Delta Tau 3Ax-602646-xUxx INTRODUCTION

Quad Amp Hardware Reference Manual

Introduction 1

INTRODUCTION

The Delta Tau Data Systems, Inc. 4-axis Digital Amplifier (Quad Amp) is a highly compact digital

amplifier and power supply, packaged together to provide four axes of bi-directional (four quadrant)

torque control for a variety of AC or DC brushless or AC induction motors. All control parameters

including switching frequency and dead time are determined by software set-up of the controller, not in

the amplifier.

The Quad Amp is designed to work in conjunction with the Delta Tau PMAC2 motion controller, which

supports up to eight axes of motion control. The PMAC2 delivers Pulse Width Modulated (PWM) on/off

signals to the Quad Amp power transistors. The Quad Amp simply isolates and level-shifts these signals,

at the required frequency and magnitude, to obtain the desired torque, velocity, and position.

All feedback is processed by the PMAC2. The Quad Amp measures motor phase currents, digitizes them,

and transmits them back to PMAC2 as a serial data stream. Position feedback data is sent directly back to

the PMAC2 via the Acc-8F Digital Interface Board. The Quad Amp does not use or require any position

data.

The following technical manuals are required to successfully install and operate the Delta Tau Quad Amp.

These manuals should be included in the technical documentation package received with the Quad Amp.

If any of these manuals are missing, contact Delta Tau before attempting installation.

Manual Number Manual Title

3A0-602204-363 PMAC User Manual and Software Reference with PMAC2 Addendum

3A0-602775-363 Acc-8F Digital Interface Board User Manual

3A0-602598-363 PMAC2 PC and PMAC2 Lite Hardware Reference Manual

3A0-602413-363 PMAC2 VME Hardware Reference Manual

3A0-602643-363 PMAC2 VME Ultralite Hardware Reference Manual

Safety Summary

The following are general safety precautions not related to any specific procedures and therefore may not

appear elsewhere in this publication. These are recommended precautions that personnel must

understand, apply, and adhere to during the phases of installation, operation, and maintenance.

Do not replace components or make adjustments inside equipment with power applied. Under certain

conditions, dangerous potentials may exist when power has been turned off due to charges retained by

capacitors. To avoid casualties, always remove power and allow 10 to 12 minutes for the bus capacitors

to discharge before removing the cover.

Never attempt to remove a person from a live circuit with bare hands. To do so is to risk sure and sudden

death. If a person is connected to a live circuit, the following steps should be taken:

• Call for help immediately

• De-energize the circuit, if possible.

• Use wooden or fiberglass hot stick to pull the person free of the circuit.

• Apply cardiopulmonary resuscitation (CPR) if the person has stopped breathing or is in cardiac arrest.

• Obtain immediate medical assistance.