^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
Copyright Information
© 2003 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: (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
i
i
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
J1
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
4
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
6
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
8
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
J1
J5 J6
ACC-8D
OPT-4
TO PMAC
TO SERVO MOTORS
CONNECTION OF PMAC ACC-8D TO ITS OPTION 4 BOARD
1
LD1
U1
U2
U5
U6
LD2
U9
U10
LD3
U13
U14
LD4
U15
U16
U11
U8U4
U3
1
1
E2
1
1
E4
E1
U7
E3
1
1
1
1
U12
J1
E9
E10
E5
E6
E7
E8
MOTOR
1
MOTOR
2
MOTOR
3
MOTOR
4
+
-
+
-
+
-
+
-
+-
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
TO
PMAC ACC8D
2.81" (71.4 mm)
6.13" (155.7 mm)
TO
PMAC-ACC 8D "J5"
.13" (3.3 mm)
.13" (3.3 mm)
TB1TB2
1
(acc8opt4)
PMAC ACC-8D Option 4
Option 4 Specifications
1
0
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
12
ACC-8D Option 4 TB1
(12-Pin Terminal Block)
Top View
Pin Symbol Function Description
1 AMPOUT1 Output 1
st
Motor + Lead
2 AMPOUT1/ Output 1
st
Motor - Lead
3 AMPOUT2 Output 2
nd
Motor + Lead
4 AMPOUT2/ Output 2
nd
Motor - Lead
5 AMPOUT3 Output 3
RD
Motor + Lead
6 AMPOUT3 Output 3
rd
Motor - Lead
7 AMPOUT4 Output 4
th
Motor + Lead
8 AMPOUT4/ Output 4
th
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
E1
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
E2
Jump 1-2 for AMP1 Current Mode
Jump 2-3 for AMP1 Voltage Mode
(must make E1 connect 1-2)
1-2 jumpered
E3
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
E4
Jump 1-2 for AMP2 Current Mode
Jump 2-3 for AMP2 Voltage Mode
(must make E3 connect 1-2!!)
1-2 jumpered
E5
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
E6
Jump 1-2 for AMP3 Current Mode
Jump 2-3 for AMP3 Voltage Mode
(must make E5 connect 1-2!!)
1-2 jumpered
E7
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
E8
Jump 1-2 for AMP4 Current Mode
Jump 2-3 for AMP4 Voltage Mode
(must make E7 connect 1-2!!)
1-2 jumpered
E9
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
/