Delta Tau 3Ax-603443-360 User manual

^1 USER MANUAL
^2 QUAD H-Bridge 40V Amplifier
^3 4-Channel H-Bridge 40V Amplifier Board
^4 3Ax-603443-360
^5 November 7, 2003
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // 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: [phone]
Fax: [phone]
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 exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.

QUAD H-Bridge 40V Amplifier
Table of Contents i
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

QUAD H-Bridge 40V Amplifier
ii Table of Contents

QUAD H-Bridge 40V Amplifier
Introduction 1
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).

QUAD H-Bridge 40V Amplifier
2Introduction
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 Transconductance factor for amplifier 1
Jumper 1-2 0.25A/V Transconductance factor for amplifier 1 No Jumper
E2 No Jumper 0.5A/V Transconductance factor for amplifier 2
Jumper 1-2 0.25A/V Transconductance factor for amplifier 2 No Jumper
E3 No Jumper 0.5A/V Transconductance factor for amplifier 3
Jumper 1-2 0.25A/V Transconductance factor for amplifier 3 No Jumper
E4 No Jumper 0.5A/V Transconductance factor for amplifier 4
Jumper 1-2 0.25A/V Transconductance factor for amplifier 4 No Jumper
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.
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):
• 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.
Refer to Turbo PMAC/PMAC2 Software Reference Manual for full descriptions of these I-variables.

QUAD H-Bridge 40V Amplifier
Hardware Description 3
HARDWARE DESCRIPTION
There are six connectors on the QUAD H-Bridge Amplifier board:
1. TB1: 8-Pin PMAC Interface Terminal Block
2. TB2: 13-Pin Motor Amplifier Output Terminal Block
3. TB3: External Power Ground
4. TB4: External Power
5. TB5: JFAN
6. TB6: 96-Pin Power Input Connector
TB1: 8-Pin PMAC Interface Terminal Block
This terminal block provides the actual connection to the motors.
Pin Symbol Function Description
1 AMPOUT1 Output 1ST Motor + Lead
2 AMPOUT1/ Output 1ST Motor - Lead
3 AMPOUT2 Output 2ND Motor + Lead
4 AMPOUT2/ Output 2ND Motor - Lead
5 AMPOUT3 Output 3RD Motor + Lead
6 AMPOUT3/ Output 3RD Motor - Lead
7 AMPOUT4 Output 4TH Motor + Lead
8 AMPOUT4/ Output 4TH Motor - Lead
TB2: 13-Pin Motor Amplifier Output Terminal Block
This connector brings in up to four analog command signals and amplifier-enable lines. It also sends the
amplifier fault signal back to the controller.
Pin Symbol Function Description Notes
1 DAC1+ Input Command Signal 1 Reference to AGND
2 AENA1- Input Amplifier Enable 1 Reference to AGND
3 FAULT1- Output Amplifier Fault 1 Reference to AGND
4 DAC2 Input Command Signal 2 Reference to AGND
5 AENA2- Input Amplifier Enable 2 Reference to AGND
6 FAULT2- Output Amplifier Fault 2 Reference to AGND
7 AGND Analog Ground
8 DAC3 Input Command Signal 3 Reference to AGND
9 AENA3- Input Amplifier Enable 3 Reference to AGND
10 FAULT3- Output Amplifier Fault 3 Reference to AGND
11 DAC4 Input Command Signal 4 Reference to AGND
12 AENA4- Input Amplifier Enable 4 Reference to AGND
13 FAULT4- Output Amplifier Fault 4 Reference to AGND

QUAD H-Bridge 40V Amplifier
4 Hardware Description
TB3: External Power Ground
Pin Symbol Function Description
1 PGND Input Bus power reference
TB4: External Power
Pin Symbol Function Description
1 A+40V Input Bus power supply
TB5: JFAN
Pin Symbol Function Description
1 FAN- Output For cooling fan
2 FAN+ Output For cooling fan
3 AGND Input/Output Reference for logic supply
4 A+15V Input For logic power (usually from backplane)
5 AGND Input/Output Reference for logic supply
6 A-15V Input For logic power (usually from backplane)

QUAD H-Bridge 40V Amplifier
Hardware Description 5
P1: 96 Pin Power Input Connector
Pin # Row A Row B Row C
1 PGND PGND PGND
2 PGND PGND PGND
3 PGND PGND PGND
4 PGND PGND PGND
5 PGND PGND PGND
6 PGND PGND PGND
7 PGND PGND PGND
8 PGND PGND PGND
9 NC NC NC
10 +40V (bus) +40V (bus) +40V (bus)
11 +40V (bus) +40V (bus) +40V (bus)
12 +40V (bus) +40V (bus) +40V (bus)
13 +40V (bus) +40V (bus) +40V (bus)
14 +40V (bus) +40V (bus) +40V (bus)
15 +40V (bus) +40V (bus) +40V (bus)
16 +40V (bus) +40V (bus) +40V (bus)
17 +40V (bus) +40V (bus) +40V (bus)
18 NC NC NC
19 DB R+ DB R+ DB R+
20 DB R+ DB R+ DB R+
21 DB R+ DB R+ DB R+
22 DB R+ DB R+ DB R+
23 NC NC NC
24 DB R- DB R- DB R-
25 DB R- DB R- DB R-
26 DB R- DB R- DB R-
27 DB R- DB R- DB R-
28 NC NC NC
29 AGND AGND AGND
30 A+15V A+15V A+15V
31 AGND AGND AGND
32 A-15V A-15V A-15V
Amplifier Specifications
Power Stage Specifications
Description Specification
V+ Input Voltage 15V minimum, 40V maximum
Logic Power 15V @ 100 mA, -15V @ 50 mA
Transconductance Factor 0.5V/A
Max Continuous Current 12A (2A per channel)
Peak Current 20A (4A per channel)
Internal Switching Frequency 20 KHz
Reference Input Voltage ±10V

QUAD H-Bridge 40V Amplifier
6 Hardware Description
Mechanical Specifications
Size & Dimension See Diagram
TB1 Connector 8 pin Screw Terminal
TB2 Connector 13 pin Phoenix
P1 Connector 96 pin 3U back plane
Environmental
Operating Temperature 0°C to 55°C (32°F to 135°F)
Storage Temperature -12°C to 82°C (10°F to 180°F)
Humidity 0% to 95%, Non-Condensing
Amplifier User Components Description
Fuses Label Type Description
F1 15A Fast Blow for BUS
F2 5A Slow Blow
LEDs
Label Function
LD1 Channel 1 Enable
LD2 Channel 1 Fault
LD3 Channel 2 Enable
LD4 Channel 2 Fault
LD5 Channel 3 Enable
LD6 Channel 3 Fault
LD7 Channel 4 Enable
LD8 Channel 4 Fault
LD9 REGEN
LD10 Over Temperature Fault
Offset Pots
Name Label Function
A R15 Channel 1 Current Offset
B R35 Channel 2 Current Offset
C R55 Channel 3 Current Offset
D R75 Channel 4 Current Offset

QUAD H-Bridge 40V Amplifier
Low Power Quad H-Bridge Amplifier Layout 7
LOW POWER QUAD H-BRIDGE AMPLIFIER LAYOUT

QUAD H-Bridge 40V Amplifier
8 Low Power Quad H-Bridge Amplifier Layout

QUAD H-Bridge 40V Amplifier
Sample Wiring Diagram 9
SAMPLE WIRING DIAGRAM
DAC1+
ENA1-
FLT1-
DAC2+
ENA2-
FLT2-
DAC3+
ENA3-
FLT3-
DAC4+
ENA4-
FLT4-
AGND
13 12 11 10 9 8 7 6 5 4 3 2 1
DAC1A+
DAC1A-
DAC1B+
DAC1B-
AE_NC_1
AE_COM_1
AFAULT1+ AFUALT1-
AA+15V AA-15V
AGND
AE_NO_1
12 11 10 9 8 7 6 5 4 3 2 1
ACC-24E2A
To
Motor #1
1
2
3
4
AGND
A+15V
AGND
A-15V
1
2
3
4
BUS-
BUS+
DBR-
DBR+
1
2
3
4
5
6
7
8
AMPOUT1+
AMPOUT1-
AMPOUT2+
AMPOUT2-
AMPOUT3+
AMPOUT3-
AMPOUT4+
AMPOUT4-
BACKPLANE
Amplifier Logic
Power Supply
+/- 15V
(external or
UBUS)
40V BUS
POWER SUPPLY
To
Shunt
Resistor
40V
4-Axis
Amplifier

QUAD H-Bridge 40V Amplifier
10 Sample Wiring Diagram

QUAD H-Bridge 40V Amplifier
Analog Amplifier Backplane Board 11
ANALOG AMPLIFIER BACKPLANE BOARD
The analog amplifier backplane board allows easy access to power the Quad H-Bridge amplifier units
when placed in the 3U racks. The amplifier backplane boards come in two options: single amplifier 2-slot
assemblies or dual amplifier 4-slot assemblies. The board itself has terminal screws for the external bus,
external shunt resistors, a Molex connector for the logic power, and another Molex connector for the
cooling fans.
Backplane
Board Part Number 3U Slots used
Single Amplifier 603490-10x 2
Dual Amplifier 603470-10x 4
Single Quad H-Bridge Amplifier Backplane Layout

QUAD H-Bridge 40V Amplifier
12 Analog Amplifier Backplane Board
Dual Quad H-Bridge Amplifier Backplane Layout

QUAD H-Bridge 40V Amplifier
Analog Amplifier Backplane Board 13
Analog Amplifier Backplane Connectors
TB1 Bus Power and Shunt Resistor Inputs
Pin Label Description
1 -BUS BUS Voltage reference
2 +BUS BUS Voltage (15V to 65V)
3 DBR+ Shunt Resistor Input
4 DBR- Shunt Resistor Input
TB2 Logic Power Supply and Fan Power Supply Input
Pin Label Description
1 AGND Logic and Fan Supply Reference
2 +15V +15V input
3 AGND+ Logic and Fan Supply Reference
4 -15V -15V input
J1 Fan Power Supply Output
Pin Label Description
1 NC No Connection
2 +FAN +12V output
3 -FAN AGND Reference voltage for fan
4 -FAN -12V output
J2 Fan Power Supply Output
(For Dual Quad Amp Backplane only 603470-10x)
Pin Label Description
1 NC AGND
2 +FAN +12V output
3 -FAN AGND Reference voltage for fan
4 -FAN -12V output