- Delta Brick Motion Controller Hardware Reference Manual

Brick Motion Controller Hardware Reference Manual
Introduction 1
INTRODUCTION
The Brick Motion Controller is a fully scaleable automation controller utilizing
the intelligence and capability of its embedded Turbo PMAC2. With the ability
to store programs locally and built-in PLC execution, it is programmable for
virtually any kind of automation application. This allows for complete machine
motion and logic control.
This product has 4 or 8 (optional) axes of analog +/-10V filtered-PWM (12-bit
resolution) or pulse and direction outputs as standard. Options are available for
dual true-DAC analog outputs at 18-bit resolution or Direct-PWM with current
loop. Feedback with quadrature incremental encoders is standard. Options for
sinusoidal, resolver or serial encoders are available.
The Brick Motion Controller provides a standard I/O capability of 16 inputs
and 8 outputs at 12-24volts fully protected and isolated with separate commons
for each bank of 8 inputs. Outputs are rated for 1 ampere each and are thermal-
fuse protected. Outputs can be current sinking or sourcing depending on use of
common emitter or common collector connections. Additional I/O is an option
(up to 64 inputs and 32 outputs). Also an option for up to four 16 bit analog
inputs is available.
Brick Motion
Controller
The Brick Motion Controller’s functionality doesn’t stop there, but also includes features such as
extensible I/O via ModBus TCP master, or ModBus TCP slave for third party HMI hardware. Our PC-
based HMI package connected through USB 2.0 or Ethernet makes the Brick Motion Controller a
powerful single-source solution.
Brick Motion Controller Features
The Brick Motion Controller is capable of controlling up to eight axes with direct-PWM commands.
• Motorola DSP 56k digital signal processor
• Turbo PMAC2 CPU (for kinematics, open servo, NC applications)
• Fully Configurable via USB2.0 and/or Ethernet TCP/IP (100 Base-T)
• Operation from a PC
• 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
• Small footprint saves space
• Full rated temperature cooling standard (no need for additional fans)
• 16 inputs (expandable to 32 with option) fully-protected and isolated with separate commons for
two banks of eight
• Eight thermal-fuse protected outputs (expandable to 16 with option) 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.)