Application Note #1245

Transcription

1 Application Note #1245 ICM W Interconnect Module with 20W Servo Drive The ICM W (Rev D) Interconnect Module provides an on board 20W linear servo drive for the X-axis suitable for driving small servo motors. The terminal breakout provides easy connections between the Econo series (DMC-1410, 11, 12, 14, 15, 16, 17, 25) or E series (DMC-3415, 25) controllers and other system elements such as amplifiers, encoders, and external switches. The ICM-1460 accepts the 37- pin cable from the controller and breaks it into screw-type terminals. Each screw terminal is labeled for quick connection of system elements. The ICM W is packaged as a circuit board mounted within a metal enclosure. Note: this is a legacy product which is not recommended for new designs. For a similar product with 20W servo drive capabilities, see the AMP Features: Breaks out 37-pin ribbon cable into individual screw-type terminals Provides a linear 20W servo amplifier for the X-axis. 10-pin IDC connector for quick encoder Available with opto-isolation option for inputs (contact Galil for details) Servo Drive Specifications Drive Type: Voltage supply: Max power rating: Max current rating: Amp Gain: Linear (FET) VDC (requires bi-polar supply) 20 watts (peak) 20VDC; 30VDC 0.1 A/V - 1 -

2 ICM W Servo Drive Circuit Diagram +12V* VAMP+ ACMD (MOTOR COMMAND) R2 90.9K U3 OPA Q1 TIP100 MOTOR 1 MOTOR 2 R3 10K R1.5 OHM.5 WATT Q2 TIP101 VAMP- D2 D3-12V* AMPGND Making Connections to the Amplifier: The motor command signal is automatically connected to the 20 Watt amplifier when the main controller cable is attached. The amplifier requires a positive voltage supply between +10V and +35V and a negative voltage supply between -10V and -35V. To connect external power supplies, connect the negative voltage to VAMP-, the positive voltage to VAMP+ and ground to AMPGND located on the connector J1. Care should be taken to ensure the average power dissipation across the amplifier is less than 20 Watts. For very small servo motor applications (<200mA draw), the amplifier can utilize the +12V and -12V power supply from the controller, eliminating the need for additional power supplies. To make this connection, place jumpers between the connections V- to -12V and V+ to +12V at JP1. When these jumpers are installed, do not make any connections to the VAMP- and VAMP+ connections at J1 or damage may occur to the controllers power supply. The leads to the motor should be connected to the MOTOR1 and MOTOR2 connections of J

3 Terminal Pinouts (1-40) Termin al# Label I/ O Description V O +12 Volts 2-12V O -12 Volts 3 AMPEN O Amplifier enable (both X and Y axis) 4 ACMD O Analog motor command signal +/-10v (X-axis pulse output for stepper mode DMC-1415, 1425, 3415, 3425) 5 PULSE / AI1 O Pulse output for input to stepper motor amp (analog input 1 for DMC-1415, 1416, 1425, 3415, 3425) 6 DIR / AI2 O Direction output for input to stepper motor amp (analog input 2 for DMC-1415, 1416, 1425, 3415, 3425) 7 GND Signal Ground 8 RESET I Reset 9 ERROR O Error signal 10 OUT3 O Output 3 11 OUT2 O Output 2 12 OUT1 O Output 1 13 CMP /ICOM O Circular Compare output (Input common for ICM-1460-opto) 14 5V O + 5 Volts 15 GND Signal Ground 16 IN7 /IDY+ I Input 7 (Y-axis index + input) 17 IN6 /HOMY I Input 6 (Y-axis home input) 18 IN5 /RLSY I Input 5 (Y-axis reverse limit input) 19 IN4 /FLSY I Input 4 (Y-axis forward limit input) 20 IN3 /IDY- I Input 3 (Y-axis index - input) 21 IN2 I Input 2 22 IN1/LTCH I Input 1 (Input for Latch Function) 23 FLS I Forward limit switch input - 3 -

4 24 RLS I Reverse limit switch input 25 HOME I Home input 26 ABORT I Abort Input 27 GND Signal Ground 28 MA+ I Main encoder A+ 29 MA- I Main encoder A- 30 MB+ I Main encoder B+ 31 MB- I Main encoder B- 32 INDEX+ I Main encoder index + 33 INDEX- I Main encoder index - 34 AA+ I Auxiliary encoder A+ (Y-axis A+ encoder input) 35 AA- I Auxiliary encoder A- (Y-axis A- encoder input) 36 AB+ I Auxiliary encoder B+ (Y-axis B+ encoder input) 37 AB- I Auxiliary encoder B- (Y-axis B- encoder input) 38 ACMD2 I Analog command signal for Y axis (sign bit for X-axis in stepper mode DMC-1415, 1425, 3415, 3425) 39 5V O + 5 Volts 40 GND Signal Ground JP2 Encoder 10-pin header 1 Main Encoder A VDC 3 GND 4 NC 5 NC 6 NC 7 NC 8 Main encoder B+ 9 NC 1 0 Main encoder I

5 ICM-1460 Metal Enclosure Dimensional Drawing 2.585" 0.300" 1.100" 0.540" 2.135" 1.500" 2.135" 6.850" 6.310" 37 PIN FEMALE D-TYPE CONNECTOR 0.175" 1.500" 4 PLACES 4.945" 3.265" D0.200" 4 PLACES D0.360" 4 PLACES 0.825" 0.175" - 5 -

6 ICM-1460 Circuit Board Layout 0.250" Optional Optical Isolation for Inputs 0.125" 0.175" 0.125" RP3 D1 V- V+ 5V -12V +12V AEN ICM-1460 / AMP-1460 REV C GALIL MOTION CONTROL MADE IN USA Error LED 5.600" Screw Terminals RP2 ISOLATION 37 PIN D-Type Female Connector RP3 U6 ISOLATION U7 ISOLATION RP " U1 ADG202 JP2 U Buffer Reset Switch 0.125" 0.250" 0.125" Encoder Connector 10 pin header - 6 -

7 Buffered Amplifier Enable The ICM-1460 provides an open collector buffer for the amplifier enable signal. This buffer can be connected to voltages between 5 and 24 Volts and can supply up to 25mA of current. DMC-1400 ICM V AEN Connection to +5V is made by adding a jumper between AEN and 5V on JP1 of the ICM Connection to other voltages can be made by placing a pullup resistor connected into screw terminal #3 and the desired voltage ( 24V max voltage and 25 ma max current) R6 2.2K AMPEN TERMINAL 3 SERVO MOTOR AMPLIFIER 37-PIN D-TYPE CABLE GND TERMINAL 7,15,27,40 MOCMDX TERMINAL Open Collector Buffer. The Enable signal can be inverted by using a Accessed by removing Interconnect cover. Analog Switch U1 ADG

8 Buffered Output Signals The ICM-1460 Interconnect Module provides optional buffering for the general outputs and the output compare signal. This is accomplished by using the available open collector outputs of the 7407 buffer used for the amplifier enable signal (see previous section regarding the amplifier enable signal). These signals are only accessible through via test points on the ICM-1460 circuit board. The unbuffered TTL outputs are available on the screw terminals. The logic sense of the outputs will be reversed if the 7407 buffer is replaced with a ICM-1460 Connection to open collector output is made by accessing access vias 4, 6, 8, 10 (Silkscreened on interconnect board). Via 4 corresponds to OUT1 Via 6 corresponds to OUT2 Via 8 corresponds to OUT3 Via 10 corresponds to OUTPUT COMPARE User may need to supply pull-up resistor. OUTPUTS (TTL - From Controller, Accessed on Screw Terminals Labeled OUT1, OUT2, OUT3, CMP/ICOM) OUTPUTS (Buffered - Accessed on ICM board) 7407 Open Collector Buffer. The logic sense of the outputs can be inverted by using a Note that this will invert the logic sense of the amplifier enable signal GND - 8 -