Delta Tau 3Ax-603443-360 User Manual

^1 USER MANUAL

^2 QUAD H-Bridge 40V Amplifier

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

21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

^3 4-Channel H-Bridge 40V Amplifier Board

^4 3Ax-603443-360

^5 November 7, 2003

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: [phone]
Fax: [phone]
Email: [e-mail]
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 exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.

QUAD H-Bridge 40V Amplifier

Table of Contents

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

Power Supply Considerations ...................................................................................................................................1

Current Mode Considerations ...................................................................................................................................1

Maximum Current Output E-Point Jumpers.........................................................................................................2

Amplifier-Enable/Fault Polarity Selection ...........................................................................................................2

Torque/Velocity Control...........................................................................................................................................2

HARDWARE DESCRIPTION..................................................................................................................................3

TB1: 8-Pin PMAC Interface Terminal Block............................................................................................................3

TB2: 13-Pin Motor Amplifier Output Terminal Block.............................................................................................3

TB3: External Power Ground....................................................................................................................................4

TB4: External Power.................................................................................................................................................4

TB5: JFAN................................................................................................................................................................4

P1: 96 Pin Power Input Connector............................................................................................................................5

Amplifier Specifications ...........................................................................................................................................5

Power Stage Specifications...................................................................................................................................5

Mechanical Specifications....................................................................................................................................6

Environmental.......................................................................................................................................................6

Amplifier User Components Description..................................................................................................................6

Fuses.....................................................................................................................................................................6

LEDs.....................................................................................................................................................................6

Offset Pots.............................................................................................................................................................6

LOW POWER QUAD H-BRIDGE AMPLIFIER LAYOUT..................................................................................7

SAMPLE WIRING DIAGRAM.................................................................................................................................9

ANALOG AMPLIFIER BACKPLANE BOARD...................................................................................................11

Single Quad H-Bridge Amplifier Backplane Layout..............................................................................................11

Dual Quad H-Bridge Amplifier Backplane Layout.................................................................................................12

Analog Amplifier Backplane Connectors ...............................................................................................................13

TB1 Bus Power and Shunt Resistor Inputs .........................................................................................................13

TB2 Logic Power Supply and Fan Power Supply Input......................................................................................13

J1 Fan Power Supply Output..............................................................................................................................13

J2 Fan Power Supply Output..............................................................................................................................13

Table of Contents i

QUAD H-Bridge 40V Amplifier

ii Table of Contents

QUAD H-Bridge 40V Amplifier

INTRODUCTION

The Delta Tau AMP-2 or QUAD H-Bridge Low Power Drive is a 3U-size amplifier designed to drive DC
brushed type motors in the UMAC system. This amplifier provides four 80W continuous PWM
amplifiers. The QUAD H-Bridge Low Power Drive may be interfaced conveniently to the PMAC
controller via ACC-24E2A. The maximum bus voltage for this amplifier is 40VDC and the continuous
rating for each drive is 2A.

The amplifiers on this product will output a current that is proportional to the voltage input. The
amplifier was designed to be used with torque or current command inputs from the controller but if the
controller has microstepping capabilities, the user can also use the product to drive stepper motors.

Power Supply Considerations

The QUAD H-Bridge Low Power Drive requires a single power supply of +15V to +40V max. The
current requirement can vary depending on the load, but should not exceed 12A (2A per channel)
continuous and 20A peak (4A per channel) for a one-second period. A slow blow 5A fuse is installed to
protect the shunt and a fast acting 15A fuse to protect the main bus.

The bus power supply can be provided to the amplifier unit through Amplifier Backplane board or
through the TB3 and TB4 terminal connectors located on the amplifier unit.

The amplifier receives its logic power supply (±15V) from an external power supply or the 3U power
supply used for a UMAC system via the Amplifier Backplane board (part number 603490 or 603470, see
last section of this manual).

If the amplifier is driven beyond its rated power, driver overheating may occur. In this event, the driver
will output a fault signal on the corresponding pin of Terminal Block 2 (TB2) and turn on the
corresponding red LED next to Terminal Block 1, TB1, shown in the Amplifier Layout Diagram.

Current Mode Considerations

The QUAD H-Bridge High Power Drive is a current amplifier with a fixed current gain 0.5A/V. This
means that the ± 10V signal input from each DAC on the J1 connector corresponds to ± 5A of current
across the load, provided that the bus supply voltage is not exceeded.

Note

If the amplifier is driving a DC motor at high speeds, the current supply to the
motor may be reduced if the back emf voltage of the motor is sufficiently large
(refer to the motor manufacture's data sheet).

Introduction 1

QUAD H-Bridge 40V Amplifier

Maximum Current Output E-Point Jumpers

Each amplifier has an E-point jumper that allows changing the transconductance factor of the amplifier.

Jumper Description Default

E1 No Jumper 0.5A/V Transc onductance fac t or for am plifier 1

Jumper 1-2 0.25A/V Transconductance factor for amplifier 1

E2 No Jumper 0.5A/V Transc onductance fac t or for am plifier 2

Jumper 1-2 0.25A/V Transconductance factor for amplifier 2

E3 No Jumper 0.5A/V Transc onductance fac t or for am plifier 3

Jumper 1-2 0.25A/V Transconductance factor for amplifier 3

E4 No Jumper 0.5A/V Transc onductance fac t or for am plifier 4

Jumper 1-2 0.25A/V Transconductance factor for amplifier 4

Jumpers are provided to lower the current output rating to 2.5A, for motors with 2.5A instantaneous
current (rather than the amplifiers rated at 5A). Effectively, this cuts the amplifier transconductance
factor in half, allowing use of the full ±10V from PMAC’s DAC outputs rather than scaling the system to
output ±5V via Ix69.

No Jumper

No Jumper

No Jumper

No Jumper

Amplifier-Enable/Fault Polarity Selection

The controller (PMAC) should be configured for low-true amplifier-enable signals. A green LED next to
Terminal Block 1 (TB1) for each amplifier on the QUAD H-Bridge is lit when the board is receiving
power and that amplifier is enabled.

Also, if the amplifier fault signal is fed back to PMAC, bit 23 (the most significant bit) of Ix25 (PMAC1)
or bit 23 of Ix24 for Turbo PMAC should be set to zero for Low True fault input. The red LED for each
channel is lit when the amplifier faults (overheats).

Torque/Velocity Control

For direct torque or velocity control, the following I-variables may be adjusted as part of the motor
software setup (Example for PMAC1-Turbo):

•

•

•

•

•

•

•

Refer to Turbo PMAC/PMAC2 Software Reference Manual for full descriptions of these I-variables.

Ixx00 Set to 1 to activate motor.
Ixx02 Motor xx Command Output Address. For example: I102=$078003 to use DAC1 with

motor 1.

Ixx03 Motor xx Position Loop Feedback Address. For example: I103=$3501 to use Encoder 1.
Ixx04 Motor xx Velocity Loop Feedback Address. For example: I104=$3501 to use Encoder 1.
Ixx24 Set motor xx Flag Mode Control. For example: I124=$100001 to specify high-true fault

input.

Ixx25 Set motor xx Flag Address. For example: I125=$078000 to specify channel 1 flags.
Ixx69 Set motor xx Output Command Limit.

2 Introduction