Advanced motion controls 120a10b 24
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The document describes the 120A10 series PWM servo amplifiers. The amplifiers are designed to drive brush DC motors and feature surface mount technology. They require a single DC power supply and allow selection of operating modes like current and velocity control via DIP switches. The amplifiers provide over-current, over-voltage, and over-heating protection. They include connections for motor power and control signals along with status indicators.
Advanced motion controls 120a10b 24
- 1. 120A10 Series SERIES 120A10 SERVO AMPLIFIERS MODEL: 120A10 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com FEATURES: · Surface-mount technology Small size, low cost, ease of use · Optical isolation, see block diagram · DIP switch selectable modes: current, voltage, velocity, IR compensation, analog position loop · Four quadrant regenerative operation · Agency Approvals Pending BLOCK DIAGRAM: Sold & Serviced By:
- 2. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com 120A10 Series DESCRIPTION: The 120A Series PWM servo amplifiers are designed to drive brush type DC motors at a high switching frequency. Single red/green LED indicates operating status. All models are fully protected against over-voltage, under-voltage, over-current, over-heating and short-circuits across motor, ground and power leads. All models interface with digital controllers or can be used as a stand-alone drive. They require only a single unregulated DC power supply. Loop gain, current limit, input gain and offset can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes when SW10 (DIP switch) is ON. SPECIFICATIONS: MODEL POWER STAGE SPECIFICATIONS 120A10* DC SUPPLY VOLTAGE 30 - 80 V PEAK CURRENT (2 sec. max., internally limited) ± 120 A MAXIMUM CONTINUOUS CURRENT (internally limited) ± 60 A MINIMUM LOAD INDUCTANCE** 300 μH SWITCHING FREQUENCY 15 kHz ± 15% HEATSINK (BASE) TEMPERATURE RANGE -25o to +65o C; disables if >65o C POWER DISSIPATION AT CONTINUOUS CURRENT 300 W OVER-VOLTAGE SHUT-DOWN (self-reset) 90 V BANDWIDTH (load dependent) 2.5 kHz MECHANICAL SPECIFICATIONS POWER CONNECTOR Screw Terminals SIGNAL CONNECTOR 16 pin Molex connector SIZE 10 x 5.12 x 2.63 inches 254 x 130.2 x 66.7 mm WEIGHT 3.60 lbs. 1.63 Kg. *This model is available in a 24 V version. The part number is 120A10-24. Operating voltage is 20-40 VDC. ** Low inductance motors ("pancake" and "basket-wound") require external inductors.
- 3. 120A10 Series PIN FUNCTIONS: CONNECTOR PIN NAME DESCRIPTION / NOTES I/O 1 +10 V OUT O 2 SIGNAL GND SGN D 3 -10 V OUT Provides regulated voltages of ±10 V @ 3 mA for customer use. Short circuit protected. P1-2 is the signal ground. O 4 +REF IN 5 -REF IN Command signal. Differential analog input, maximum ±15 V, 40K input resistance. I 6 -TACH IN 7 +TACH (SGND) Maximum ±60 VDC, 60K input resistance I 8 CURRENT MONITOR OUT This signal is proportional to the actual current in the motor leads. Scaling is 1 V = 18 A when SW5 = ON (full current) and 1 V = 9 A when SW5 = OFF. O 9 CURRENT REFERENCE OUT Command signal to the internal current-loop. The maximum peak current rating of the amplifier equals 7.25 V at this pin. See current limit adjustment information below. O 10 CONTINUOUS CURRENT LIMIT Can be used to reduce the factory-preset maximum continuous current limit. See current limit adjustment information below. I 11 INHIBIT Inhibit. TTL, turns off all four power devices of the "H" bridge drive when pulled to ground. Will cause high FAULT and red LED. For inverted inhibit inputs; see section "G". I 12 +INHIBIT Inhibits the motor for "+" direction only. This function can be useful to remove power to the motor using a "limit switch". Will not cause high FAULT or red LED. I 13 -INHIBIT Inhibits the motor for "-" direction only. This function can be useful to remove power to the motor using a "limit switch". Will not cause high FAULT or red LED. I 14 FAULT OUT (red LED) TTL compatible output. It becomes high during output short-circuit, over-voltage, under voltage, over-heating, inhibit, and during "power-on reset". A red LED also indicates a fault condition. O 15 NC No connection. P1 16 NC No connection. CONNECTOR PIN NAME DESCRIPTION / NOTES I/O 1 -MOTOR Motor minus connection. O 2 +MOTOR Motor plus connection. O 3 POWER GROUND Power Ground. PGN D 4 POWER GROUND Power Ground. PGN D P2 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Sold & Serviced By: 120A10 Series SWITCH FUNCTIONS: SETTING SWITCH FUNCTION DESCRIPTION ON OFF 1 Internal voltage feedback On Off 2 Internal current feedback for IR compensation On Off 3 Current loop gain Decrease Increase 4 Inhibit Select P1-11, 12, 13 : inhibit P1-11, 12, 13 : enable 5 Current scaling. When OFF reduces both peak and continuous current limit by 50% (see section "G"). Full-current Half-current 6 Can be used to reduce factory-preset maximum continuous current limit (see section "G"). Cont./Peak Ratio 25% Cont./Peak Ratio 50% 7 It is recommended to leave SW7 in the OFF position. Shorts out the current loop integrator capacitor Current loop integrator operating 8 This capacitor normally ensures "error-free" operation by reducing the error-signal (output of summing amplifier) to zero. Velocity / voltage loop integrator disabled Velocity / voltage loop integrator enabled 9 Increases the value of the integrator capacitor. It is recommended to leave SW9 in the OFF position for most applications. Increase Decrease 10 Offset / test. Sensitivity of the "offset" pot. Used as an on-board reference signal in test mode. Test Offset POTENTIOMETER FUNCTIONS: POTENTIOMETER DESCRIPTION TURNING CW Pot 1 Loop gain adjustment in voltage & velocity modes. Increases loop gain Pot 2 Current limit. It adjusts both continuous and peak current limit while maintaining their ratio (50%). Increases current limit Pot 3 Reference gain. It adjusts the ratio between reference signal and output variable (voltage, current, or velocity). Increases reference input gain Pot 4 Offset / test. Used to adjust any imbalance in the input signal or in the amplifier. When SW10 (DIP switch) is ON, the sensitivity of this pot is greatly increased thus it can be used as an on-board signal source for testing purposes. See section “G”. N/A ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. 120A10 Series ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com TEST POINTS FOR POTENTIOMETERS: See section “G”. SET-UP: See section “G” for engineering and installation notes. OPERATING MODE SELECTION: These modes can be selected by the DIP switches according to the chart in the functional block diagram: · Current Mode · Voltage Mode · IR Compensation Mode · Tachometer Mode See section "G" for more information. APPLICATION NOTE: See section “G” for more information on analog position loop mode. CURRENT LIMIT ADJUSTMENTS: These amplifiers feature separate peak and continuous current limit adjustments. The current limit adjusting Pot 2 adjusts both peak and continuous current limit at the same time. It has 12 active turns plus 1 inactive turn at each end and is approximately linear. Thus, to adjust the current limit, turn the potentiometer counter-clockwise to zero, then turn clockwise to the appropriate value. If the desired limit is, for example, 60 amperes, and the servo amplifier’s peak current is 120 amperes, turn the potentiometer 7 turns clockwise from zero. Pin P1-9 is the input to the internal current amplifier stage. Since the output current is proportional to P1-9, the adjusted current limit can easily be observed at this pin. Note that a command signal must be applied to the reference inputs to obtain a reading on P1-9. The maximum peak current value equals 7.25 V at this pin. If SW5 = ON, peak rated amplifier current = 7.25 V. If SW5 = OFF, 1/2 peak rated amplifier current = 7.25 V. Example: using the 120A10 with SW5 = ON, 120A = 7.25 V and with SW5 = OFF, 60A = 7.25 V. The actual current can be monitored at pin P1-8. The continuous current limit can be reduced without affecting the peak current limit by connecting an external current limiting resistor between P1-10 and P1-2. See table below. CURRENT LIMITING RESISTOR 40K 20K 3K 1K 0K CONTINUOUS CURRENT LIMIT 90% 80% 50% 30% 10% SW6 (DIP switch) will reduce the continuous current limit to 50% of the maximum value, when switched ON. SW5 (DIP switch) will reduce the current feedback (monitor) scaling by 50%, thereby reducing both the peak and the continuous current limit by 50%, when switched OFF. TYPICAL SYSTEM WIRING: See section "G". ORDERING INFORMATION: Model: 120A10X X indicates the current revision letter. Sold & Serviced By: