2.2 Protocol)
4C6: 4 Serial Encoder Feedback Channels (BISS-B & C Protocol)
4C7: 4 Serial Encoder Feedback Channels (Tamagawa Protocol)
4C8: 4 Serial Encoder Feedback Channels (Panasonic Protocol)
4D1: 4 Sinusoidal Encoder and Serial Enc. (SSI Protocol)
4D2: 4 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III & V Protocol)
4D3: 4 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol)
4D4: 4 Sinusoidal Encoder and Serial Enc. (HiperFace Protocol)
4D6: 4 Sinusoidal Encoder and Serial Enc. (BISS-B & C Protocol)
4D7: 4 Sinusoidal Encoder and Serial Enc. (Tamagawa Protocol)
4D8: 4 Sinusoidal Encoder and Serial Enc. (Panasonic Protocol)
4E1: 4 Resolver Feedback Channels and Serial Enc. (SSI Protocol)
4E2: 4 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III & V Prot.)
4E3: 4 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol)
4E6: 4 Resolver Feedback Channels and Serial Enc. (BISS-B & C Protocol)
4E7: 4 Resolver Feedback Channels and Serial Enc. (Tamagawa Protocol)
4E8: 4 Resolver Feedback Channels and Serial Enc. (Panasonic Protocol)
8A0: 8 Sinusoidal Encoder Feedback Channels
8B0: 8 Resolver Feedback Channels
8C1: 8 Serial Encoder Feedback Channels (SSI Protocol)
8C2: 8 Serial Encoder Feedback Channels (Yaskawa Sigma II & III & V Protocol)
8C3: 8 Serial Encoder Feedback Channels (EnDat 2.2 Protocol)
8C6: 8 Serial Encoder Feedback Channels (BISS-B & C Protocol)
8C7: 8 Serial Encoder Feedback Channels (Tamagawa Protocol)
8C8: 8 Serial Encoder Feedback Channels (Panasonic Protocol)
8D1: 8 Sinusoidal Encoder and Serial Enc. (SSI Protocol)
8D2: 8 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III & V Protocol)
8D3: 8 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol)
8D4: 8 Sinusoidal Encoder and Serial Enc. (HiperFace Protocol)
8D6: 8 Sinusoidal Encoder and Serial Enc. (BISS-B & C Protocol)
8D7: 8 Sinusoidal Encoder and Serial Enc. (Tamagawa Protocol)
8D8: 8 Sinusoidal Encoder and Serial Enc. (Panasonic Protocol)
8E1: 8 Resolver Feedback Channels and Serial Enc. (SSI Protocol)
8E2: 8 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III & V Protocol)
8E3: 8 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol)
8E6: 8 Resolver Feedback Channels and Serial Enc. (BISS-B & C Protocol)
8E7: 8 Resolver Feedback Channels and Serial Enc. (Tamagawa Protocol)
8E8: 8 Resolver Feedback Channels and Serial Enc. (Panasonic Protocol)
G
H
Note: If any of the “H” or “I” digits (GBLA-BB-CDD-EFGHHHI0) are ordered, you will also receive RS-232 comms port, 1
channel "handwheel" port.
MACRO and Special Feedback Options
MACRO Ring Interface and
8 Single or 4 Differential channel 12-bit 10v range
MUXED ADC
GBLA-BB-CDD-EFGHHHI0
0: No MACRO or ADC
1: RJ45 MACRO
2: Fiber Optic MACRO
3: MUXED ADC
4: RJ45 MACRO and MUXED ADC
5: Fiber Optic MACRO and MUXED ADC
I

Geo Brick Drive User Manual
Specifications 16
Geo Brick Drive Options
CPU Options
C0: 80MHz Turbo PMAC2 CPU (Standard, default)
8Kx24 internal memory, 256Kx24 SRAM, 1MB flash memory
C3: 80MHz Turbo PMAC2 CPU
8Kx24 internal memory, 1Mx24 SRAM, 4MB flash memory
F3: 240MHz Turbo PMAC2 CPU
192Kx24 internal memory, 1Mx24 SRAM, 4MB flash memory
Encoder Feedback
Digital Quadrature
Sinusoidal
HiperFace
Resolver
SSI
EnDat 2.1 / 2.2
Yaskawa Sigma II / III
BiSS B / C
Panasonic
Tamagawa
Note
Regardless of the encoder feedback option(s) fitted, digital quadrature
encoders can always be utilized. However, Hall sensors cannot be
used with a channel which has been programmed for serial clocking.
Axes Power Configuration
5/10 Amps or 8/16 Amps, 15/30 Amps (limited to axes 5-6)
Encoder Inputs
Up to eight encoder inputs, one Handwheel quadrature input
Additional encoder inputs can be obtained through MACRO connectivity
Digital Inputs/Outputs
Up to 32 inputs and 16 outputs (Sinking or Sourcing)
Additional digital I/Os can be obtained through Fieldbus connectivity
Analog Inputs, DAC Outputs, Brakes, and Relays
Up to four 16-bit analog inputs, eight 12-bit analog inputs, four brake/ relay outputs , and five 12-
bit filtered PWM (±10V) outputs
Communication
USB 2.0, Ethernet 100 Base T, RS232, DPRAM (required for NC software/applications)
Fieldbus Connectivity
MACRO
ModBus

Geo Brick Drive User Manual
Specifications 17
Environmental Specifications
Description
Specifications
Operating Temperature
0 to 45°C
Above 40°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
Protection Specifications
Caution
The internal I2T applies to and protects the amplifier power blocks.
The software I2T (described in later section) has to be configured
properly to protect against motor/equipment damage.
Description
Specifications
Over Voltage
~ 283 VAC / 400 VDC
Under Voltage
~ 87 VAC / 123 VDC
Over Temperature
~ 80C
Motor Short Circuit
500 % of rated peak Amps per axis
Over Current
110 % over rated peak Amps per axis
AC Input Phase Loss Detection
Loss of one or more phases (3 Phase operation only)
Shunt Fault Detection
Integrated, I2T model
Internal I2T protection
2 seconds at peak rated Amps (RMS) per axis
Note
The under voltage fault triggers when the AC Input dips below 87
VAC. However, if this threshold has not been reached (i.e. Low
Voltage/DC operation) the under voltage logic remains unarmed.
Agency Approvals
Description
Specifications
UL
UL508C File E307874
cUL
CSA C22.2 No. 14-05 File E307874

Geo Brick Drive User Manual
Specifications 18
Electrical Specifications
4-Axis Geo Brick Drive
GBL4-xx-5xx-xxx xxxxx
GBL4-xx-8xx-xxx xxxxx
Output Continuous Current (rms/axis)
5A
8A
Output Peak Current for 2 seconds (rms/axis)
10A
16A
Rated Input Current @240VAC 3-phase(all axes)
13A
21A
Max ADC (I2T Settings)
16.26A
26.02A
Output Power Per Axis [Watts]
(Modulation depth of 60% RMS)
Output Power Total [Watts]
1247W
1995W
4988W
7980W
Power Dissipation [Watts]
498W
798W
PWM Frequency Operating Range [KHz]
1 –18
AC Input Line Voltage [VAC rms]
110-20% –240+10% (~87 -- 264)
DC Input Line Voltage [VDC]- DC operation
12VDC to 340VDC
Logic Power [VDC, A]
24VDC ±5%, 4A
Continuous Shunt Power rating [Watts]
5000W
Peak Shunt Power rating [Watts]
10000W
Recommended Shunt Resistor [Ohms]
GAR15 (15Ω)
Recommended Shunt Power Rating [Watts]
300W
6-Axis Geo Brick Drive
GBL6-xx-5xx-xxx xxxxx
GBL6-xx-8xx-xxx xxxxx
Axes
1-4
5-6
1-4
5-6
Output Continuous Current (rms/axis)
5A
15A
8A
15A
Output Peak Current for 2 seconds (rms/axis)
10A
30A
16A
30A
Max ADC (I2T Settings)
16.26A
48.8A
26.02A
48.8A
Rated Input Current @240VAC 3-phase(all axes)
33A
41A
Output Power Per Axis
(Modulation depth of 60% RMS)
Output Power Total
1247 W
3741 W
1995
3741
12470W
15462W
Power Dissipation [Watts]
1247W
1546W
PWM Frequency Operating Range [KHz]
1 –18
AC Input Line Voltage [VAC rms]
110-20% –240+10% (~87 -- 264)
DC Input Line Voltage [VDC]- DC operation
12VDC to 340VDC
Logic Power [VDC, A]
24VDC ±5%, 4A
Continuous Shunt Power rating [Watts]
7500W
Peak Shunt Power rating [Watts]
15000W
Recommended Shunt Resistor [Ohms]
GAR 10 (10 Ω)
Recommended Shunt Power Rating [Watts]
300W

Geo Brick Drive User Manual
Specifications 19
8-Axis Geo Brick Drive
GBL8-xx-552
GBL8-xx-882
GBL8-xx-582
GBL8-xx-852
Axes
1-4
5-8
1-4
5-8
1-4
5-8
1-4
5-8
Output Continuous Current (rms/axis)
5A
5A
8A
8A
5A
8A
8A
5A
Output Peak Current for 2 sec (rms/axis)
10A
10A
16A
16A
10A
16A
16A
10A
Max ADC (I2T Settings)
16.26A
16.26A
26.02A
26.02A
16.02A
26.02A
26.02A
16.02A
Rated Input Current @240 3-phase(all axes)
26A
42A
34A
34A
Output Power Per Axis
(Modulation depth 60% RMS)
1247W
1995W
1247W
1995W
1995W
1247W
Output Power Total
9976W
15960W
12968W
12968W
Power Dissipation
998W
1596W
1297W
1297W
PWM Frequency Operating Range [KHz]
1 –18
AC Input Line Voltage [VAC]
110-20% –240+10% (~87 -- 264)
DC Input Line Voltage [VDC]- DC operation
12VDC to 340VDC
Logic Power
24VDC ±5%, 4A
Continuous Shunt Power [Watts]
5000W
Peak Shunt Power rating [Watts]
10000W
Recommended Shunt Resistor [Ohms]
GAR 15 (15 Ω)
Recommended Shunt Power Rating [Watts]
300W
Note
Electrical specifications are specified for three-phase AC bus power.
De-rating applies in single-phase AC, or DC Operation.

Geo Brick Drive User Manual
Receiving and Unpacking 20
RECEIVING AND UNPACKING
Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
Geo Brick 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 Brick 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 Brick Drive:
The components built into electrical equipment or machines can be used only as integral components
of such equipment.
The Geo Brick Drive must not be operated on power supply networks without a ground or with an
asymmetrical ground.
If the Geo Brick Drive is used in residential areas, or in business or commercial premises, implement
additional filtering measures.
The Geo Brick 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 Brick Drives with the standards for industrial areas
stated in this manual, only if Delta Tau components (cables, controllers, etc.) are used.