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 • Particle board / hard board or compatible)
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 20 mA, 0-5 V, 0-10 V, ±5 V, • Calculates motion parameters
module and ±10 V SCALE, OFFSET & DIRECTION
• Four axes of independent or • 750 Vdc isolation • Provides access to auto tuning
coordinated control function
• 12 bit resolution
• Isolated inputs and outputs • Allows user to activate simple
• 2 ms update rate
• Simatic TI 505 series compatible motion profiles from a keyboard
• Pressure override and control. • Permits user to change 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)
sensing devices
magnetostrictive transducers • Saves and retrieves graphic
(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

Analog Inputs Resolution 12 bits

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
Magnetostrictive Interface Interface Type Start/Stop digital pulse
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
Drive Outputs Output Isolation 2500 VAC optically isolated
Current Mode ±25, ±50, ±100 milliamps
Voltage Mode ±2.5, ±5, ±10 Volts
Resolution 12 bit
Simatic TI 505 Interface WY register requirements 8 WY registers
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

Power Requirements TI bus + 5 VDC @ 1.500 Amps maximum
External Magnetostrictive sensor ±15 VDC @ 500 mA, +5 VDC @ 500 mA
External drive ±15 VDC @ 500 mA
Mechanical Specifications Dimensions (WxHxD) 1.6 x 10.5 x 7.5 in (41 x 266 x 191 mm)
Weight 1.3 lb. (592g)
Connectors:
Backplane Direct connection to TI 505 series backplane
Analog DB-37S
Magnetostrictive Sensor DB-25S
Drive DB-15S
Environment Operating Temperature +32 to +140 F (0 to +60C)
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
Axis Setup Parameters Pressure Differentiator Differential gain while in pressure mode
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
Axis Dynamic Control Parameters Mode Function selection bits
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
17 Interrogation pulse 3 WHITE/BLUE Ordering Information
18 +15v axis 3 WHITE/RED
19 Return pulse 3 WHITE/YELLOW Part Number: TMC 188/40-TA - Provided with each TMC
20 -15v axis 3 WHITE/GREEN 188/40-TA: Reference manual, DB15P and DB25P 6' pigtail
21 Common WHITE/GRAY cable, DB37P-A 10' pigtail cable, DCSMON software and
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
DB37P-A pigtail cable (10 feet) for analog inputs . Cable uses TMC 188/40 Motion controller using magnetostrictive sensors
Alpha 6014 or equiv. TMC 188/40-Q Motion controller using quadrature sensors
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
26 B2* ORANGE pair 7 Delta Computer Systems, Inc. manufactures motion
8 B3* RED pair 8 controllers and other industrial controls providing high
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