^2 Accessory 8D Option 4

Transcription

1 ^ USER MANUAL ^2 Accessory 8D Option 4 ^3 40W Four Channel Linear Amplifier Board ^4 3Ax xUxx ^5 October 24, 2003 Single Source Machine Control Power // Flexibility // Ease of Use 234 Lassen Street Chatsworth, CA 93 // Tel. (88) Fax. (88) //

2 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 Delta Tau Data Systems, Inc. Technical Support Phone: (88) Fax: (88) Website: 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.

3 Table of Contents INTRODUCTION... CONNECTORS... 2 J... 2 TB... 2 TB 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... Header and Terminal Blocks... ACC-8D Option 4 J (6-Pin Header)... ACC-8D Option 4 TB (2-Pin Terminal Block)... 2 ACC-8D Option 4 TB (2-PIN Terminal Block... 2 JUMPERS... 3 ACC-8D Option 4 Jumpers... 3 Table of Contents i

4 ii Table of Contents

5 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 6-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 J of Option 4 board with the provided 6-pin flat cable. Introduction

6 CONNECTORS J 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 6-pin flat cable. A listing of J pin definitions can be found in this manual. TB 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 TB pin definitions can be found in this manual. TB2 This terminal block provides the dither signal input. 2 Connectors

7 POWER SUPPLY CONSIDERATIONS The Option 4 board requires a single power supply of ±6V to ±8V (maximum). The current requirement can vary depending on the jumper settings described below, but will not exceed 2 A for each ±V on a single ACC-8D option 4 board. These voltage supplies can be the same ones (±2V to ±5V) that power the analog output stage of PMAC itself (if jumpers E9 and E0 are on), in which case the current requirements of the analog output stage should also be taken into account (0.5A 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 E0) 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 E0 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 E0 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 ±8V, provided through the terminal block on Option 4. Power Supply Considerations 3

8 CURRENT OR VOLTAGE MODE SELECTIONS Jumpers E2, E4, E6, and E8 on the board determine whether amplifiers, 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 (-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 (Ix3) within PMAC to achieve the same stability as voltage mode. Hydraulic valves are normally driven in current mode. If in current mode, jumpers E, E3, E5, and E7 determine the ratio of output current to input voltage (and so the maximum current) for amplifiers, 2, 3, and 4 respectively. A jumper connecting pins and 2 provides 200 ma/v (2A max); A jumper connecting pins 2 and 3 provides 20 ma/v (200mA max); no jumper provides 0 ma/v (00 ma max). If any amplifier is put in voltage mode, the odd-numbered jumper for that amplifier must connect pins 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). 4 Current or Voltage Mode Selections

9 AMPLIFIER-ENABLE PMAC should be configured for low-true amplifier-enable signals, using jumper(s) E7. 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. Amplifier-Enable 5

10 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 ± 5V bus supplies. 6 Heat and Power Considerations

11 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 6 VAC- 0W). Dither Input 7

12 ACC-8D OPTION 4 SPECIFICATIONS Power Stage Specifications V+ Input Voltage 6VDC to 8VDC Transconductance Factor Set by Jumpers Current Mode Max Continuous Current 4 A ( 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 2 A (3A per channel) Reference Voltage ± 0V Mechanical Specifications Size Connector 8.75 in. 2.8 in. 2 pin Phoenix or 2 pin box header 8 Option 4 Specifications

13 PMAC ACC-8D OPTION 4 QUAD HYDRAULIC VALVE/MOTOR DRIVER TO PMAC-ACC 8D "J5".3" (3.3 mm) 6.3" (55.7 mm) J E0 E9 E2, E4,E6,E, -2 = IN CURRENT MODE E, E3, E5, E7, -2 = V IN =200MA OUT E, E3, E5, E7, 2-3 = V IN 20 MA OUT E, E3, E5, E7, OFF = V IN = 0MA OUT 2A MAX OUTPUT.3" (3.3 mm) U LD U5 LD2 U9 LD3 U3 LD4 E2,E4, E6, E8, 2-3 = IN VOLTAGE MODE IV IN = 2V OUT 20V MAX OUTPUT 3A MAX OUTPUT MOTOR ENCODERS TO PMAC ACC8D 2.8" (7.4 mm) U2 U3 E TB2 U4 U6 U7 E2 E3 TB U8 E4 U0 E5 U2 U E6 U4 E7 U5 E8 U6 3 AMP'S PEAK PER CHAN. VOLTAGE MODE 2 AMPS PEAK PER CHAN. CURRENT MODE to -8V + - MOTOR MOTOR 2 MOTOR 3 MOTOR 4 AGND POWER SUPPLY to +8V + - TO PMAC J ACC-8D J5 J6 TB OPT-4 TO SERVO MOTORS CONNECTION OF PMAC ACC-8D TO ITS OPTION 4 BOARD (acc8opt4) Option 4 Specifications 9

14 0 Option 4 Specifications

15 CONNECTOR PINOUTS Header and Terminal Blocks ACC-8D Option 4 J (6-Pin Header) Top View Pin Symbol Function Description Notes DAC Input Analog Out Positive Reference to analog ground 2 DAC/ Input Analog Out Negative 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 AENA Input Amplifier Enable * Reference to analog ground 0 AENA2 Input Amplifier Enable 2 * Reference to analog ground AENA3 Input Amplifier Enable 3 * Reference to analog ground 2 AENA4 Input Amplifier Enable 4 * Reference to analog ground 3 AGND Common Analog Ground 4 A+5V Input Analog Pos. Supply** Reference to analog ground 5 AGND Common Analog Ground 6 A-5V 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 +/-5V power. *The settings of Ix02 and Ix25 determine whether these lines are amplifier-enable signals or direction bit signals. Jumper E7 on PMAC determines the polarity of these signals. **If the Option 4 board jumpers E9 and E0 are ON, these pins can provide PMAC s analog outputs with the voltage brought in on Option 4 s TB. 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. Connector Pinouts

16 ACC-8D Option 4 TB (2-Pin Terminal Block) Top View Pin Symbol Function Description AMPOUT Output st Motor + Lead 2 AMPOUT/ Output 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 0 A +5V Input Positive Supply AGND Common Analog Ground 2 A -5V 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 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. 2 Connector Pinouts

17 JUMPERS ACC-8D Option 4 Jumpers E-Point Layout Function Default E Jump -2 for AMP Gain 200mA/V 2-3 jumpered Jump 2-3 for AMP Gain 20mA/V Remove for AMP Gain 0mA/V E2 Jump -2 for AMP Current Mode -2 jumpered Jump 2-3 for AMP Voltage Mode (must make E connect -2) E3 Jump -2 for AMP2 Gain 200mA/V 2-3 jumpered Jump 2-3 for AMP2 Gain 20mA/V Remove for AMP2 Gain 0mA/V E4 Jump -2 for AMP2 Current Mode -2 jumpered Jump 2-3 for AMP2 Voltage Mode (must make E3 connect -2!!) E5 Jump -2 for AMP3 Gain 200mA/V 2-3 jumpered Jump 2-3 for AMP3 Gain 20mA/V Remove for AMP3 Gain 0mA/ V E6 Jump -2 for AMP3 Current Mode -2 jumpered Jump 2-3 for AMP3 Voltage Mode (must make E5 connect -2!!) E7 Jump -2 for AMP4 Gain 200mA/V 2-3 jumpered Jump 2-3 for AMP4 Gain 20mA/V Remove for AMP4 Gain 0mA/V E8 Jump -2 for AMP4 Current Mode -2 jumpered Jump 2-3 for AMP4 Voltage Mode (must make E7 connect -2!!) E9 Jump -2 to tie A +V on Option 4 No jumper Board to A +V on ACC-8D board Remove to permit separate supplies E0 Jump -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 Jumpers 3