TMC 188/40-TA Four Axis Linear Motion And Pressure Control Module The TMC 188/40-TA is a high Applications Diagnostic Program (requires PC performance motion control module or compatible) • Particle board / hard board with both analog and magnetostrictive • Pinch roller positioning • Provides graphic display of latest transducer feedback. Each axis is • Plastics molding motion profile pressure and position independently programmed to operate • Investment casting information in position or pressure control modes. • End doggers / clamping The analog inputs may be used either • Hydraulic actuators for analog position transducers or for • Palletizers/Stackers pressure signals. Drive outputs can be • Laser positioning configured to work with hydraulic • Robotics valves and servo drives. • Tube forging machines Features Analog Inputs • Analog and magnetostrictive • Input range configurable for: 4- (Temposonics) inputs in a single • Calculates motion parameters 20 mA, 0-5 V, 0-10 V, ±5 V, module SCALE, OFFSET & DIRECTION and ±10 V • Four axes of independent or • Provides access to auto tuning • 750 Vdc isolation coordinated control function • 12 bit resolution • Isolated inputs and outputs • Allows user to activate simple • 2 ms update rate motion profiles from a keyboard • Simatic TI 505 series compatible • Permits user to change control • Pressure override and control. Magnetostrictive Inputs parameters from a keyboard • Pressure profiling and plotting • Resolution to 0.001 inches • Displays parameter and status • Direct connection to • Direct connection to information for multiple axes Magnetostrictive (Temposonics) magnetostrictive transducers • Saves and retrieves graphic sensing devices (Temposonics) diagnostic information to and from • Motion and pressure profiles can be • 1,2 or 4 recirculations disk changed on the fly • Positive or negative interrogation • Full PID loop control for position pulses and pressure • Maximum speeds up to 60 inches • Two millisecond control loop per second (240 ips at 0.004" • Front panel status indicators resolution) • Transducer lengths up to 240 inches (0.004" resolution) Delta Computer Systems, Inc., 11719 NE 95 St., Suite D, Vancouver, WA 98682 (360) 254-8688 TMC 188/40-TA Hardware Information Resolution 12 bits Analog Inputs Input Range* 4-20 mA 0-5 V *The range on each channel is 0-10 V independently selected. All axes must be ±5 V unipolar or bipolar. ±10 V Input Isolation 750 Vdc Input Impedance 400 kΩ differential 200 kΩ common mode 2 ms pressure loop Interface Type Start/Stop digital pulse Magnetostrictive Interface Temposonics I and II Direct connection Temposonics II & RPM module One differential driver board per axis (AMP 10) Norstat Direct connection Balluff One differential driver board per axis with BTL-2-P T&R Electronics One recirculation only (Consult Delta before using) Input Isolation 2500 VAC optically isolated Recirculations Provided by module: 1, 2 or 4 (positive or negative pulse) Counters 27.75 MHz Position update rate Two milliseconds Sensor protection 4.7 and 15 ohm resistors for sensor power Output Isolation 2500 VAC optically isolated Drive Outputs Current Mode ±25, ±50, ±100 milliamps Voltage Mode ±2.5, ±5, ±10 Volts Resolution 12 bit WY register requirements 8 WY registers Simatic TI 505 Interface V Memory requirements Up to 148 locations Typical 525 scan times 10 milliseconds per module (plus remote I/O overhead) Typical 535 scan times 1.6 milliseconds per module (plus remote I/O overhead) Typical 545 scan times 0.8 milliseconds per module (plus remote I/O overhead) 505 Bus Interface Special Function Interface Hardware TI bus + 5 VDC @ 1.500 Amps maximum Power Requirements External Magnetostrictive sensor ±15 VDC @ 500 mA, +5 VDC @ 500 mA External drive ±15 VDC @ 500 mA Dimensions (WxHxD) 1.6 x 10.5 x 7.5 in (41 x 266 x 191 mm) Mechanical Specifications Weight 1.3 lb. (592g) Connectors: Backplane Direct connection to TI 505 series backplane Analog DB-37S Magnetostrictive Sensor DB-25S Drive DB-15S Operating Temperature +32 to +140 F (0 to +60C) Environment Non-Operating Temperature -40 to +185 F (-40 to +85C) Humidity 0 to 95% non-condensing Delta Computer Systems, Inc., 11719 NE 95 St., Suite D, Vancouver, WA 98682 (360) 254-8688 TMC 188/40 TA Programming Parameters Pressure Differentiator Differential gain while in pressure mode Axis Setup Parameters Pressure Integrator Integral gain while in pressure mode Pressure Gain Proportional gain for pressure control Pressure Scale Scale for conversion from analog value to pressure Pressure Offset Offset pressure value from zero Pressure Ramp Change in pressure with respect to time Pressure Low Minimum pressure set-point Pressure Command Desired pressure to maintain New Null Preset drive offset value Emergency Stop Mask Disable for quick stop on errors Halt Mask Disable for ramped stop on errors Feed Forward Advance Time shift in milliseconds for Feed Forward term Null Update Null calculation interval in milliseconds Dither Static friction drive in percent of full drive Hysteresis Drive deadband Static Gain Proportional gain at rest Extend Gain Proportional gain when extending Retract Gain Proportional gain when retracting Integral Gain Integral gain while in motion Differential Gain Differential gain while in motion Extend Feed Forward Feed forward drive when extending Retract Feed Forward Feed forward drive when retracting Scale Measured position conversion number Offset Fixed position offset Direction Sign of position units with respect to Transducer Counts Maximum Position Error Set point for position error indication At Requested Position Window around requested position for status bit Near Requested Position Window around requested position for status bit Extend Limit Maximum length allowed Retract Limit Minimum length allowed Mode Function selection bits Axis Dynamic Control Parameters Acceleration Acceleration rate or distance Deceleration Deceleration rate or distance Maximum Speed Maximum speed during a move Requested Position Destination position in position units Command Command to be executed (F, G, H, P, R, S) F Auto adjustment of Feed Forward term G Move axis H Halt axis P Initialize axis setup parameters R Restore previously saved drive null S Save current drive null Axis Status Information (Read only) Command Position Requested Position with limits checked Target Position Calculated position of axis Actual Position Scaled position measurement Transducer Counts Raw transducer counts Status Word Axis error and status Drive Output drive in raw A/D counts (12 bit) Target Speed Calculated speed Null drive Current value for null drive Pressure Actual Scaled pressure value Pressure Counts Digital value from analog-to-digital converter Delta Computer Systems, Inc., 11719 NE 95 St., Suite D, Vancouver, WA 98682 (360) 254-8688 TMC 188/40-TA Wiring Information DB-25P to pigtail cable (6 feet) for magnetostrictive sensor DB-15P to pigtail cable (6 feet) for drive outputs. Cable uses inputs . Cable uses Alpha 1181/25 or equiv. Alpha 1181/15 or equiv. Pin Function Wire Color Pin Function Wire Color 1 +15 input RED 1 +15 input RED 2 Power supply common BLACK 2 Power Supply Common BLACK 3 -15 input WHITE 3 -15 input WHITE 4 +5 input GREEN 4 Common GREEN 5 +12 output ORANGE 5 Drive Out 1 ORANGE 6 Common GRAY 6 Common BLUE 7 Interrogation pulse 1 BROWN 7 Common BROWN 8 +15v axis 1 PINK 8 Drive Out 2 YELLOW 9 Return pulse 1 YELLOW 9 Common RED/BLACK 10 -15v axis 1 VIOLET 10 Drive Out 4 RED/YELLOW 11 Common TAN 11 Common RED/GREEN 12 Interrogation pulse 2 BLUE 12 Common TAN 13 +15v axis 2 RED/BLACK 13 Drive Out 3 PINK 14 Return pulse 2 RED/YELLOW 14 Common GRAY 15 -15v axis 2 RED/GREEN 15 Common VIOLET 16 Common WHITE/BLACK Ordering Information 17 Interrogation pulse 3 WHITE/BLUE 18 +15v axis 3 WHITE/RED Part Number: TMC 188/40-TA - Provided with each TMC 19 Return pulse 3 WHITE/YELLOW 188/40-TA: Reference manual, DB15P and DB25P 6' pigtail 20 -15v axis 3 WHITE/GREEN cable, DB37P-A 10' pigtail cable, DCSMON software and 21 Common WHITE/GRAY 22 Interrogation pulse 4 WHITE/BROWN manual, and example ladder program. 23 +15v axis 4 WHITE/ORANGE 24 Return pulse 4 WHITE/BLACK/RED Contact: Herb Johanson at 206-254-8688 25 -15v axis 4 WHITE/VIOLET Options and Accessories Part Number Description TMC 188/40 Motion controller using magnetostrictive sensors DB37P-A pigtail cable (10 feet) for analog inputs . Cable uses TMC 188/40-Q Motion controller using quadrature sensors Alpha 6014 or equiv. TMC 188/40-TQ Motion controller with both magnetostrictive Pin # Function Wire Color transducer inputs and quadrature inputs 1 Axis 1 + input BLACK pair 1 TMC 188/40-QA Motion controller coordinated with analog sensors 20 Axis 1 - input RED pair 1 (i.e., pressure control applications using quadrature 2 Axis 2 + input BLACK pair 2 encoders) 21 Axis 2 - input WHITE pair 2 SSS/10 1 axis Servo System Simulator 3 Axis 3 + input BLACK pair 3 AMP/10 1 axis RS422 converter(for Tempo II RPM option) 22 Axis 3 - input GREEN pair 3 MCCBS 6 ft cable set (DB15P and DB25P with pigtails) 4 Axis 4 + input BLACK pair 4 MCCBS-01 6 ft DB15P cable with pigtails 23 Axis 4 - input BLUE pair 4 MCCBS-02 6 ft DB25P cable with pigtails 5 Analog common BLACK pair 5 MCCBS-03 10 ft DB37P-Q cable with pigtails 24 N.C. YELLOW pair 5 MCCBS-04 10 ft DB37P-A cable with pigtails 6 N.C. BLACK pair 6 25 Digital common* BROWN pair 6 Company Profile 7 B1* BLACK pair 7 Delta Computer Systems, Inc. manufactures motion 26 B2* ORANGE pair 7 controllers and other industrial controls providing high 8 B3* RED pair 8 27 B4* WHITE pair 8 performance automation solutions to a wide range of 9-19 N.C. industries. 28-37 N.C. *Digital I/O circuitry normally not used. Contact Delta for configuration options and implementation. Temposonics is a trademark of MTS Systems, Inc. Delta Computer Systems, Inc., 11719 NE 95 St., Suite D, Vancouver, WA 98682 (360) 254-8688 Printed in USA 12/08/92