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Summary of Contents for Trust TA333
- Page 1 Trust Automation, Inc. TA333 High Power Linear Drive TA333 High Power Linear Servo Amplifier PRELIMINARY Operating Manual Revision 0.13 6-Feb-09 Operating Manual Page 1 of 38...
- Page 2 Trust Automation, Inc. TA333 High Power Linear Servo Amplifier This Page Left Blank 10-Apr-09 Page 2 of 38...
- Page 3 © 2009 Trust Automation, Inc. All rights reserved. This document is provided for Trust Automation, Inc. customers, solely for the purpose of assisting our customers in the use and installation of our products. Other uses are unauthorized without the written permission of Trust Automation, Inc.
- Page 4 Trust Automation, Inc. TA333 High Power Linear Servo Amplifier This Page Left Blank 10-Apr-09 Page 4 of 38...
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Page 5: Table Of Contents
2.0 General Specifications ....................18 2.1 Electrical Specifications......................18 2.2 Mechanical Specifications ......................18 2.3 Environmental Specifications....................18 2.4 TA333 Safe Operating Area Curve (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... - Page 6 Figure 10 – Temperature De-rating, Time to Fault for Dissipation Wattages vs. Heatsink Temperature ..........................21 Figure 11 – TA333 Frequency Response ................22 Figure 12 – TA333 Mechanical Dimensions ................23 Figure 13 – TA333 Front Panel ....................24 Figure 14 –...
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Page 7: Features And Setup
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. -
Page 8: Setup
Control is consistent and smooth at any velocity. In sinusoidal mode, the TA333 is designed to accept two command signals (A and B @ ±10V) from a motion controller that is performing the commutation based upon encoder feedback. The TA333 derives the third phase internally (C = - (A+B)). -
Page 9: Command Input
Motion command connections to the TA333 are made at J3. Inputs are provided for two of the three phases (A and B) and the TA333 can derive the third phase (C = - (A+B)) in sinusoidal applications. The inputs are common mode terminated at 10K and there is no need to ground an input if it is unused. -
Page 10: Thermal Limits
Note: Current output is limited by Ohm’s Law (I = V supply motor TA333 is factory configured for 10A, 15A, 20A and 25A for a commanded input voltage of ±10V, set at SW1, positions 3 and 4. (See table 4.9) Note: 25A output duration is limited by the SOA graph and temperature. -
Page 11: Enable Input
(See table 4.8) The input must be pulled to logic low (ISO GND) or logic high (ISO +5) for the TA333 to operate. The ENABLE line is pulled up internally to ISO +5. The TA333 provides an isolated +5V source at connector J3 and J4 with a maximum draw of 100mA. -
Page 12: Ground Connections
External 24V GND with a minimum 1500V hipot separation. 1.12 Drive Power Supply A pair of matching power supplies (24V to 100V) must be used to power the TA333. A high quality switching supply is suitable for most applications. These supplies tend to be small, affordable, and highly available. -
Page 13: Optional External 24Vdc Supply
50-100mV of random noise. 1.14 Power Dissipation Calculations Since the TA333 Power stage is linear, voltage not applied to the motor is converted directly to heat. Heat generated by the drive is directly proportional to the voltage drop (across the amplifier) multiplied by the motor current. -
Page 14: Motor Connections
(See SOA chart, section 2.4) 1.15 Motor Connections The TA333 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. -
Page 15: Serial Monitoring
Reference the FTDI installation guide for installing the TTL to USB serial cable. Figure 4 – Com Port Settings for Serial Communication When the TA333 is powered up, the serial port will transmit the firmware version and the drive mode set by SW1 position 5 through 8. -
Page 16: Figure 5 - Data Transmission Format, Hyperterminal
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier Once the TA333 is enabled, data will begin transmitting in the following format: Figure 6 – Data Transmission Format, HyperTerminal Figure 6 shows the drive set to brushless motor mode, no faults, heatsink at 22°C, positive supply at 24V and negative supply at 24V. -
Page 17: Figure 6 - Sample Fault Printout
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: General Specifications
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 2.0 General Specifications 2.1 Electrical Specifications Feature Units Value ± 24 – ± 100 (Bipolar) Supply Voltage Vsup – 8V (~ 8V from either supply rail) Equivalent Motor Voltage 24 ± 5% @ 1.0A External 24V Supply 25 (See SOA Chart section 2.4) -
Page 19: Ta333 Safe Operating Area Curve (Soa)
TA333 High Power Linear Servo Amplifier 2.4 TA333 Safe Operating Area Curve (SOA) The TA333 features a micro processor that constantly monitors the operating conditions on the amplifier to prevent damage. This processor continuously calculates the dissipated wattage and sets a fault threshold based on heatsink temperature, supply voltage, and motor current. -
Page 20: Figure 8 - Output Current Vs. Time Graph For Time To Fault @ ~30°C
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier Current vs. Time 1500 2500 3500 4500 5500 6500 Time (ms) Figure 9 – Output Current vs. Time Graph for Time to Fault @ ~30°C Wattage vs. Time 1400 1300 1200... -
Page 21: Figure 10 - 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, at 25°C the TA333 will sustain 900W for ~45ms before fault generation. If the heatsink is at 60°C, then only ~21ms will be allowed before fault generation. -
Page 22: Ta333 Output Frequency Response
TA333 High Power Linear Servo Amplifier 2.5 TA333 Output Frequency Response The TA333 design provides a relatively flat current output response up to 5 kHz for most motors. Lower inductance motors (0.10mH) will yield a higher bandwidth and higher inductance motors (10- 15mH) will yield a lower bandwidth. -
Page 23: Mechanical Information
3.0 Mechanical Information The TA333 must be mounted 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. -
Page 24: Connector And Switch Information
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. -
Page 25: J3 - Command Signals
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 4.5 J3 – Command Signals Pin # Description Command Signal Input Phase A+ Command Signal Input Phase A- Command Signal Input Phase B+ Command Signal Input Phase B- Dynamic Transconductance Select Bit D0... -
Page 26: Sw1 - Switch Settings
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 4.8 SW1 – Switch Settings Switch # Function – (0 / Down / On) Function – (1 / Up / Off) /ENABLE (drive enabled on low Input) ENABLE (drive enabled on high input) -
Page 27: Sw1 - Switch 5-8 Motor Type
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 4.10 SW1 – Switch 5-8 Motor type (See section 1.3 for more information) Function (Motor type) SW1-5 SW1-6 SW1-7 SW1-8 Brushless motor, sinusoidal commutation Brushless motor, trapezoidal commutation, 120° Halls Down (0) Brushless motor, trapezoidal commutation, 60°... -
Page 28: Isolation Diagram
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 4.11 Isolation Diagram Figure 17 – TA333 Isolation Diagram 10-Apr-09 Page 28 of 38... - Page 29 Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 4.11 Isolation Diagram (Cont.) Figure 18 – TA333 Isolation Diagram 10-Apr-09 Page 29 of 38...
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Page 30: Application Examples
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: Brushless Motor, Sinusoidal (Single Ended Command Input)
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: Brushless Motor, Trapezoidal, Hall Commutation
J4 and leave the “–” Hall signals unconnected. (Do not tie to ground, the motor will be damaged.) Note that Hall 5V power supplied by the TA333 is limited to 20ma. If the motor hall sensors require >20mA for operation, an external 5V power source must be used. -
Page 33: Brush Motor, Bridge Mode
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: Brush Motor, Dual Motor Mode
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. 10-Apr-09... -
Page 35: Stepper Motor, Sinusoidal Commutation
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: Warranty
GENERAL - All hardware products sold by Trust Automation Inc. are warranted against defects in material and workmanship for a period of one (1) year from the date of shipment. If you believe that a Trust Automation Inc. hardware product you have purchased has a defect in material or workmanship, or has failed during normal use within the warranty period, please contact Trust Automation Inc. -
Page 37: Ta333 Hardware Revision History
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 7.0 TA333 Hardware Revision History Revision Date Description 15 Dec 07 Alpha Hardware Release 15 May 08 Added Brush type motor support 10-Apr-09 Page 37 of 38... -
Page 38: Ta333 Manual Revision History
Trust Automation, Inc. TA333 High Power Linear Servo Amplifier 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...
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