Geo Brick User Manual
ii Table of Contents
J3: External Shunt Connector Pinout ................................................................................................................22
Shunt Regulation.................................................................................................................................................22
Minimum Resistance Value.................................................................................................................................23
Maximum Resistance Value ................................................................................................................................23
Energy Transfer Equations.................................................................................................................................23
Bonding...................................................................................................................................................................26
Filtering...................................................................................................................................................................26
CE Filtering........................................................................................................................................................26
Input Power Filtering .........................................................................................................................................26
Motor Line Filtering ...........................................................................................................................................27
I/O Filtering........................................................................................................................................................27
Connectors...............................................................................................................................................................28
X1-X8: Encoder Input (1 to 8) ............................................................................................................................28
X9-10: Analog I/O Ch5 (X9) and Ch6 (X10), (Optional) ..................................................................................29
X11-12: Analog I/O Ch7 (X11) and Ch8 (X12), (Optional) ..............................................................................29
X13: USB 2.0 Connector ...................................................................................................................................30
X14: RJ45, Ethernet Connector.........................................................................................................................30
X15: Watchdog & ABORT..................................................................................................................................31
JPWR Power 4-Point Screw Terminal (Internal) ...............................................................................................31
J4 Limit Inputs (1-4 Axis) ...................................................................................................................................32
J5 Limit Inputs (5-8 Axis) ...................................................................................................................................33
J6: General Purpose I/O....................................................................................................................................35
Suggested M-Variable Addressing for the General Purpose I/O (J6) ................................................................36
J7: Extra General Purpose I/O (Optional) .........................................................................................................37
Suggested M-Variable Addressing for the optional General Purpose I/O (J7) ..................................................38
Setting up Quadrature Encoders..............................................................................................................................40
Signal Format .....................................................................................................................................................40
Hardware Setup..................................................................................................................................................40
Encoder Loss Setup.............................................................................................................................................41
Setting Up Digital Hall Sensors ..............................................................................................................................42
Signal Format .....................................................................................................................................................42
Hardware Setup..................................................................................................................................................42
Using Hall Effect Sensors for Phase Reference..................................................................................................43
Determining the Commutation Phase Angle.......................................................................................................43
Finding the Hall Effect Transition Points...........................................................................................................43
Calculating the Hall Effect Zero Point (HEZ) ....................................................................................................44
Determining the Polarity of the Hall Effects – Standard or Reversed................................................................46
Software Settings for Hall Effect Phasing...........................................................................................................47
Optimizing the Hall Effect Phasing Routine for Maximum Performance...........................................................48
Using the Test Results.........................................................................................................................................49
Setting Up the Analog Inputs (optional) .............................................................................................................52
Filtered DAC Outputs Configuration .................................................................................................................55
Setting up for Pulse and Direction Output...............................................................................................................56
Software Setup ....................................................................................................................................................56
DIRECT PWM COMMUTATION CONTROLLER SETUP ................................................................................60
Key Servo IC Variables...........................................................................................................................................60
Key Motor Variables...............................................................................................................................................60
DC BRUSH MOTOR DRIVE SETUP WITH TURBO PMAC ............................................................................61
Commutation Phase Angle: Ixx72...........................................................................................................................61
Special Instructions for Direct-PWM Control of Brush Motors..............................................................................61
Testing PWM and Current Feedback Operation .....................................................................................................62
Purpose...............................................................................................................................................................63
Preparation.........................................................................................................................................................63
Position Feedback and Polarity Test..................................................................................................................64
PWM Output and ADC Input Connection ..............................................................................................................64
