Delta Tau ACC-8D OPT4A User manual

Brand: Delta Tau

Model: ACC-8D OPT4A

Type: User manual

^1 USER MANUAL

^2 Accessory 8D Option 4

^3 40W Four Channel Linear Amplifier Board

^4 3Ax-602235-xUxx

^5 October 24, 2003

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

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: (818) 717-5656

Fax: (818) 998-7807

Email: [email protected]

Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers 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 or industrial PC 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.

PMAC ACC-8D Option 4

Table of Contents i

Table of Contents

INTRODUCTION........................................................................................................................................ 1

CONNECTORS............................................................................................................................................ 2

J1................................................................................................................................................................ 2

TB1 ............................................................................................................................................................ 2

TB2 ............................................................................................................................................................ 2

POWER SUPPLY CONSIDERATIONS................................................................................................... 3

CURRENT OR VOLTAGE MODE SELECTIONS................................................................................. 4

AMPLIFIER-ENABLE ............................................................................................................................... 5

HEAT AND POWER CONSIDERATIONS.............................................................................................. 6

DITHER INPUT........................................................................................................................................... 7

ACC-8D OPTION 4 SPECIFICATIONS................................................................................................... 8

Power Stage Specifications........................................................................................................................ 8

Mechanical Specifications.......................................................................................................................... 8

CONNECTOR PINOUTS ......................................................................................................................... 11

Header and Terminal Blocks.................................................................................................................... 11

ACC-8D Option 4 J1 (16-Pin Header)..................................................................................... 11

ACC-8D Option 4 TB1 (12-Pin Terminal Block)....................................................................... 12

ACC-8D Option 4 TB2 ........................................................................................................................ 12

(2-PIN Terminal Block ........................................................................................................................ 12

JUMPERS................................................................................................................................................... 13

ACC-8D Option 4 Jumpers...................................................................................................................... 13

PMAC ACC-8D Option 4

Table of Contents

PMAC ACC-8D Option 4

Introduction 1

INTRODUCTION

Accessory 8D (ACC-8D) Option 4 is a standalone printed circuit board that typically is connected

to PMAC via ACC-8D (the Terminal Block board). Option 4 provides four 40W continuous

(60W intermittent) linear amplifiers. The amplifiers may be used to drive small DC motors or

proportional hydraulic valve actuators. The Option 4 board has a compact size. It may be

interfaced conveniently to PMAC through ACC-8D and through a 16-pin flat cable. To bring the

analog command and digital amplifier-enable signals to this board, connect J5 of the main ACC-

8D board to J1 of Option 4 board with the provided 16-pin flat cable.

PMAC ACC-8D Option 4

2 Connectors

CONNECTORS

This connector brings in up to four analog command signals and amplifier-enable lines from the

ACC-8D board via its J5 connector through the provided 16-pin flat cable. A listing of J1 pin

definitions can be found in this manual.

TB1

This terminal block provides the actual connection to the motors or hydraulic valve actuators.

Also, the power supply for this board must be brought in through this connector. A listing of

TB1 pin definitions can be found in this manual.

TB2

This terminal block provides the dither signal input.

PMAC ACC-8D Option 4

Power Supply Considerations 3

POWER SUPPLY CONSIDERATIONS

The Option 4 board requires a single power supply of ±6V to ±18V (maximum). The current

requirement can vary depending on the jumper settings described below, but will not exceed 12 A

for each ±V on a single ACC-8D option 4 board. These voltage supplies can be the same ones

(±12V to ±15V) that power the analog output stage of PMAC itself (if jumpers E9 and E10 are

on), in which case the current requirements of the analog output stage should also be taken into

account (0.15A plus and minus for each group of four outputs).

If the power supplies are for both the amplifiers and the analog output stage of PMAC (jumpers

E9 and E10) of the Option 4 board ON), the +V, -V, and AGND can be supplied through the

terminal block on Option 4 itself. Do not supply this power through the terminal block on the

ACC 8D because the connecting cable between it and the Option 4 board cannot carry the

required current. With E9 and E10 jumpers on, do not bring the voltage supplies for Option 4

from the bus (PC, VME, or STD) through PMAC via ACC-8D. This is because few bus power

supplies have enough current capability to drive these amplifiers.

Although the AGND is shared, if jumpers E9 and E10 are OFF, the Option 4 board will work off

a separate power supply from the PMAC analog circuitry. With a separate supply, the voltage

can range from ±6V to ±18V, provided through the terminal block on Option 4.

PMAC ACC-8D Option 4

Current or Voltage Mode Selections

CURRENT OR VOLTAGE MODE SELECTIONS

Jumpers E2, E4, E6, and E8 on the board determine whether amplifiers 1, 2, 3, and 4 respectively,

are in voltage mode or current mode. In voltage mode (2-3 connected), the output voltage to the

motor is directly proportional to the input voltage, regardless of the present current level through

the motor or actuator. In current (transconductance) mode (1-2 connected), the amplifier outputs

a current which is proportional to the input voltage, forcing whatever output voltage is required to

achieve that current.

In general, driving a motor in current mode provides a higher performance voltage mode,

particularly in high-bandwidth applications. This is because the current loop overcomes the lag

introduced by the inductance of the motor. However, this inductance can provide damping that

aids in stability (especially at low bandwidth), so the current mode requires higher derivative gain

(Ix31) within PMAC to achieve the same stability as voltage mode. Hydraulic valves are

normally driven in current mode.

If in current mode, jumpers E1, E3, E5, and E7 determine the ratio of output current to input

voltage (and so the maximum current) for amplifiers 1, 2, 3, and 4 respectively. A jumper

connecting pins 1 and 2 provides 200 mA/V (2A max); A jumper connecting pins 2 and 3

provides 20 mA/V (200mA max); no jumper provides 10 mA/V (100 mA max). If any amplifier

is put in voltage mode, the odd-numbered jumper for that amplifier must connect pins 1 and 2.

Note

If the amplifier is driving a DC motor at high speeds, the current supply to the

motor may be reduced if the back e.m.f. Voltage of the motor is sufficiently large

(refer to the motor manufacture's data sheet).

PMAC ACC-8D Option 4

Amplifier-Enable 5

AMPLIFIER-ENABLE

PMAC should be configured for low-true amplifier-enable signals, using jumper(s) E17. A green

LED for each amplifier on the Option 4 board is lit when the board is receiving power and that

amplifier is enabled. PMAC-PC has a single jumper that controls the polarity of these signals

while PMAC-VME, PMAC-STD, PMAC-Lite, and Mini PMAC have separate jumpers for the

amplifier enable polarity. If using PMAC2 with ACC-8E, the amplifier polarity jumper would be

on the ACC-8E.

PMAC ACC-8D Option 4

Heat and Power Considerations

HEAT AND POWER CONSIDERATIONS

Because the amplifiers are linear, a substantial amount of heat is generated in the circuitry. A

heat sink was incorporated into the design to insure proper heat dissipation for the unit. The heat

sink should attach firmly to the unit with the fan blowing across the heat sink for the amplifier to

operate properly. Without the proper cooling, the amplifier power rating could be reduced by as

much as a factor of 5. Care must be taken to avoid exceeding the 40W continuous (60W-peak)

amplifier rating. In particular, in the voltage mode, it is possible to exceed these limits if the

motor armature resistance is low. In brief, large input commands should not persist over long

periods of time on a loaded motor.

Note

Since the amplifiers are linear, there will always be some current drawn by the

amplifier even when the load current is zero. In this quiescent mode, the Option

4’s drawn current is approximately 0.5A at both ± 15V bus supplies.

PMAC ACC-8D Option 4

Dither Input 7

DITHER INPUT

For applications in which friction is a problem (e.g. hydraulic valves), a separate input via TB2

can be used for a common dither signal for all four amplifiers. This AC input can range between

6 and 24 VAC and can be further adjusted using the 5K R46 potentiometer. The signal

generation for the dither may be from any AC source below 24VAC. For example, an

inexpensive generator at 60 Hz could be the common doorbell transformer (typically 16 VAC-

10W).

PMAC ACC-8D Option 4

Option 4 Specifications

ACC-8D OPTION 4 SPECIFICATIONS

Power Stage Specifications

V+ Input Voltage 6VDC to 18VDC

Transconductance Factor Set by Jumpers

Current Mode Max Continuous Current 4 A (1 A per channel)

Current Mode Peak Current 8 A (2 A per channel)

Voltage Mode Max Continuous Current 8 A (2A per channel)

Voltage Mode Peak Current 12 A (3A per channel)

Reference Voltage

± 10V

Mechanical Specifications

Size

8.75 in. × 2.81 in.

Connector 12 pin Phoenix or 12 pin box header

PMAC ACC-8D Option 4

Option 4 Specifications 9

TB1

J5 J6

ACC-8D

OPT-4

TO PMAC

TO SERVO MOTORS

CONNECTION OF PMAC ACC-8D TO ITS OPTION 4 BOARD

LD1

LD2

U10

LD3

U13

U14

LD4

U15

U16

U11

U8U4

U12

E10

MOTOR

POWER

SUPPLY

E2, E4 ,E6 ,E, 1-2 = IN CURRENT MODE

E1, E3, E5, E7, 1-2 = 1V IN =200MA OUT

E1, E3, E5, E7, 2-3 = 1V IN 20 MA OUT

E1, E3, E5, E7, OFF = 1V IN = 10MA OUT

2A MAX OUTPUT

E2,E4, E6, E8, 2-3 = IN VOLTAGE MODE

IV IN = 2V OUT

20V MAX OUTPUT

3A MAX OUTPUT

3 AMP'S PEAK PER

CHAN. VOLTAGE MODE

2 AMPS PEAK PER

CHAN. CURRENT MODE

+6 to +18V

-6 to -18V

AGND

PMAC ACC-8D OPTION 4

QUAD HYDRAULIC VALVE/MOTOR DRIVER

MOTOR

ENCODERS

PMAC ACC8D

2.81" (71.4 mm)

6.13" (155.7 mm)

PMAC-ACC 8D "J5"

.13" (3.3 mm)

TB1TB2

(acc8opt4)

PMAC ACC-8D Option 4

Option 4 Specifications

PMAC ACC-8D Option 4

Connector Pinouts 11

CONNECTOR PINOUTS

Header and Terminal Blocks

ACC-8D Option 4 J1

(16-Pin Header)

Top View

Pin Symbol Function Description Notes

1 DAC1 Input Analog Out Positive 1 Reference to analog ground

2 DAC1/ Input Analog Out Negative 1 Reference to analog ground

3 DAC2 Input Analog Out Positive 2 Reference to analog ground

4 DAC2/ Input Analog Out Negative 2 Reference to analog ground

5 DAC3 Input Analog Out Positive 3 Reference to analog ground

6 DAC3/ Input Analog Out Negative 3 Reference to analog ground

7 DAC4 Input Analog Out Positive 4 Reference to analog ground

8 DAC4/ Input Analog Out Negative 4 Reference to analog ground

9 AENA1 Input Amplifier Enable 1* Reference to analog ground

10 AENA2 Input

Amplifier Enable 2

Reference to analog ground

11 AENA3 Input

Amplifier Enable 3

Reference to analog ground

12 AENA4 Input

Amplifier Enable 4

Reference to analog ground

13 AGND Common Analog Ground

14 A+15V Input Analog Pos. Supply** Reference to analog ground

15 AGND Common Analog Ground

16 A-15V Input Analog Neg. Supply** Reference to analog ground

This connector brings in the analog command signals and amplifier enable lines from the

ACC-8D board. It also supplies the analog +/-15V power.

*The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or

direction bit signals. Jumper E17 on PMAC determines the polarity of these signals.

**If the Option 4 board jumpers E9 and E10 are ON, these pins can provide PMAC’s analog

outputs with the voltage brought in on Option 4’s TB1. DO NOT use these pins as inputs,

bringing the power from the ACC-8D board. The connecting cable does not have adequate

current carrying capability.

PMAC ACC-8D Option 4

Connector Pinouts

ACC-8D Option 4 TB1

(12-Pin Terminal Block)

Top View

Pin Symbol Function Description

1 AMPOUT1 Output 1

Motor + Lead

2 AMPOUT1/ Output 1

Motor - Lead

3 AMPOUT2 Output 2

Motor + Lead

4 AMPOUT2/ Output 2

Motor - Lead

5 AMPOUT3 Output 3

Motor + Lead

6 AMPOUT3 Output 3

Motor - Lead

7 AMPOUT4 Output 4

Motor + Lead

8 AMPOUT4/ Output 4

Motor - Lead

9 AGND Common Analog Ground

10 A +15V Input Positive Supply

11 AGND Common Analog Ground

12 A -15V Input Negative Supply

This terminal block provides the actual connection to the motor or hydraulic valves and to

the power supply.

ACC-8D Option 4 TB2

(2-PIN Terminal Block

Top View

Pin Symbol Function Description

1 AC RET Input Dither Signal Return

2 AC IN Input Dither Signal In *

This terminal block provides the connection to the input dither signal.

* This AC input should not exceed 24VAC. R46 pot can be used for further amplitude

adjustments.

PMAC ACC-8D Option 4

Jumpers 13

JUMPERS

ACC-8D Option 4 Jumpers

E-Point Layout Function Default

Jump 1-2 for AMP1 Gain 200mA/V

Jump 2-3 for AMP1 Gain 20mA/V

Remove for AMP1 Gain 10mA/V

2-3 jumpered

Jump 1-2 for AMP1 Current Mode

Jump 2-3 for AMP1 Voltage Mode

(must make E1 connect 1-2)

1-2 jumpered

Jump 1-2 for AMP2 Gain 200mA/V

Jump 2-3 for AMP2 Gain 20mA/V

Remove for AMP2 Gain 10mA/V

2-3 jumpered

Jump 1-2 for AMP2 Current Mode

Jump 2-3 for AMP2 Voltage Mode

(must make E3 connect 1-2!!)

1-2 jumpered

Jump 1-2 for AMP3 Gain 200mA/V

Jump 2-3 for AMP3 Gain 20mA/V

Remove for AMP3 Gain 10mA/ V

2-3 jumpered

Jump 1-2 for AMP3 Current Mode

Jump 2-3 for AMP3 Voltage Mode

(must make E5 connect 1-2!!)

1-2 jumpered

Jump 1-2 for AMP4 Gain 200mA/V

Jump 2-3 for AMP4 Gain 20mA/V

Remove for AMP4 Gain 10mA/V

2-3 jumpered

Jump 1-2 for AMP4 Current Mode

Jump 2-3 for AMP4 Voltage Mode

(must make E7 connect 1-2!!)

1-2 jumpered

Jump 1-2 to tie A +V on Option 4

Board to A +V on ACC-8D board

Remove to permit separate supplies

No jumper

E10

Jump 1-2 to tie A -V on option 4 Board

to A -V on ACC-8D board Remove to

permit separate A-V supplies

No jumper

Delta Tau ACC-8D OPT4A User manual

Delta Tau ACC-8D OPT4A User manual

Delta Tau ACC-8D OPT4A User manual

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