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66
APPENDICES
Appendix B: Schematics
B.1
TORQUE AMPLIFICATION BOARD
1
2
3
4
5
MTA-100-
5
R1
1.2
K
R27
1.2
K
R2
680
R3
820
R4
1 K
R7
1.2 K
R8
1.5 K
R9
1.8 K
R10
2.4 K
R11
2.7 K
R12
3.3 K
R13
4.3 K
R14
5.1 K
R15
1.2 K
1
2
3
4
5
6
7
8
IC
1
AD620
SL11
SL10
SL9
SL8
SL7
SL6
SL5
SL4
SL3
SL2
SL1
C2
100 nF
C11
100 nF
C1
100 nF
C10
100 nF
R6
100
K
R5 100
K
P3 5
K
Zer
o
C8 100 nF
C9 100 nF
0VA
0VA
-5Vref
-5Vref
+5Vref
R20 xxK
SL14
Blu
SL17
Grn
0VA
0VA
C3
100 nF
C12
100 nF
0VA
8
4
IC2C
TL062I
R21
270
K
R18 56
K
R28 51
K
-15V
+15V
0VA
P1
20
K
R22
51
K
0VA
R24
51
K
R23
48.7
K
P2 5
K
D3
1N4148
D1
1N4148
2
3
4
6
7
IC
3
OP177GS
R16
100
K
R17
100
K
C6
47 nF
C5
10 nF
C4
100 nF
SL15
R25
100
K
R26
1
K
D4
1N4148
D2
1N4148
C7
10 nF
0VA
-15V
+15V
C14 100 nF
C15 100 nF
0VA
L1 100 uH
R19
xx
K
SL16
2
1
3
DZ1 LM4050-5V
R32
100
K
R30
100
K
R31
10
K
R41
100
K
Q1
BCV49
R29 10
+15V
C13
1 nF
C25 100 nF
R33 100
K
0VA
0VA
+15V
+5Vref
R40 100
K
R39
10
K
R38 10
-15V
C24
1 nF
0VA
-5Vref
Q4
BCV48
3
1
2
4
IC
5
LM317
2
3
1
4
IC
6
LM337
Torque_O/
P
R36 220
R37 220
R34
2.4
K
R35
2.4
K
0VA
C20
10 uF
C21
10 uF
C18
10 uF
C19
10 uF
C16
100 nF
C17
100 nF
+5VD
FLOW_CLUTCH-OK
TACH_B
+25V
-25V
+15V
-15V
Torque_O/
P
0VA DPB
DPA
TACH_A
INDEX
0VD
+5Vref
C26
100 nF
C27
100 nF
0VA
+15V
-15V
C28 100 nF
R42 10
K
SL20
0VA
S1
S2
3M3314
SL12
SL13
TP5
TP6
TP1
TP2
TP1 TP2 Torque_O/
P
TP5 TP6
A_COM A_COM
0VA
Q2 BT2222A
2
3
1
IC2A
TL062I
6
5
7
IC2B
TL062I
6
5
7
IC4B
TL062I
2
3
1
IC4A
TL062I
8
4
IC4C
TL062I
Q3
BT2907A
1 2 3
MTA-100-
3
C22
1 uF
C23
1 uF
-5Vref
INDEX
+5VD
TACH_A
0VD
TACH_B
1 2 3
MTA-100-
3
0VD
1 2 3
MTA100-
3
0VD FLOW_CLUTCH-OK
SL18
SL19
+5VD
+25V
2
1
3
5
4
6
SW1
DPDT
1 2 3 4 5
MTA-100-
5
+15V -15V
1 2 3 4 5
MTA-100-
5
C29
27 nF
J2
J1
J5
J7
J4
J6
J3
CW cal
Sym_Adj
CCW cal
Bridge_Suppl
y
Load-Cel
l
Earth_Plan
14P_Mai
n
Shiel
d
IN
+
IN
-
Ex
+
Ex
-
Test_connector
s
( First stage O/P
)
( 2nd stage O/P
)
( TP3
)
( TP4
)
( IN+
)
( IN-
)
Torque_COM
5 V ( WB/PB & HD106
)
10 V ( HD100-825
)
WB/PB: 5V HD: see Data sheet
600x-bit
60-bit
Encoder
s
Flow_Clutch
( TP7
)
( TP8
)
Adj
(Case)
IN
Ou
t
Adj
(Case)
IN
Ou
t
Gain Adj
.
+/-15%