Delta Tau GEO BRICK DRIVE Manuel D’Utilisation
Geo Brick Drive User Manual
Motor Setup
170
I2T Protection: Ixx57, Ixx58, Ixx69
The lower values (tighter specifications) of the continuous/instantaneous current ratings between the Geo
Brick Drive and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then
the time allowed at peak current is set to 2 seconds.
If the peak current limit chosen is that of the Motor, then the time allowed at peak is that of the motor (see
spec sheet).
Examples:
Brick Drive and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then
the time allowed at peak current is set to 2 seconds.
If the peak current limit chosen is that of the Motor, then the time allowed at peak is that of the motor (see
spec sheet).
Examples:
For setting up I2T on a 5/10-Amp Geo Brick Drive driving a 3/9-Amp motor, 3 amps continuous and
9 amps instantaneous will be used as current limits. And time allowed at peak is that of the motor.
9 amps instantaneous will be used as current limits. And time allowed at peak is that of the motor.
For setting up I2T on a 5/10-Amp Geo Brick Drive driving an 8/16-Amp motor, 5 amps continuous
and 10 amps instantaneous will be used as current limits. And time allowed at peak is 2 seconds.
and 10 amps instantaneous will be used as current limits. And time allowed at peak is 2 seconds.
For setting up I2T on a 15/30-Amp channel on a Geo Brick Drive driving a 12/45-Amp motor, 12
amps continuous and 30 amps instantaneous will be used as current limits. And Time allowed at peak
is 2 seconds.
amps continuous and 30 amps instantaneous will be used as current limits. And Time allowed at peak
is 2 seconds.
An 8-axis 5/10-Amp Geo Brick Drive driving eight 3/9-amp motors:
I15=0
; Trig Operations in Degrees
#define ServoClk
P7003 ; Servo Clock [KHz]—computed in Dominant Clock Settings Section
#define ContCurrent
3
; Continuous Current Limit [Amps] -User Input
#define PeakCurrent
9
; Instantaneous Current Limit [Amps] -User Input
#define MaxADC
16.26 ; =16.26 for 5/10A -User Input, see electrical specs
; =26.02 for 8/16A -User Input, see electrical specs
; =48.08 for 15/30A -User Input, see electrical specs
#define I2TOnTime
2
; Time allowed at peak Current [sec] -User Input
I157=INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169=INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158=INT((I169*I169- I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
I257=I157
I258=I158
I269=I169
I357=I157
I358=I158
I369=I169
I457=I157
I458=I158
I469=I169
I557=I157
I558=I158
I569=I169
I657=I157
I658=I158
I669=I169
I757=I157
I758=I158
I769=I169
I857=I157
I858=I158
I869=I169
Note
This (software) I2T protection is handled by the PMAC to primarily
protect the motor. The Geo Brick Drive has its own built-in hardware
I2T as an additional layer of safety and self-protection.
protect the motor. The Geo Brick Drive has its own built-in hardware
I2T as an additional layer of safety and self-protection.