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Trust Automation, Inc. TA333 High Power Linear Servo Amplifier

10-Apr-09

Page 35 of 38

5.6 Stepper Motor, Sinusoidal Commutation

Pending

Figure 24 – Application Example 6

This figure shows the TA333 operating in brushed dual mode with differential command inputs. Active-
low enable, active-low FAULT, driving a stepper motor sinusoidally. The TA333 is set for a fixed current
limit of 20A with a transconductance of 2.0A/V.

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Summary of Contents for TA333

Page 1: ...Trust Automation Inc TA333 High Power Linear Drive 6 Feb 09 Operating Manual Page 1 of 38 TA333 High Power Linear Servo Amplifier PRELIMINARY Operating Manual Revision 0 13 ...

Page 2: ...Trust Automation Inc TA333 High Power Linear Servo Amplifier 10 Apr 09 Page 2 of 38 This Page Left Blank ...

Page 3: ...se contact Technical Support at Trust Automation Inc 143 Suburban Road Bldg 100 San Luis Obispo CA 93401 E mail Technical Support support trustautomation com Web www trustautomation com Phone 805 544 0761 FAX 805 544 4621 Handling and Safety Information Trust Automation products contain static sensitive parts that may be damaged if handled improperly We strongly encourage you to follow proper ESD ...

Page 4: ...Trust Automation Inc TA333 High Power Linear Servo Amplifier 10 Apr 09 Page 4 of 38 This Page Left Blank ...

Page 5: ...rve SOA 19 2 5 TA333 Output Frequency Response 22 3 0 Mechanical Information 23 3 1 Dimensions 23 4 0 Connector and Switch Information 24 4 1 Front Panel Connector and Switch Layout 24 4 2 Connector Types 24 4 3 J1 External 24VDC Supply 24 4 4 J2 Serial Monitoring Port 24 4 5 J3 Command Signals 25 4 6 J4 Hall Sensor Input 25 4 7 J5 Motor Signals 25 4 8 J6 Motor Power 25 4 8 SW1 Switch Settings 26 ...

Page 6: ...l 24 Figure 14 Fixed Gain and DTS Settings 26 Figure 15 SW1 Motor Type settings 27 Figure 16 TA333 Isolation Diagram 28 Figure 17 Application Example 1 30 Figure 18 Application Example 2 31 Figure 19 Application Example 3 32 Figure 20 Application Example 4 33 Figure 21 Application Example 5 34 Figure 22 Application Example 6 35 Tables Table 1 Data Transmission Format 16 Table 2 Fault Codes 16 Tabl...

Page 7: ...precision Due to the pulsing nature of the PWM drive the motor will tend to dither causing position error that cannot be tuned out The TA333 features a true Class AB linear power stage with a fast current feedback loop to put it in torque mode This means that the output is a pure current signal with virtually no distortion around zero eliminating all of the side effects of a PWM drive Some Class C...

Page 8: ...mple 5 1 and 5 2 Trapezoidal Trapezoidal operation is the simplest configuration used to drive a DC brushless motor The TA333 reduces the audible tick often associated with Hall commutation by smoothing the transitions without sacrificing performance As a practical limitation Hall commutation is limited to 3 kHz throughput In this mode the motors Hall Sensors are connected to J4 If the motor has d...

Page 9: ...n controller signal ground to the TA333 ISO ground connection at J3 See application example 5 2 1 5 Upgrading from a TA320 or TA330 When changing a preexisting application from a TA320 or TA330 the command signal polarity must be reversed to maintain the applications direction of motion The original TA320 and TA330 linear amplifiers operated with inverted outputs meaning a positive command induces...

Page 10: ...l continue to operate If FAULT is ignored and the heatsink temperature rises to 90 C the drive will shutdown When the heatsink temperature drops below 40 C the drive can be re enabled by toggling the enable line 1 8 Dynamic Transconductance Selection A feature pioneered by Trust Automation Dynamic Transconductance or DTS enables on the fly changes to the transconductance settings This feature is a...

Page 11: ...drive will not enable and will assert FAULT The ENABLE input must then be cleared and re asserted to enable the drive Note A minimum sinking capability IOL of 5mA is required Note Logic low input minimum voltage VIL is 0 8V Logic high input minimum voltage VIH is 2 0V with a maximum on 5 2V See circuit in the following figure Figure 1 Enable Circuit 1 10 FAULT Output The TA333 FAULT output is sele...

Page 12: ...lated will be required For unregulated supplies verify that the voltage supplied either at V or at V does not exceed the absolute maximum supply voltage of 100V Also note that the supplies must be within 12V of each other or a supply fault will be generated When using the TA333 or any linear servo amplifier power supply voltage that is not delivered to the motor will be lost as heat in the amplifi...

Page 13: ...mum of 600W continuous dissipation Peak dissipation is limited to 1350W for a very short time period 1ms A practical design should limit peak dissipation to 1000W or less Actual dissipation limits depend on specific conditions including temperature load dynamics and event time For most accurate peak dissipation allowable see SOA chart See section 2 4 The TA333 features a microprocessor that consta...

Page 14: ...333 motor connections are made at connector J5 The available output voltage is limited to the supply voltage less approximately 8V off each rail With 48V supplies there will be 80V available across the motor before the output starts to clip Pin 1 on J5 is earth ground and is electrically isolated from all power connections By physically connecting the TA333 chassis and the motor chassis to an eart...

Page 15: ...n on command A and B with a motion controller setup to drive a stepper motor sinusoidally See application example 5 6 1 16 Serial Monitoring The TA333 has a high speed data port for monitoring drive performance and logging of fault conditions The five pin port at J2 provides access to a TTL serial data stream presented at 230 400 baud Set up a terminal program such as HyperTerminal with the baud r...

Page 16: ...mp fault data See fault chart 2 Temp Celsius Temperature of heat sink SOA de rated as temperature rises 3 Phase Voltage The captured phase voltage 4 Supply V Positive supply voltage 5 Supply V Negative supply voltage 6 Phase Current The highest captured phase current 7 Wattage Amp dissipation wattage based on data gathered Table 1 Data Transmission Format Faults are formatted as Table 2 Fault Code...

Page 17: ...sed by sending p followed by Rtn either before enabling or after sending the stop s command Figure 7 Sample Fault Printout If the TA333 is powered up with the optional 24V input and the enable signal is active two faults will be generated The first reported fault will be 0x0020 enable fault followed by 0x0021 indicating there is a supply fault in addition to an enable fault ...

Page 18: ...ise ratio SNR db 79 06 1A 1kHz Trapezoidal Bandwidth kHz 3 0 Consult factory for higher speeds Min Load Inductance mH 0 100 Min non inductive load Ω 2 0 Table 3 Electrical Specifications 2 2 Mechanical Specifications Feature Units Value Length in cm 14 90 37 85 Width in cm 7 69 19 53 Height in cm 4 70 11 94 Weight lb kg 13 5 6 12 Table 4 Mechanical Specifications 2 3 Environmental Specifications F...

Page 19: ...r currents that result in a dissipation wattage below 600W the processor limits the time logarithmically from infinite time at 6A down to 500ms at 25A See current vs time graph Wattage Limit If the resulting dissipation wattage exceeds 600W the time to fault is much shorter as it is now operating in the knee of the SOA curve See wattage vs time graph Temperature Limit The microprocessor takes into...

Page 20: ...e 5 7 9 11 13 15 17 19 21 23 25 500 1500 2500 3500 4500 5500 6500 Time ms Current Figure 9 Output Current vs Time Graph for Time to Fault 30 C Wattage vs Time 600 700 800 900 1000 1100 1200 1300 1400 15 25 35 45 55 65 75 85 Time ms Wattage Figure 10 Dissipation Wattage vs Time for Time to Fault 30 C ...

Page 21: ... 50 56 93 38 82 27 69 20 47 15 57 12 13 9 65 55 50 33 34 32 24 48 18 10 13 77 10 73 8 53 60 43 91 29 94 21 36 15 79 12 01 9 36 7 44 65 37 68 25 69 18 33 13 55 10 31 8 03 6 38 70 31 62 21 56 15 38 11 37 8 65 6 74 5 35 Figure 11 Temperature De rating Time to Fault for Dissipation Wattages vs Heatsink Temperature For a given wattage the time to generate a fault decreases with temperature For example ...

Page 22: ...sponse in a motor Excessively low inductances 0 1mH can result in current loop instability and result in uncontrolled oscillations The TA333 has been factory tuned to give optimal performance over a wide variety of industry standard motors If the intended application for the TA333 requires a motor outside the usual inductance range and the full 5 kHz throughput is required please contact support t...

Page 23: ... in such a way that there is clear airflow into and out of the heatsink and integral cooling fans Ideally there would be at least 4 of clearance on both ends For best results mount the unit vertically with the nose up air flow exit to take advantage of the chimney effect of heat rising 3 1 Dimensions Figure 13 TA333 Mechanical Dimensions ...

Page 24: ...t used 3 VISO 4 TXD 5 RXD 6 RTS Not used Table 8 Serial Monitoring Connector J2 provides a TTL level serial port to monitor the operating conditions on the load and the internal health of the TA333 The optional TTL Serial to USB cable provides a convenient conversion for viewing the data with any terminal program such as Windows HyperTerminal See section 1 16 Connector Pins Manufacturer Part Numbe...

Page 25: ...ption 1 ISO 5 20mA Maximum 2 ISO Gnd 3 Hall A 4 Hall B 5 Hall C Table 10 Hall Sensor Input Connector Note If the motor has differential Hall outputs only connect the Hall outputs to J4 and leave the Hall signals unconnected Do not tie to ground the motor will be damaged Note If the Hall sensors require more than 20mA an external 5V must be supplied See application example 5 3 4 7 J5 Motor Signals ...

Page 26: ...nction Selection 5 Trapezoidal Commutation Sinusoidal Commutation 6 60 Hall Commutation 120 Hall Commutation 7 Brush type motor or voice coil Brushless type motor 8 Dual Brush type motor unbridged Single Bridged motor bridged Table 13 SW1 Settings 4 9 SW1 Switch 3 and 4 Fixed Gain and DTS Settings Setting SW1 3 DTS D0 SW1 4 DTS D1 10Vin 10A out Down 0 Down 0 10Vin 15A out Up 1 Down 0 10Vin 20A out...

Page 27: ...otor sinusoidal commutation Up 1 Up 1 Up 1 Up 1 Brushless motor trapezoidal commutation 120 Halls Down 0 Up 1 Up 1 Up 1 Brushless motor trapezoidal commutation 60 Halls Down 0 Down 0 Up 1 Up 1 Single brushed motor or voice coil bridge mode Up 1 Up 1 Down 0 Up 1 Dual brushed motor voice coil or stepper unbridged mode Up 1 Up 1 Down 0 Down 0 Table 15 SW1 Motor Type Selection Figure 16 SW1 Motor Type...

Page 28: ...Trust Automation Inc TA333 High Power Linear Servo Amplifier 10 Apr 09 Page 28 of 38 4 11 Isolation Diagram Figure 17 TA333 Isolation Diagram ...

Page 29: ...Trust Automation Inc TA333 High Power Linear Servo Amplifier 10 Apr 09 Page 29 of 38 4 11 Isolation Diagram Cont Figure 18 TA333 Isolation Diagram ...

Page 30: ... Motor Sinusoidal Differential Command Input Figure 19 Application Example 1 This figure shows the TA333 operating in sinusoidal mode with differential command inputs Active low enable active low FAULT driving a single brushless servo motor The TA333 is set for a fixed current limit of 20A with a transconductance of 2 0A V ...

Page 31: ... Single Ended Command Input Pending Figure 20 Application Example 2 This figure shows the TA333 operating in sinusoidal mode with single ended command inputs Active low enable active high FAULT driving a single brushless servo motor The TA333 is set for a fixed current limit of 10A with a transconductance of 1 0A V ...

Page 32: ...s servo motor and using Hall Effect sensors at 120 timing for trapezoidal commutation The TA333 is set for a fixed current limit of 15A with a transconductance of 1 5A V Hall Sensors are connected to J4 If the motor has differential Hall outputs only connect the Hall outputs to J4 and leave the Hall signals unconnected Do not tie to ground the motor will be damaged Note that Hall 5V power supplied...

Page 33: ...ing Figure 22 Application Example 4 This figure shows the TA333 operating in brushed bridge mode with differential command inputs Active low enable active high FAULT driving a single brush type servo motor The TA333 is set for a fixed current limit of 25A with a transconductance of 2 5A V with active DTS input control ...

Page 34: ...e Pending Figure 23 Application Example 5 This figure shows the TA333 operating in brushed dual mode with single ended command inputs Active low enable active high FAULT driving two brush type or voice coil servo motors independently The TA333 is set for a fixed current limit of 15A with a transconductance of 1 5A V ...

Page 35: ...usoidal Commutation Pending Figure 24 Application Example 6 This figure shows the TA333 operating in brushed dual mode with differential command inputs Active low enable active low FAULT driving a stepper motor sinusoidally The TA333 is set for a fixed current limit of 20A with a transconductance of 2 0A V ...

Page 36: ...erence for products that have been repaired or replaced All duties and taxes remain the responsibility of the customer All shipments of repaired or replaced products will be F O B at Trust Automation Inc headquarters in San Luis Obispo California For tracking purposes products to be repaired or replaced must be returned to Trust Automation Inc with a Trust Automation Inc RMA and a Purchase Order T...

Page 37: ...ion Inc TA333 High Power Linear Servo Amplifier 10 Apr 09 Page 37 of 38 7 0 TA333 Hardware Revision History Revision Date Description A 0 15 Dec 07 Alpha Hardware Release A 1 15 May 08 Added Brush type motor support ...

Page 38: ...near Servo Amplifier 10 Apr 09 Page 38 of 38 8 0 TA333 Manual Revision History Revision Date Description v0 10 15 Aug 08 Initial Release ALPHA v0 11 10 Oct 08 Data corrections v0 12 30 Jan 09 Formatting changes V0 13 10 April 09 Release BETA ...

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