TA330-E01

MEDIUM POWER LINEAR SERVO DRIVE

OPERATING MANUAL Revision 8.4

 Operating Manual: TA330-E01

Copyright Information
© 2015 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 unauthor-
ized without the written permission of Trust Automation, Inc. The text and graphics included
are for purpose of illustration only and information is subject to change without notice. Trust
Automation, Inc. and the Trust Automation, Inc. logo are trademarks of Trust Automation, Inc,
a California corporation.

For information regarding re-use of this material or to report errors, omissions, inconsisten-
cies, etc, please contact Technical Support at:

Trust Automation, Inc.

143 Suburban Road
San Luis Obispo, CA. 93401

E-mail Technical Support: [email protected]

Web: http://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 procedures when handling elec-
tronic components. Removing component covers, except where expressly permitted, may
expose products to static damage and increase the risk of premature failure.

High voltages are present in some Trust Automation products. Maintenance or repair should
only be performed by qualified personnel and only under power down conditions. Mainte-
nance and repair shall be limited to those items described in this operating manual as user
approved. All other repair and maintenance shall be performed by Trust Automation, Inc.

CAUTION
Do not attempt to service this product yourself except as authorized and explained in
this operation manual. Failure to follow recommendations may result in product and/or
personal injury.

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 Operating Manual: TA330-E01

Table of Contents
1.0 Features and Setup ....................................................................................................................................... 5
1.1 Introduction........................................................................................................................................... 5
1.2 Setup ..................................................................................................................................................... 6
1.3 Drive Modes .......................................................................................................................................... 6
1.4 Command Input .................................................................................................................................... 7
1.5 Upgrading from a TA320 or TA330...................................................................................................... 8
1.6 Transconductance Ratio ...................................................................................................................... 8
1.7 Thermal Limits ...................................................................................................................................... 9
1.8 Dynamic Transconductance Selection................................................................................................ 9
1.9 Enable Input ........................................................................................................................................ 10
1.10 Fault Output ...................................................................................................................................... 11
1.11 Ground Connections......................................................................................................................... 12
1.12 Drive Power Supply........................................................................................................................... 12
1.13 Optional External 24VDC Supply ..................................................................................................... 13
1.14 Power Dissipation Calculations....................................................................................................... 13
1.15 Motor Connections........................................................................................................................... 15
1.16 Serial Monitoring .............................................................................................................................. 16
2.0 General Specifications................................................................................................................................ 19
2.1 Electrical Specifications..................................................................................................................... 19
2.2 Mechanical Specifications................................................................................................................. 20
2.3 Environmental Specifications ............................................................................................................ 20
2.4 TA330 Safe Operating Area Curve (SOA) .......................................................................................... 21
2.5 TA330 Output Frequency Response.................................................................................................. 23
3.0 Mechanical Information ............................................................................................................................. 24
3.1 Dimensions ......................................................................................................................................... 25
4.0 Connector and Switch Information............................................................................................................ 25
4.1 Front Panel Connector and Switch Layout........................................................................................ 25
4.2 Connector Types................................................................................................................................. 26
4.3 J1 – External 24VDC Supply.............................................................................................................. 26
4.4 J2 – Serial Monitoring Port................................................................................................................ 26
4.5 J3 – Command Signals...................................................................................................................... 27
4.6 J4 – Hall Sensor Input........................................................................................................................ 28
4.7 J5 – Motor Signals ............................................................................................................................. 28
4.8 J6 – Motor Power............................................................................................................................... 29
4.8 SW1 – Switch Settings....................................................................................................................... 29
4.9 SW1 – Switch 3 and 4, Fixed Gain and DTS Settings ....................................................................... 30
4.10 SW1 – Switch 5-8 Motor type .......................................................................................................... 31
4.11 Isolation Diagram ............................................................................................................................. 32
4.12 Isolation Diagram ............................................................................................................................. 33
5.0 Application Examples ................................................................................................................................. 34
5.1 Brushless Motor, Sinusoidal ............................................................................................................. 34
5.2 Brushless Motor, Trapezoidal Hall Commutation............................................................................. 35
5.3 Single Brush Motor or Voice Coil Motor in Bridge Mode ................................................................. 36
5.4 Dual Brush Motor, Dual Motor Mode ................................................................................................. 37
5.5 Stepper Motor, Sinusoidal Commutation .......................................................................................... 38
6.0 TA330 Hardware Revision History............................................................................................................. 39
7.0 TA330 Manual Revision History................................................................................................................. 39
8.0 Warranty....................................................................................................................................................... 40

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 Operating Manual: TA330-E01

Table of Contents (continued)

Figures

Figure 1 – Enable Circuit ................................................................................................................................... 10

Figure 2 – Fault Circuit ...................................................................................................................................... 11
Figure 3 – Drive Power Connection .................................................................................................................. 12
Figure 4 – Com Port Settings for Serial Communication................................................................................ 16
Figure 5 – Firmware Version and Drive Mode.................................................................................................. 16
Figure 6 – Data Transmission Format, HyperTerminal.................................................................................... 17
Figure 7 – Sample Fault Printout ...................................................................................................................... 18
Figure 8 – SOA Curve......................................................................................................................................... 21
Figure 9 – Output Current vs. Time Graph for Time to Fault @ ~30°C........................................................... 22
Figure 10 – Dissipation Wattage vs. Time for Time to Fault @ ~30°C........................................................... 22
Figure 11 – Temperature Derating, Time to Fault for Dissipation Wattages vs. Heatsink Temperature...... 23
Figure 12 – TA330 Frequency Response ......................................................................................................... 24
Figure 13 – TA330 Mechanical Dimensions .................................................................................................... 25
Figure 14 – TA330 Front Panel ......................................................................................................................... 25
Figure 15 – SW1 DTS Settings .......................................................................................................................... 30
Figure 16 – SW1 Motor Type Settings.............................................................................................................. 31
Figure 17 – TA330 Isolation Diagram............................................................................................................... 32
Figure 18 – TA330 Isolation Diagram............................................................................................................... 34

Tables

Table 1 – Data Transmission Format ............................................................................................................... 17

Table 2 – Fault Codes........................................................................................................................................ 18
Table 3 – Electrical Specifications ................................................................................................................... 19
Table 4 – Mechanical Specifications ............................................................................................................... 20
Table 5 – Electrical Specifications ................................................................................................................... 20
Table 6 – Connector Types ............................................................................................................................... 26
Table 7 – External 24VDC Supply Connector................................................................................................... 26
Table 8 – Serial Monitoring Connector............................................................................................................. 26
Table 9 – Motor Command Signals Connector ............................................................................................... 27
Table 10 – Hall Sensor Input Connector .......................................................................................................... 28
Table 11 – Motor Signals Connector................................................................................................................ 28
Table 12 – Motor Power Connector.................................................................................................................. 29
Table 13 – SW1 Settings ................................................................................................................................... 26
Table 14 – Fixed Gain and DTS Switch Settings.............................................................................................. 30
Table 15 – SW1 Motor Type Selection ............................................................................................................. 31

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 Operating Manual: TA330-E01

1.0 Features and Setup

1.1 Introduction
The TA330-E01 is a 4th generation Trust Automation Linear Drive featuring a true Class-AB
linear amplifier with pure analog throughput at virtually infinite resolution and is free from
digital conversion losses. This versatile Linear Drive is an excellent choice for a variety of
different servo motors and applications that require high resolution positioning and/or ultra
low noise applications with sensitive measuring equipment, (e.g. transducers, sensors, etc.)

The TA330-E01 is a highly configurable device with four common configuration modes:

• Drive one brushless motor using external sinusoidal commutation.

• Use Hall Effect sensor feedback for smooth internally commutated trapezoidal op-
eration.
• Supports one or two brush or voice coil type motors.
• Drive a two coil stepper motor under sinusoidal control.

The TA330-E01 features Digital on-the-fly gain control (Dynamic Transconductance or DTS).
This allows an application to modify the drive transconductance on-the-fly, permitting both
high acceleration control and high resolution control. Normally one of these parameters is
sacrificed in favor of the other due to DAC limitations at the driving motion controller.

Why use a Trust Automation linear amplifier?

The majority of motion control applications use PWM (Pulse Width Modulated) drives. PWM
drives are very efficient, but are electrically noisy as they operate by pulsing the motor at full
supply voltage at typical frequencies of 4 kHz to 30 kHz. This pulsing tends to saturate every-
thing electrically in the surroundings, often including the intended operation. A second side
effect of using PWM drives shows up in ultra-high precision systems requiring nanometer
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 TA330-E01 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 linear
designs, which have a dead band at zero volts out, attempt to mask this with a fast current
loop. This works for some applications, but performance will suffer in ultra-high precision
applications.

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 Operating Manual: TA330-E01

Two important considerations where linear servo amplifiers are utilized are cooling and power
supply selection. A linear servo amplifier acts similarly to a large electronic variable resistor.
Any power supply voltage not delivered to the load is dumped as heat into the heatsink.
Power supply voltages should be matched closely to the required load voltage with a small
margin for overhead. Excessive supply voltage will result in amplifier overheating. Cooling
linear servo amplifiers is often overlooked or not well understood. Many products are avail-
able with similar current output specifications, but require the user to supply heatsinks or
fans. The TA330-E01 incorporates a large heatsink with integral cooling fans to accommo-
date most demanding applications provided there is adequate air space around the chassis
and the ambient temperature does not exceed specification. The TA330-E01 intelligently
monitors temperature and compensates its internal dissipation to protect the drive from
damage due to high temperatures. The TA330-E01 has a serial diagnostics port to monitor
application performance and power levels to aid in assuring optimal performance and a long
life.

All Trust Automation drive products are built for safety, installation ease and long life. The
TA330-E01 offers a fully isolated user interface for safe operation in high voltage applica-
tions. In addition the housing reduces the risk of operator injury and protects the drive, ensur-
ing longer useful life. All connections utilize pluggable terminal connectors making them easy
to install and remove while reducing risk of connection error.

1.2 Setup
The TA330-E01 is configurable for several drive motor type options and configurations. All
configurations require the use of bipolar supplies that can be in the range of 24 to 75V. Cur-
rent outputs are adjustable from 6 to 18A.

Some of these options are shown in the application example section.

1.3 Drive Modes

Sinusoidal
Sinusoidal commutation of three-phase brushless servo motors plus a linear drive power
stage eliminates the familiar cogging and torque ripple problems that plague most trapezoi-
dal digital drives. Control is consistent and smooth at any velocity.

In sinusoidal mode, the TA330-E01 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 TA330-E01 derives the third phase internally (C = - (A+B)). (See application
example 5.1)

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 Operating Manual: TA330-E01

Trapezoidal
Trapezoidal operation is the simplest configuration used to drive a DC brushless motor. The
TA330-E01 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 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.)

The motion command signal (±10V) is connected to the “A” command input. (See application
example 5.2)

Brushed-Bridge
Brushed-bridge mode supports operating a traditional brushed or voice coil-type motor,
bridged across the A & C output phases. The command signal (±10V) is connected to the “A”
command input. (See application example 5.3)

Brushed-Dual
This mode supports driving two independent brushed or voice coil-type motors. This mode
could also be used to drive a stepper motor in sinusoidal mode. The first motor (winding)
would be connected to the “A” phase output and the common ground of the bipolar power
supply. The second motor (winding) would connect to the “B” phase output and the common
ground. The command inputs (±10V) are connected to the “A” and “B” command inputs. (See
application examples 5.5 and 5.6)

1.4 Command Input

Motion command connections to the TA330-E01 are made at J3. Inputs are provided for two
of the three phases (A and B) and the TA330-E01 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. The input range is set to ±10V commands.

Differential Inputs
Using differential input helps reduce or eliminate potential noise susceptibility from other
sources. Connect the motion controller ± command outputs to the TA330-E01 ± inputs at J3.
For best immunity use a twisted pair cable. Terminate the motion controller signal ground to
the TA330-E01 ISO ground connection at J3. (See application examples 5.1)

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 Operating Manual: TA330-E01

Single-Ended Inputs
Many motion controllers only offer single-ended command signals with a common ground.
Single-ended configurations are accommodated by referencing the A+ and B+ signals to the
command output and referencing the A- and B- signals to the motion controller signal ground.
It is good practice to use a twisted pair cable for the “+” command, terminating the “-” com-
mand at the controller signal ground. Terminate the motion controller signal ground to the
TA330-E01 ISO ground connection at J3. (See application example 5.3)

1.5 Upgrading from a TA320 or TA330-D01

When changing a preexisting application from a TA320 or TA330-D01, the command signal
polarity must be reversed to maintain the application’s direction of motion.

The original TA320 and TA330-D01 linear amplifiers operated with inverted outputs, meaning
a positive command induces a negative current. The TA330-E01 is a non-inverting amplifier
(positive command = positive current)

Examples:
• Differential inputs would place the motion controller’s + signal on the TA330-E01 –
command input and the controller’s – signal on the TA330-E01 + command input.
• Single-ended configurations place the motion controller’s command output on the
TA330-E01 - command inputs and terminate the TA330-E01’s + command inputs to
the motion controller’s signal ground and the TA330-E01 ISO Ground connection.

1.6 Transconductance Ratio

The TA330-E01 operates in current mode (commonly referred to Torque mode). For a given
input voltage, the TA330-E01 will output a proportional current by raising the output voltage
until the commanded current is drawn. As current flow in a motor is directly proportional to
torque, it is common to refer to this as “Torque mode”. The ratio between the command volt-
age and the output current is referred to as the “Transconductance Ratio,” which is measured
in amps per volt and is expressed by the following equation:
gm = Io / Vc
gm = current gain (Transconductance)
Io = output current
Vc = command voltage

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 Operating Manual: TA330-E01

Example:
If: Io desired = 14A and Vc (max) = 10V
Then: gm = 14 / 10 or 1.4A/V
For every 1 Volt of command 1.4A of current will be driven.

Note: Current output is limited by Ohm’s Law (I = Vsupply / Rmotor)

TA330-E01 is factory configured for 6A, 10A, 14A and 18A for a commanded input voltage of
±10V, set at SW1, positions 3 and 4. (See table 4.9)

Note: 18A output duration is limited by the SOA graph and temperature. (See SOA section
2.4)

Custom Transconductance ratios can be preset by the factory. Please contact

[email protected] to discuss your requirements.

1.7 Thermal Limits

The TA330-E01 is internally thermally protected with integral variable speed cooling fans. The
heatsink temperature is monitored and the fan speed is automatically adjusted to maintain a
safe operating temperature. If the heatsink temperature rises to 70°C, a FAULT output is gen-
erated but the drive will 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 advantageous in friction-
less systems (i.e., air bearing systems) where start, stop and turn around currents are high,
but moving currents are very low.

Due to the digital nature of most motion controllers there is limited DAC resolution to cover
both the high and low currents with sufficient resolution. By switching the transconductance
on the fly, the motion controller’s DAC can be utilized at its full resolution for both high current
moves and precision motion.

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 Operating Manual: TA330-E01

The DTS inputs are logically “OR”ed with the DTS switch inputs. In this way a highest current
setting can be chosen by the switches and logic can “OR” with this data to set a lower setting.

The TA330-E01 accomplishes this by allowing the motion controller to logically control the
DTS bits D0 and D1 through pins 5 and 6 of J3 (5V TTL).

1.9 Enable Input

The ENABLE input can be selected as active-high or active-low logic at SW1 position 1. (See
table 4.8)

The input must be pulled to logic low (ISO GND) or logic high (ISO +5) for the TA330-E01 to
operate. The ENABLE line is pulled up internally to ISO +5. The TA330-E01 provides an
isolated +5V source at connector J3 and J4 with a maximum draw of 100mA. If the applica-
tion requires more current, the user must supply an external 5V that must be referenced to the
ISO ground connection.

The TA330-E01 must not be enabled during power up. If the drive is powered up when
enabled, the 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:

+5V +5 AUX

1K

INPUT
GND
Figure 1 - Enable Circuit

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1.10 Fault Output

The TA330-E01 FAULT output is selectable as active-high or active-low logic, set at SW1 posi-
tion 2. (See table 4.8) The TA330-E01 will assert FAULT upon over-current or thermal overload
based on the SOA graph. (See section 2.4) Past FAULT information is stored in internal
memory and may be accessed at the serial monitoring port. (See section 1.16)
Note: Logic output high minimum voltage (VOH) is 2.5V. Logic output low maximum voltage
(VOL) is 0.8V.

See circuit in the following figure:

+5V +5 AUX

10K

OUTPUT

AUX GND

Figure 2 - Fault Circuit

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 Operating Manual: TA330-E01

1.11 Ground Connections

Command and Signal Logic
Connections to a motion controller must be referenced to ISO ground at J2. These signals
include Enable, FAULT, DTS and the analog command inputs. For single-ended command
signals, reference the TA330-E01 command A- and B- inputs to ISO ground on connector J2.

ISO Ground and all user interface signals on J2, J3 and J4 are isolated from drive power GND
and the External 24V GND with a minimum 1500V High-pot separation.

1.12 Drive Power Supply

A pair of matching power supplies (24V to 75V) must be used to power the TA330-E01. A high
quality switching supply is suitable for most applications. These supplies tend to be small,
affordable, and highly available. Trust Automation recommends supplies with an output ripple
less than 100mV. Some high quality supplies available offer less than 50mV. In some cases,
particularly where there is great concern for noise interference, a linear power supply, regu-
lated or unregulated, 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 75V. Also note
that the supplies must be within 12V of each other or a supply fault will be generated.

When using the TA330-E01 or any linear servo amplifier, power supply voltage that is not
delivered to the motor will be lost as heat in the amplifier. (See section 1.14)

When selecting supplies for a given motor application it is recommended that the total volt-
age be approximately 20V more than the required motor voltage. (The TA330-E01 can drive to
within ~ 8V of the supply). Excessive supply voltages will result in higher peak wattage dissi-
pation. Reference the SOA graph for actual currents allowed. (See section 2.4)

J4

1
24-75V - -V
Power
Supply +
2
Gnd
24-75V -
Power
+ 3
Supply +V

Figure 3 - Drive Power Connection

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 Operating Manual: TA330-E01

Connect the positive supply positive (+) to V+ and the positive supply negative (-) to GND.
Connect the negative supply positive (+) to GND and the negative supply negative (-) to V-.
(See figure 3 above)

Note: When designing a system E-stop, never cut the motor leads. Doing so will result in a
runaway condition and may damage the TA330-E01. Always cut the incoming DC supply,
(crowbar with a low value resistor), to the TA330-E01 to produce a rapid stop.

1.13 Optional external 24VDC Supply

The TA330-E01 internal logic may optionally be powered by an external 24VDC (±5%) source
for convenience when using serial monitoring or in extremely noise sensitive applications.
The external power connection is at J1. The internal 24V source provides power by default
automatically but is disabled if an external source is connected.

1.14 Power Dissipation Calculations

Since the TA330-E01 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. (Think of a linear amplifier as a large variable
resistor, current out = current in.) Heat dissipation is a critical factor when the motor is in a
stalled motion condition. (low voltage at the motor, but high current output). The heatsink is
limited to a maximum of 600W continuous dissipation. Peak dissipation is limited to 750W
for a very short time period (<1ms). A practical design should limit peak dissipation to 500W
or less. Actual dissipation limits depend on specific conditions including temperature, load
dynamics and event time. For most accurate peak dissipation allowable, see the SOA chart,
section 2.4.

The TA330-E01 features a microprocessor that constantly monitors the wattage across the
drive to protect the Class-AB power stage from damage. At any given moment in time there is
one power device (upper or lower) that is handling the majority of the drive wattage regard-
less of whether the load is a floating brushless motor or a ground-referenced brushed-type
load. Calculations are based on the highest current and voltage across any phase with
respect to the power supply ground.

When predicting SOA wattage limits with a brushless motor (or single brushed-type motor in
bridge mode), use half of the expected voltage across any pair of phase leads against the
voltage of one of the two supplies.

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For a brushed-type load that is directly referenced to the power supply ground, use the full
predicted voltage across the motor against one of the two supplies.

Brushless example:
Assume you have a pair of 48V supplies and a motor that is expected to require 15A peak
load at a phase voltage requirement of 12V according to our calculations. Because a brush-
less motor voltage is specified as phase to phase, we will divide the predicted voltage in half
to give a ground referenced motor voltage of 6V.
PD = Imotor (Vsupply – Vmotor)
Imotor = 15A [calculated based on required torque]
Vmotor = 6V [calculated based on velocity]
Vsupply = 48V [one of two 48V supplies]
PD = 15A (48V-6V)
= 630W *
* This is just over the 600W continuous dissipation rating so there will be a short time limit
applied based on the SOA chart before a fault will be generated. See the SOA chart, section 2.4.

Dual brushed example:

Assume a pair of 48V supplies and a motor that is expected at any one time to require 10A
peak load at a phase voltage requirement of 12V according to calculations. Because the
motor(s) are referenced to the power supply ground, the calculations are based on the full
motor voltage.
PD = Imotor (Vsupply – Vmotor)
Imotor = 10A [calculated based on required torque]
Vmotor = 12V [calculated based on velocity]
Vsupply = 48V [one of two 48V supplies]
PD = 10A (48V-12V)
= 360W *
* This is under the 600W continuous dissipation rating, but the current is over the 6A continu-
ous, so there will be a time limit applied based on the SOA chart before FAULT is generated (10A
@ 30c = ~3.2sec before fault). (See SOA chart, section 2.4)

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1.15 Motor Connections

The TA330-E01 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 88V 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
TA330-E01 chassis and the motor chassis to an earth ground, immunity from external noise
sources is increased.

Note: When designing a system E-stop, never cut the motor leads. This will result in a runaway
condition and may damage the TA330-E01. Always cut the incoming DC supply, (crowbar with a
low value resistor) to the TA330-E01 to produce a rapid stop.

Brushless motor
The phase outputs, A,B and C correlate to most motor callouts as U, V and W and in some
cases they are referred to as R, S and T. (See application examples 5.1 and 5.2)

Brushed motor in Bridged mode

To drive a single brush type motor in bridged mode, connect the motor (+) lead to the A phase
output and the motor (–) lead to the C phase output. This configuration allows the full bipolar
supply voltage to be driven across the motor in any direction of rotation. The motor can be a
traditional brush type motor or a voice coil type.

(See application example 5.3 )

Dual Brushed Motor Mode

Two independent motors or one stepper type motor may be driven in this configuration. For two
brushed-type motors (or voice coils) connect the (+) lead of the first motor to the A phase
output (drive with the A command) and connect the (–) lead to the power supply common (Pin
2 on J6). Connect the second motor (+) to the B phase output (drive with the B command) and
the (–) lead to the power supply common. (See application example 5.5)

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 Operating Manual: TA330-E01

Stepper Motor
Two coil sets on a stepper type motor may be driven in this configuration. This configuration
is the same as the dual brushed mode except that the two coil sets are in the same motor.
The linear commands are driven 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 TA330-E01 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 rate set to
230,400 bits per second, 8-bit data, no parity, 1 stop bit, and flow control to no handshaking.

An optional TTL to USB serial cable may be ordered as CBLZ-0910-01 to facilitate connection
to a PC.

Reference the FTDI installation guide for installing the TTL to USB serial cable.
(www.ftdichip.com VCP drivers)

Figure 4 - Com Port Settings for Serial Communication

TA330 R 5.0
Brushless Mode

Figure 5 - Firmware Version and Drive Mode

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 Operating Manual: TA330-E01

Once the TA330-E01 in enabled, data will begin transmitting in the following format:

Figure 6 - Data Transmission Format, HyperTerminal

Figure 6 shows the drive is set to brushless motor mode, there are no faults, the heatsink is at
22°C, the positive supply is at 24V and the negative supply is at 24V. There is less than 1A
current flow and integer math has placed the dissipation at 9W.

The data stream may be stopped by transmitting “s” followed by “Rtn.” The data stream will
resume upon sending the “s” + “Rtn” sequence again. Data layout is formatted as:

Data field Data Name Description

1 Fault Amp fault data (See fault chart)

2 Temp, Celsius Temp. 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

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 Operating Manual: TA330-E01

Faults are formatted as:

Fault Data Name Description

0x0000 No Fault Operation Normal

0x0002 Temp Over temp fault at 70c, the TA330-E01 will disable at 90c

0x0001 Supply Under voltage at 20V, Over voltage at 80V

0x0004 Current Over current fault based on time limit and SOA

0x0008 Wattage Over continuous wattage based on time and SOA

0x0010 Peak Wattage Peak wattage limit based on time and SOA

0x0020 Enable Enable fault if drive is powered up in the enabled state

Table 2 - Fault Codes

The TA330-E01 captures the last ten fault conditions that have occurred. This data can be
accessed by sending “p” followed by “Rtn” either before enabling or after sending the stop
(“s”) command.

Figure 7 - Sample Fault Printout

If the TA330-E01 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.

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2.0 General Specifications

2.1 Electrical Specifications
Feature Units Value

Supply Voltage (Bipolar) V ± 24 – ± 75

Equivalent Motor Voltage V 0V to 150V - 8V

External 24V Supply VDC 24 ± 5% @ 1.0A

Maximum Output Current A 18 (See SOA Chart section 2.4)

Continuous Output Current A 6 RMS (8.6 Peak)

Quiescent Bias Current A ~0.5 (Class A/B biasing current)

Fault V 5V TTL Level 0 or 1

Enable V 5V TTL Level 0 or 1

Command Input V ±10 (±12 absolute max)

Command Input Impedance kΩ 10

Torque Gain A/V 0.6 - 1.8

Bandwidth kHz 5.0 (0.820mh / 0.65 Ω Load)

Harmonic Distortion THD % 0.036 (Voltage to Current)

Signal to Noise 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

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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

Feature Details

Maximum Altitude 6,560ft (2,000 meters)

Temperature (ambient)

Normal operation 5° C to +40° C

Temperature de-rating See SOA Chart – Section 2.4

Storage -40° C to +70° C

Heatsink +70° C Maximum

Heat Dissipation (@ 25° C)

Continuous 350W

Peak 750W, See SOA Chart – Section 2.4

Airflow Internal fans, variable speed, thermally controlled

Humidity

Operating 10% to 70%, non-condensing

Storage 10% to 95%, non-condensing

Pollution Degree 2 Non-Conductive, non-condensing

Table 5 - Electrical Specifications

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 Operating Manual: TA330-E01

2.4 TA330-E01 Safe Operating Area Curve (SOA)

The TA330-E01 features a microprocessor 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. The formulas for calculated limits are current, wattage and temperature.

Current Limit
For currents that result in a dissipation wattage below 350W, the processor limits the time
logarithmically from infinite time at 6A down to 500ms at 18A (see current vs. time graph).

Wattage Limit
If the resulting dissipation wattage exceeds 350W, 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 also takes into account the heatsink temperature when calculating the
wattage time limit. Time to fault is de-rated at about 15ms per 20°C rise. If the heatsink tem-
perature exceeds 70°C a Fault will be generated, and at 90°C the drive will shutdown.

100

500ms Max @ 18A

18 600W, 25ms @ 25°C
Supply Current (A)

10

6 400W, 25ms @ 70°C

1
1.00 10.00 75.00 100.00
Drive Voltage (V) = Supply (V) - Winding (V)

Figure 8 - TA330-E01 SOA Curve

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 Operating Manual: TA330-E01

Current vs. Time

19

17

15

13
Current

11

5
500 1500 2500 3500 4500 5500 6500
Time (ms)

Figure 9 - Output Current vs. Time Graph for Time to Fault at ~30˚C

Wattage vs. Time

800
750
700
650
600
Wattage

550
500
450
400
350
300
0 20 40 60 80 100
Time (ms)

Figure 10 - Dissipation Wattage vs. Time for Time to Fault at ~30˚C

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 Operating Manual: TA330-E01

Figure 11 – Temperature Derating, Time to Fault for Dissipation Wattages vs. Heatsink Tempera-
ture
Example (How to use the above chart)
If wattage is between 651 to 668 @ 60ºC, then you have 20ms before the unit will shut down.

2.5 TA330-E01 Output Frequency Response

The TA330-E01 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. There is no actual limit on how high the induc-
tance can be, but there are practical limitations based on Ohm’s Law that limit actual band-
width response in a motor. Excessively low inductances (<0.1mH) can result in current loop
instability and result in uncontrolled oscillations.

The TA330-E01 has been factory tuned to give optimal performance over a wide variety of
industry standard motors. If the intended application for the TA330-E01 requires a motor
outside the usual inductance range, and the full 5 kHz throughput is required, please contact
[email protected] to discuss your requirements.

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 Operating Manual: TA330-E01

The following was plotted with a 1V command into a 0.820mH load with a DC resistance of
0.65Ω.

Figure 12 - TA330-E01 Frequency Response

3.0 Mechanical Information

The TA330-E01 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 TA330-E01 vertically with the nose up (air flow exit), to take
advantage of the chimney effect of heat rising.

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 Operating Manual: TA330-E01

3.1 Dimensions

Figure 13 - TA330-E01 Mechanical Dimensions

4.0 Connector and Switch Information

4.1 Front Panel Connector and Switch Layout

Figure 14 - TA330-E01 Front Panel

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 Operating Manual: TA330-E01

4.2 Connector Types

Connector # # Pins Manufacturer & Part Number Description

J1 2 Phoenix 1827703 (Supplied by TA) External 24VDC Supply

J2 6 FTDI P/N TTLUSB TTL to USB

(Orderable Option, no connector supplied for J2)

J3 10 Wago P/N 733-110 (Supplied by TA) Command Signals

J4 5 Wago P/N 733-105 (Supplied by TA) Hall Sensors

J5 4 Phoenix 1825336 (Supplied by TA) Motor Signal

J6 3 Phoenix 1777992 (Supplied by TA) Motor Power

Table 6 - Connector Types

4.3 J1 – External 24VDC Supply

Pin# Description

1 24V External Supply

2 Common (Isolated)

Table 7 - External 24VDC Supply Connector

4.4 J2 – Serial Monitoring Port

Pin # Description

1 ISO Gnd

2 CTS (Not used)

3 VISO

4 TXD

5 RXD

6 RTS (Not used)

Table 8 - Serial Monitoring Connector

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 Operating Manual: TA330-E01

J2 provides a TTL level serial port to monitor the operating conditions on the load and the
internal health of the TA330-E01. The separately orderable 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) The J2 connector is not supplied by Trust Automation

4.5 J3 – Command Signals

Pin # Description

1 Command Signal Input Phase A+

2 Command Signal Input Phase A-

3 Command Signal Input Phase B+

4 Command Signal Input Phase B-

5 Dynamic Transconductance Select Bit D0

6 Dynamic Transconductance Select Bit D1

7 ENABLE (Referenced to ISO Gnd)

8 FAULT (Referenced to ISO Gnd)

9 ISO Gnd

10 VISO (Internally supplied +5V@ 100ma Optical Isolation)

Table 9 - Motor Command Signals Connector

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 Operating Manual: TA330-E01

4.6 J4 – Hall Sensor Input

Pin # Description

1 ISO +5 (20mA Maximum)

2 ISO Gnd)

3 Hall A

4 Hall B

5 Hall C

Table 10 - Motor Command Signals 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 appli-
cation example 5.3)

4.7 J5 – Motor Signals

Pin # Description

1 Shield (tied to chassis)

2 Motor Phase A

3 Motor Phase B

4 Motor Phase C

Table 11 - Motor Command Signals Connector

Note: Phase A, B and C are the same as U, V and W or R, S and T found on most commercial
motors.

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 Operating Manual: TA330-E01

4.8 J6 – Motor Power

Pin # Description

1 B- Supply

2 Common (Isolated)

3 B+ Supply

Table 12 - Motor Power Connector

4.8 SW1 – Switch Settings

Switch # Function – (0 / Down / On) Function – (1 / Up / Off )

1 /ENABLE (drive enabled on low Input) ENABLE (drive enabled on high input)

2 /FAULT (FAULT low true output) FAULT (FAULT high true output)

3 Gain and DTS Settings See Following Chart for Function Selection

4 Gain and DTS Settings See Following Chart for Function 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 - Motor Command Signals Connector

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 Operating Manual: TA330-E01

4.9 SW1 – Switch 3 and 4, Fixed Gain and DTS Settings

Setting SW1-3 (DTS D0) SW1-4 (DTS D1)

10Vin = 6A out Down (0) Down (0)

10Vin = 10A out Up (1) Down (0)

10Vin = 14A out Down (0) Up (1)

10Vin = 18A out Up (1) Up (1)

DTS Active Up (1) Up (1)

Table 14 - Fixed Gain and DTS Switch Settings

Note: “Down” is toward the heatsink, “Up” is away from the heatsink

6A 10A
1 Up 1 Up
0 Down 0 Down
1
2
DTS D0 3
DTS D1 4
5
6
7
8

1
2
DTS D0 3
DTS D1 4
5
6
7
8

14A 18A
1 Up 1 Up
0 Down 0 Down
1
2
DTS D0 3
DTS D1 4
5
6
7
8

1
2
DTS D0 3
DTS D1 4
5
6
7
8

Figure 15 - SW1 DTS Settings

Note: “Down” is toward the heatsink, “Up” is away from the heatsink

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 Operating Manual: TA330-E01

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 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) Bridged Mode Up (1) Up (1) Down (0) Up (1)

Dual Brushed Motor (voice coil or stepper) (unbridged) Up (1) Up (1) Down (0) Down (0)

Table 15 - SW1 Motor Type Selection

Brushless, Sinusoidal Brushless, Trapezoidal, 120° Brushless, Trapezoidal, 60°

1 Up 1 Up 1 Up
0 Down 0 Down 0 Down

1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8

1
2
3
4
5
6
7
8

60° / 120°
60° / 120°

60° / 120°

Trap / Sine

Dual / Bridge
Trap / Sine

Dual / Bridge

Trap / Sine

Brush / Brushless
Dual / Bridge
Brush / Brushless

Brush / Brushless

Brush, Bridged Dual Brush, Un-Bridged

1 Up 1 Up
0 Down 0 Down
1
2
3
4
5
6
7
8

1
2
3
4
5
6
7
8
60° / 120°

60° / 120°
Trap / Sine

Trap / Sine
Dual / Bridge

Dual / Bridge
Brush / Brushless

Brush / Brushless

Figure 16 - SW1 Motor Type Settings

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 Operating Manual: TA330-E01

4.11 – Isolation Diagram 1500V Isolation

Iso Pwr (5V)

U1
R1
8 2
10K
6
3
Socket - Molex J1 0.1 C1
5

3 5
70555-0040 VCC RXD
4
Iso Ground
TXD Iso Pwr (5V)
U2
R2
6 2 8
Mate - Molex RTS
1K
1 Gnd CTS 2 6
3
0022552062 5

Iso Ground

Iso Pwr (5V)

U3A
Iso Pwr (5V) J2 1 16

R3
1 +5V HALL A 3 2 15
665 U3B
3 14

R4
C2 4 4 13
HALL B
665 U3C
0.1 5 12

R5
2 GND HALL C 5 6 11
665
C3 C4 C5
Iso Ground
0.01uf 0.01uf 0.01uf

Iso Ground

Iso Pwr (5V)

D1
1 2

5V DC/DC
1
C7 C8
+
0.1
100uf/50V
2

Iso Ground

Figure 17 - TA330-E01 Isolation Diagram

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 Operating Manual: TA330-E01

4.12 – Isolation Diagram 1500V Isolation

Iso Pwr (5V)

R6
J3 10K
U4
FAULT 8 4 1

C9 3 2
Iso Pwr (5V) 0.01uf

10 AUX +5 Iso Ground

Iso Ground
Iso Pwr (5V)

U3D
7 10
C6
R7
0.1 7 8 9
/ENABLE
1K U5A
1 16
C10

9 0.01uf 2 15
AUX GND

U5B
Iso Ground Iso Ground 3 14

R8
DTS D0 5 4 13
1K
U5C
5 12

R9
DTS D1 6 6 11
1K
C11 C12

0.01uf 0.01uf

Iso Ground

R10

10K
SIG A+ 1
Analog Isolator
SIG A- 2

R11

10K
SIG B+ 3
Analog Isolator
SIG B- 4

TA-AMP SIGNAL

Figure 18 - TA330-E01 Isolation Diagram

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 Operating Manual: TA330-E01

5.0 Application Examples

5.1 Brushless Motor, Sinusoidal Setting SW1-3 (DTS D0) SW1-4 (DTS D1)
10Vin = 6A out Down (0) Down (0)
10Vin = 10A out Up (1) Down (0)
10Vin = 14A out Down (0) Up (1)
10Vin = 18A out Up (1) Up (1)
DTS Active Up (1) Up (1)

TA330 - E01
USB port
Optional 24v Input
1 +24V External Supply

AUX 24V
J1

+ -
2 Common

Controller Card Serial monitor

J2
1
Command A+
Command A- 2
Command B+ 3
Command B- 4 J3
NC 5
DTS Bit D0
NC 6
DTS Bit D1
ENABLE 7 ISO +5 1

J4
ISO GND 2
HALL A 3

FAULT 8 0 1 HALL B
HALL C
4
5

GND 9
Enable LVL 1
Fault LVL 2
DTS D0 3
DTS D1 4 S1
Trap/Sine 5
60º / 120º 6 Brushless
Brush / Brushless 7 POWER Motor
Dual / Bridge 8 ENABLE

FAIULT
Down
Up

SHIELD 1
1 Shield
J5
MOTOR A 2

MOTOR B 3 2 Phase A Motor Power

24-75V - MOTOR C 4
3 Phase B
4 Phase C
Power
Supply + 1 B- B- 1

2 Common Common 2
J6
3 B+ B+ 3

24-75V -
Power
Supply +

The figure shows the TA330-E01 operating in sinusoidal mode with differential command
inputs. Active low enable, active low fault, driving a single brushless servo motor. The TA330-
E01 is set for a fixed current limit of 10A with a transconductance of 1.0A/V.

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5.2 Brushless Motor, Trapezoidal, Hall Commutation

Setting SW1-3 (DTS D0) SW1-4 (DTS D1)
10Vin = 6A out Down (0) Down (0)
10Vin = 10A out Up (1) Down (0)
10Vin = 14A out Down (0) Up (1)
10Vin = 18A out Up (1) Up (1)
DTS Active Up (1) Up (1)

TA330 - E01
USB port
Optional 24v Input
1 +24V External Supply

AUX 24V
J1

+ -
2 Common

Controller Card Serial monitor

J2
1
Command A+
Command A- 2
Command B+ NC 3
1 Hall +5**
Command B- NC 4 J3 2 GND
DTS Bit D0 NC 5
3 Hall A
DTS Bit D1 NC 6
4 Hall B
ENABLE 7 ISO +5 1

J4 5 Hall C
ISO GND 2
HALL A 3

FAULT 8 0 1 HALL B
HALL C
4
5

GND 9
Enable LVL 1 Hall Sensors
Fault LVL 2
DTS D0 3
DTS D1 4 S1
Trap/Sine 5
60º / 120º 6 Brushless
Brush / Brushless 7 POWER Motor
Dual / Bridge 8 ENABLE

FAIULT
Down
Up

SHIELD 1
1 Shield
J5
MOTOR A 2
MOTOR B 3 2 Phase A Motor Power
24-75V - MOTOR C 4
3 Phase B
4 Phase C
Power
Supply + 1 B- B- 1

2 Common 2
J6
3 B+ B+ 3

24-75V -
Power
Supply +

This figure shows the TA330-E01 operating in trapezoidal mode with single ended command
input. Active low enable, active low fault, driving a single brushless servo motor, using Hall
Effect sensors at 120° timing for trapezoidal commutation. The TA330-E01 is set for a fixed
current limit of 14A with a transconductance of 1.4A/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 by the TA330-E01 is limited to 20ma. If the motor hall
sensors require >20ma for operation, an external 5V power source must be used.

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5.3 Single brush motor or Voice coil motor, in bridge mode

Setting SW1-3 (DTS D0) SW1-4 (DTS D1)

10Vin = 6A out Down (0) Down (0)
10Vin = 10A out Up (1) Down (0)
10Vin = 14A out Down (0) Up (1)
10Vin = 18A out Up (1) Up (1)
DTS Active Up (1) Up (1)

TA330 - E01
USB port
Optional 24v Input
1 +24V External Supply

AUX 24V
J1

+ -
2 Common

Controller Card Serial monitor

J2
1
Command A+
Command A- 2
Command B+ NC 3
Command B- NC 4 J3
DTS Bit D0 NC 5
DTS Bit D1 NC 6
ENABLE 7 ISO +5 1

J4
ISO GND 2
HALL A 3

FAULT 8 0 1 HALL B
HALL C
4
5

GND 9
Enable LVL 1
Fault LVL 2
DTS D0 3
DTS D1 4 S1
Trap/Sine 5
60º / 120º 6
Brush / Brushless 7 POWER

Dual / Bridge 8 ENABLE

FAIULT
Down
Up

1 Shield
SHIELD 1
2 Phase A A
J5
MOTOR A 2
MOTOR B 3
3 Phase B NC
4 Phase C C
24-75V - MOTOR C 4

Power
Supply + 1 B- B- 1

2 Common Common 2
J6
3 B+ B+ 3

24-75V -
Power
Supply +

This figure shows the TA330-E01. Active low enable, active high fault, driving a single brush-
less servo or voice coil motor. The TA330-E01 is set for a fixed current limit of 14A with a
transconductance of 1.4A/V

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 Operating Manual: TA330-E01

5.5 Dual Brush or Voice Coil Motor

Setting SW1-3 (DTS D0) SW1-4 (DTS D1)
10Vin = 6A out Down (0) Down (0)
10Vin = 10A out Up (1) Down (0)
10Vin = 14A out Down (0) Up (1)
10Vin = 18A out Up (1) Up (1)
DTS Active Up (1) Up (1)

TA330 - E01
USB port
Optional 24v Input
1 +24V External Supply

AUX 24V
J1

+ -
2 Common

Controller Card Serial monitor

J2
1
Command A+
Command A- 2
Command B+ 3
Command B- 4 J3
DTS Bit D0 NC 5
DTS Bit D1 NC 6
ENABLE 7 ISO +5 1

J4
ISO GND 2
HALL A 3

FAULT 8 0 1 HALL B
HALL C
4
5

GND 9
Enable LVL 1
Fault LVL 2
DTS D0 3
DTS D1 4 S1
Trap/Sine 5
60º / 120º 6
Brush / Brushless 7 POWER

Dual / Bridge 8 ENABLE

FAIULT
Down
Up

+ -
1 Shield
SHIELD 1
2 Phase A
J5
MOTOR A 2

MOTOR B 3
3 Phase B
4 Phase C NC
24-75V - MOTOR C 4

Power + -
Supply + 1 B- B- 1

2 Common Common 2
J6
3 B+ B+ 3

24-75V -
Power
Supply +

This figure shows the TA330-E01 operating in brushed bridge mode with differential com-
mand inputs. Active low enable, active low fault, driving a single brush type servo motor. The
TA330-E01 is set for a fixed current limit of 18A with a transconductance of 1.8A/V.

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 Operating Manual: TA330-E01

5.6 Stepper Motor, Sinusoidal Commutation

Setting SW1-3 (DTS D0) SW1-4 (DTS D1)
10Vin = 6A out Down (0) Down (0)
10Vin = 10A out Up (1) Down (0)
10Vin = 14A out Down (0) Up (1)
10Vin = 18A out Up (1) Up (1)
DTS Active Up (1) Up (1)

TA330 - E01
USB port
Optional 24v Input
1 +24V External Supply

AUX 24V
J1

+ -
2 Common

Controller Card Serial monitor

J2
1
Command A+
Command A- 2
Command B+ 3
Command B- 4 J3
DTS Bit D0 NC 5
DTS Bit D1 NC 6
ENABLE 7 ISO +5 1

J4
ISO GND 2
HALL A 3

FAULT 8 0 1 HALL B
HALL C
4
5

GND 9
Enable LVL 1
Fault LVL 2
DTS D0 3
DTS D1 4 S1
Trap/Sine 5
60º / 120º 6
Brush / Brushless 7 POWER

Dual / Bridge 8 ENABLE

FAIULT
Down
Up

1 Shield NC
SHIELD 1
2 Phase A
J5
MOTOR A 2

MOTOR B 3 3 Phase B
24-75V - MOTOR C 4 4 Phase C NC
Power
Supply + 1 B- B- 1

2 Common B A
Common 2
J6
3 B+ B+ 3
C
24-75V -
Power D

Supply +

This figure shows the TA330-E01 operating in brushed dual mode with differential command
inputs. Active low enable, active low fault, driving a stepper motor sinusoidally. The TA330-
E01 is set for a fixed current limit of 6A with a transconductance of 0.6A/V.

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 Operating Manual: TA330-E01

6.0 TA330-E01 Hardware Revision History

Revision Date Description

A.0 15 Dec 07 Alpha hardware release

A.1 15 May 08 Added Brush type motor support

B.0 10 Jun 08 Manufacturing release

B.1 29 Jan 09 Increased main power fuse size

B.2 6 Jan 10 Updated firmware handling of temperature monitoring

7.0 TA330-E01 Manual Revision History

Revision Date Description

V0.10 15 Aug 08 Initial release (Alpha).

V0.11 10 Oct 08 Copy of TA330-E01 manual.

V0.13 10 April 09 Initial BETA release, preliminary. Missing application examples.

V0.14 22 June 09 Corrected description of operating voltages. Added new isolation

circuit diagrams.

V0.15 11 Aug 10 General corrections

V0.16 22 Sep 10 Added reference to FTDI VCP driver for TTL to USB conversion and
monitoring. Added full hardware revision history

V0.17 24 Jan 12 Added notation about the J2 connector, cable as an orderable option.
Not supplied J2 is not supplied, J1, J3-J6 are supplied.

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 Operating Manual: TA330-E01

8.0 Warranty
Trust Automation, Inc.
Limited 1 Year, Non-Transferrable 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. at 805.544.0761 for assistance and/or a Return Material Autho-
rization Number (RMA#).
If product repair or replacement is necessary, the Customer will be responsible for all return
shipping charges, freight, insurance and proper packaging to prevent damage in transit,
whether or not the product is covered by this warranty. During the warranty period, product
determined by Trust Automation Inc. to be defective in form or function will be repaired or, at
Trust Automation Inc.'s option, replaced at no charge. Trust Automation Inc. will pay the return
shipping charges (ground for US based shipments, most economical air for international
shipment. Customer may elect to change shipment method and pay the difference.), for prod-
ucts 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 EXW at Trust Automation,
Inc. headquarters in San Luis Obispo, California.
For tracking purposes, products to be repaired or replaced must be returned to Trust Automa-
tion Inc. with a Trust Automation Inc. RMA#, and a Purchase Order. The minimum charge for
non-warranty repair work is $130 and the standard rate is $130 per hour, plus parts. Trust
Automation will provide a repair cost estimate prior to performance of out of warranty repair
work. Send product to:
Trust Automation, Inc.
143 Suburban Road, Bldg. 100
San Luis Obispo, CA. 93401
ATTN: RMA# xxxxxx
Material and workmanship used in the repair and replacement of Trust Automation products
under this warranty are warranted additionally against defects for a period of ninety (90) days
from the date of return shipment to the customer.
LIMITATIONS - This non-transferrable warranty does not apply to damage resulting from
accidents or any Customer actions, such as mishandling, misuse, improper interfacing, opera-
tion outside of design limits or unauthorized repair or modification. No other warranties are
expressed or implied. Trust Automation Inc. liability shall be limited to the actual purchase
price of any defective unit or units of equipment to which a claim is made and shall in no
event include the Customer's manufacturing costs, lost profits or goodwill, or any other direct,
indirect, special, incidental or consequential damages.

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