Delta Tau 3Ax-602646-xUxx manual Theory of Operation, Configuration, Logic Board

Page 15

Quad Amp Hardware Reference Manual

THEORY OF OPERATION

Operation

The Quad Amplifier is a universal 4-axis 3-phase direct PWM drive which utilizes the latest in smart power technology from the world’s leading vendors and the cutting edge algorithms of the new PMAC2 controller family. The Quad Amplifier is capable of driving all of the motor types commonly used in programmable motion control in both rotary and linear forms.

The Quad Amplifier is based on PWM (Pulse Width Modulation) which is a technique employing both frequency and phase to approximate sinusoidal currents and to control AC and DC motors.

Each axis of the Quad Amplifier uses a three H-bridge legs scheme. Each leg employs top and bottom IGBT transistor. The motor windings are connected between the center points of top and bottom pairs. When two appropriate IGBT transistors in the bridge are turned on, the current flows through any two motor windings. Any two (top and bottom) bridge transistors are turned on by a logic from PMAC2 with no other conditioning necessary, except an optical isolation. The Quad Amplifier performs no control functions itself; it simply accepts direct PWM commands from the PMAC2. PMAC2 requires the position feedback and the feedback about the current fed to the motors to commutate each controlled axis.

The current feedback is provided in digital form as a part of a serial data stream of 18-bits (12 bits report the current feedback and remaining 6-bits report fault conditions) from the current feedback A/D converters which are located in the Quad Amplifier. Each axis has its own mask word that tells the PMAC2 how many bits to expect from the A/D converter. The clock and the strobe for the digital feedback are programmable at the PMAC2.

The position feedback in the form of quadrature A, B and C and/or ChU, ChV, ChW and ChT generally is fed to PMAC2 via Acc-8F. The position feedback is not connected to the Quad Amplifier in any way.

Configuration

The Quad Amplifier consists of the following:

•One main logic board (I/O)

•One 4-axis current sense board

•One firing board for each IGBT power device. One for each axis, four axes maximum.

•One soft start and shunt regulator board

•One DC bus power supply

Logic Board

The Logic Board (I/O) acts as link to PMAC2 (via Acc-8F) and has several functions (All signals arrive/and leave the logic board through a separate mini DB36 connector for each axis):

1.Differential PWM signals are opto-isolated and sent directly to the firing boards.

2.All the control signals for the current sense board are transmitted to the current sense board via a flat 60-pin cable. The digitized current feedback is routed back from the current sense board via the same cable and is passed to PMAC2 through a mini-D36 connector.

3.The Logic Board processes Amp Enable and Amp Fault signals for all four axes. The Amp Enable is a differential pair and a separate line is supplied from PMAC2 for each axis. The default polarity of Amp Enable is positive true. A high on AENA+ and a low on AENA- will enable the Quad Amplifier. In the event of a failure, the Quad Amplifier will drive the Amp Fault line positive true and send the fault signal to PMAC2.

4.It provides protection against various Quad Amplifier fault conditions and it displays a condition of the Quad Amplifier via an LED Fault Indicator on the Current Sense board (see Fault Detection and Fault Codes section in this manual).

Theory of Operation

11

Page 14 Page 16
Image 15
Page 14 Page 16
Contents Quad Amp Delta Tau Data Systems, Inc. Technical Support Copyright InformationTable of Contents Jumpers, Potentiometers, Test Points, and LEDs Related Technical Documentation Safety SummaryLive Circuit Contact Procedures IntroductionBus Supply, Control Supply and Shunt Specifications Quad Amp Basic SpecificationsPhysical Specifications Electrical Specifications380/460/480V Quad Amplifier Specifications Quad Amp Specifications Output Specifications for 120/208/230 VAC AmplifierOutput Specifications for 380/460 VAC Amplifier Protection Mounting Options Description Configurable OptionsPower Blocks Description DescriptionACC8F Accessories DescriptionEquipment Required Installation Considerations and OptionsGetting Started Receiving and HandlingHeat Dissipation Multiple UnitsVibration Logic Board ConfigurationTheory of Operation OperationSoft Start and Shunt Regulator DC Bus Power SupplyCurrent Sense Board Firing BoardsShunt Considerations Heat DissipationQuad Amp Hardware Reference Manual Theory of Operation Quad Amplifier Channel Connections InstallationWiring the Quad Amplifier System Typical Quad Amplifier SetupConnectors Non-Standard Quad Amplifier SetupConnecting Power Devices Accessory Terminal Board Acc-8F, Acc-24E2 PWM Input CablesTOP View Pin# Symbol Function Description Control AC Input Voltage Main AC Input PowerFor 480 VAC Operation For 460 VAC OperationShunt and Bus Bus Power Enable/Emergency StopBus Filter/Indicator Motor WiringSymbol Description Name Position Description DefaultCurrent Sense Board Jumper and LED Locations LOW Symbol` Description Tp Factory SetGrounding PMAC2 I-Variables SetupP2Setup Functions Start-Up ProceduresPower On Sequence P2Setup380/460 VAC 208/230 VACQuad Amp Hardware Reference Manual Troubleshooting Logic Fault Detection and Fault CodesFault Reporting Axis-Specific Fault Only LED Fault IndicatorGlobal Fault Only Global and Axis-Specific FaultsProblem Check Corrective Action Quad Amp Hardware Reference Manual Scope Illustrated Repair Parts ListHow to Use the Repair Parts List PurposeDelta Tau Data Systems 4 Axis Digital Amplifier Qty Per Assy Manu Part Number Facturer Part Number Description 3 4 5 6 Index0HM

3Ax-602646-xUxx specifications

Delta Tau 3Ax-602646-xUxx is a cutting-edge motion controller designed for precision applications in automation and robotics. This model exemplifies advanced technology and innovative design, catering to industries ranging from manufacturing to aerospace. One of the key features of the Delta Tau 3Ax-602646-xUxx is its capability to control three axes simultaneously, allowing for synchronous motion that is critical in high-speed applications.

At the core of its functionality is its robust processing unit, which supports high-speed data handling and complex algorithms for motion control. This allows the user to achieve precise positioning and trajectory control, essential for tasks such as CNC machining or robotic arms. The controller operates with real-time feedback, ensuring that any deviations in motion are corrected instantly, thereby enhancing reliability and performance.

The Delta Tau 3Ax-602646-xUxx incorporates a user-friendly interface, which simplifies the programming of motion sequences. Its compatibility with various programming languages and protocols such as C, C++, and PLC languages makes it an adaptable choice for engineers. Furthermore, it supports a range of standard communication protocols, enabling seamless integration with existing systems and devices.

One of the standout technological features of this controller is its adaptive control strategy. This allows the system to learn from past operations and adjust its parameters to optimize performance, making it suitable for applications that require high levels of precision and repeatability. The Delta Tau 3Ax-602646-xUxx also utilizes advanced algorithms for PID control, ensuring smooth acceleration and deceleration, which is vital for maintaining component integrity in delicate manufacturing processes.

Another significant characteristic is its ability to interface with a variety of sensors and feedback devices, providing enhanced environmental awareness. This feature significantly boosts the controller's versatility as it can adapt to different machinery and operational challenges easily. Additionally, the system is designed to be scalable, accommodating future upgrades or expansions, thus offering long-term investment value for businesses.

In summary, the Delta Tau 3Ax-602646-xUxx is a powerful motion controller that combines precision, versatility, and advanced technology. Its simultaneous axis control, robust processing capabilities, user-friendly interface, and adaptive features make it an essential tool for modern automation and robotics applications, ensuring high levels of efficiency and productivity.
Top Page Image Contents