Advanced motion controls b100a40
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The document describes an analog servo drive that provides: - Peak current of 100A and continuous current of 50A - Adjustable settings for loop gain, current limit, input gain and offset using potentiometers - Multiple operation modes including current, duty cycle, hall velocity and encoder velocity - Protection against overvoltage, undervoltage, overcurrent and other faults
Advanced motion controls b100a40
- 1. Analog Servo Drive B100A40 Description Power Range Peak Current 100 A Continuous Current 50 A Supply Voltage 60 - 400 VDC The B100A40 PWM servo drive is designed to drive brushless DC motors at a high switching frequency. A single red/green LED indicates operating status. The drive is fully protected against over-voltage, under voltage, over-current, over-heating and short-circuits across motor, ground and power leads. Furthermore, the drive can interface with digital controllers or be used stand-alone, and requires 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. See Part Numbering Information on last page of datasheet for additional ordering options. Features Optical Isolation Between High & Low Power Signals Four Quadrant Regenerative Operation Adjustable Acceleration/Deceleration Rate Adjustable Current Limits Differential Input Command On-Board Test Potentiometer Offset Adjustment Potentiometer Adjustable Input Gain Selectable 120/60 Hall Commutation Phasing Hall Velocity Mode Encoder Velocity Mode Differential Encoder Feedback MODES OF OPERATION ƒ Current ƒ Duty Cycle (Open Loop) ƒ Hall Velocity ƒ Velocity COMMAND SOURCE ƒ ±10 V Analog FEEDBACK SUPPORTED ƒ Halls ƒ Incremental Encoder ƒ Tachometer (±60 VDC) COMPLIANCES & AGENCY APPROVALS ƒ UL ƒ cUL ƒ CE Class A (LVD) ƒ CE Class A (EMC) ƒ RoHS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 2. Analog Servo Drive B100A40 BLOCK DIAGRAM Information on Approvals and Compliances US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E140173. Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products. Compliant with European CE for both the Class A EMC Directive 2004/108/EC on Electromagnetic Compatibility (specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1), a low voltage directive to protect users from electrical shock. RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 3. Analog Servo Drive B100A40 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 60 - 400 DC Bus Over Voltage Limit VDC 425 Maximum Peak Output Current1 A 100 Maximum Continuous Output Current A 50 Maximum Continuous Output Power W 19000 Maximum Power Dissipation at Continuous Current W 1000 Minimum Load Inductance (Line-To-Line)2 μH 600 Low Voltage Supply Outputs - ±10 VDC (3 mA), +5 VDC (250 mA), +6 VDC (30 mA) Switching Frequency kHz 15 Control Specifications Description Units Value Command Sources - ±10 V Analog Feedback Supported - Halls, Incremental Encoder, Tachometer (±60 VDC) Commutation Methods - Trapezoidal Modes of Operation - Current, Hall Velocity, Duty Cycle, Velocity Motors Supported - Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless) Hardware Protection - Invalid Commutation Feedback, Over Current, Over Temperature, Over Voltage, Short Circuit (Phase-Phase & Phase-Ground) Primary I/O Logic Level - 5V TTL Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL Size (H x W x D) mm (in) 270.5 x 233.7 x 92.4 (10.6 x 9.2 x 3.6) Weight g (oz) 4990 (176) Heatsink (Base) Temperature Range3 °C (°F) 0 - 65 (32 - 149) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Panel Mount P1 Connector - 25-pin, female D-sub P2 Connector - 15-pin, female D-sub P3 Connector - 5-contact, 11.10 mm spaced, tri-barrier terminal block Notes 1. Maximum duration of peak current is ~2 seconds. Peak RMS value must not exceed continuous current rating of the drive. 2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 3. Additional cooling and/or heatsink may be required to achieve rated performance. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 4. Analog Servo Drive B100A40 PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 +10V 3mA OUT O 2 SIGNAL GND SGND 3 -10V 3mA OUT ±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference ground common with signal ground. O 4 +REF IN I 5 -REF IN Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input) I 6 VEL INPUT Single ended reference input for external velocity signal, range ±10 V (maximum ±15 V). I 7 VEL MONITOR OUT Velocity Monitor. Analog output proportional to motor speed. In Encoder Velocity mode, output is proportional to the encoder line frequency. In Hall Velocity mode, output is proportional to the electrical cycle frequency. Encoder Velocity scaling is 25 kHz/V. Hall Velocity scaling is 100 Hz/V. O 8 CURR MONITOR OUT Current Monitor. Analog output signal proportional to the actual current output. Scaling is 15.6 A/V by default but may be reduced to half this value by setting DIP switch SW-3 to OFF (see Hardware Settings section below). Measure relative to signal ground. O 9 CURR REF OUT Measures the command signal to the internal current-loop. This pin has a maximum output of ±7.25 V when the drive outputs maximum peak current. Measure relative to signal ground. O 10 RESERVED Reserved - 11 I NHIBIT IN TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit drive. Inhibit turns off all power devices. I 12 RESERVED Reserved - 13 RESERVED Reserved - 14 FAULT OUT TTL level (+5 V) output becomes high when power devices are disabled due to at least one of the following conditions: inhibit, invalid Hall state, output short circuit, over voltage, over temperature, power-up reset. O 15 +5V @ 250mA ±5 V @ 250 mA low power supply for customer use. Short circuit protected. Referenced to signal ground. O 16 SIGNAL GND Signal Ground SGND 17 CTLR POWER Controller Power. Pass-through to Port 2 (P2) for customer use. I/O 18 CTLR SIGNAL User Controller Signal. Pass-through to Port 2 (P2) for customer use. I/O 19 RESERVED Reserved - 20 ENC CH A+ O 21 ENC CH A- Differential Encoder Channel A Output. Pass-through from Port 2 (P2). O 22 ENC CH B+ O 23 ENC CH B- Differential Encoder Channel B Output. Pass-through from Port 2 (P2). O 24 INDEX+ O 25 INDEX- Differential Encoder Index Output. Pass-through from Port 2 (P2). O P2 - Feedback Connector Pin Name Description / Notes I/O 1 HALL 1 I 2 HALL 2 I 3 HALL 3 Single-ended Hall/Commutation Sensor Inputs (+5 V logic level) I 4 ENC. CH. A+ I 5 ENC. CH. A- Differential Encoder Channel A Input (+5 V Logic Level) I 6 ENC. CH. B+ I 7 ENC. CH. B- Differential Encoder Channel B Input (+5 V Logic Level) I 8 INDEX+ I 9 INDEX- Differential Encoder Index Input (+5 V Logic Level) I 10 CTLR SIGNAL User Controller Signal. Pass-through to Port 1 (P1) for customer use. I/O 11 +V HALL OUT Low Power Supply For Hall Sensors (+6 V @ 30 mA). Referenced to signal ground. Short circuit protected. O 12 GND Signal Ground SGND 13 +5V @ 250mA ±5 V @ 250 mA low power supply for customer use. Short circuit protected. Referenced to signal ground. O 14 TACH Negative Tachometer Input (Maximum ±60 V). Use signal ground for positive input. I 15 CTLR POWER Controller Power. Pass-through to Port 1 (P1) for customer use. I/O P3 - Power Connector Pin Name Description / Notes I/O 1 MOTOR A Motor Phase A O 2 MOTOR B Motor Phase B O 3 MOTOR C Motor Phase C O 4 POWER GND Power Ground (Isolated From Signal Ground) PGND 5 HIGH VOLTAGE DC Power Input I ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 5. Analog Servo Drive B100A40 HARDWARE SETTINGS Switch Functions Setting Switch Description On Off 1 Test/Offset. Switches the function of the Test/Offset pot between an on-board command input for testing or a command offset adjustment. OFF by default. Test Offset 2 Current loop proportional gain adjustment. ON by default. Decrease Increase 3 Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. The scaling of the current monitor output signal becomes ½ its ordinary value when this switch is OFF. Full-current Half-current 4 Outer loop integration. Activates or deactivates integration. ON, by default, for current mode and OFF for other modes. Inactive Active 5 Mode selection. See mode selection table below. - - 6 Mode selection. See mode selection table below. - - 7 Velocity feedback polarity. Changes the polarity of the internal feedback signal and the velocity monitor output signal. Inversion of the feedback polarity may be required to prevent a motor run- away condition. Standard Inverted 8 Current ratio. Used to set continuous-to-peak current ratio. Default is ON. Cont./Peak Ratio = 50% Cont./Peak Ratio = 25% 9 Outer loop integral gain adjustment. It is recommended to leave this switch OFF for most applications, but ON for Hall Velocity Mode. Decrease Increase 10 Hall sensor phasing. Selects 120°/60° commutation phasing. ON by default. 120° 60° Mode Selection Table Mode SW4 SW5 SW6 Encoder Tachometer CURRENT ON OFF OFF Not Connected Not Connected DUTY CYCLE OFF ON OFF Not Connected Not Connected HALL VELOCITY* OFF OFF ON Not Connected Not Connected ENCODER VELOCITY* OFF ON ON Connected Not Connected TACHOMETER VELOCITY OFF OFF OFF Not Connected Connected EXTERNAL VELOCITY OFF OFF OFF Not Connected Not Connected * NOTE: See details of switch 7 and 9 for further Hall/Encoder Velocity configuration information. Potentiometer Functions Potentiometer Description Turning CW 1 Loop gain adjustment for duty cycle / velocity modes. Turn this pot fully CCW in current mode. Increases gain 2 Current limit. It adjusts both continuous and peak current limit while maintaining their ratio. Increases limit 3 Reference gain. Adjusts the ratio between input signal and output variables (voltage, current, or velocity). Increases gain 4 Offset / Test. Used to adjust any imbalance in the input signal or in the amplifier. Can also be used as an on-board signal source for testing purposes. Adjusts offset in negative direction Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end. Jumper Settings Jumper Description Configuration SMT Jumper (0Ω Resistor) Not Installed Installed J8 First of two jumpers used to enable adjustable accel/decel rate control. Both jumpers must be set appropriately. The default setting is installed (accel/decel disabled). Enabled Disabled J9 Second of two jumpers used to enable adjustable accel/decel rate control. Both jumpers must be set appropriately. The default setting is not installed (accel/decel disabled). Disabled Enabled ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. Analog Servo Drive B100A40 Through-hole Components† Location Description C67* Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section below on Tuning with Through-hole components for more details. C69* Current Loop Integrator. Through-hole capacitor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. R26* Current Loop Proportional Gain. Through-hole resistor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. R907 First of two resistors used to set the deceleration rate. R908 Second of two resistors used to set the deceleration rate. R914 First of two resistors used to set the acceleration rate. R915 Second of two resistors used to set the acceleration rate. Tuning With Through-hole Components In general, the drive will not need to be further tuned with through-hole components. However, for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches, the drive can be manually modified with through-hole resistors and capacitors as denoted in the above table. By default, the through-hole locations are not populated when the drive is shipped. Before attempting to add through-hole components to the board, consult the section on loop tuning in the installation notes on the manufacturer’s website. Some general rules of thumb to follow when adding through-hole components are: • A larger resistor value will increase the proportional gain, and therefore create a faster response time. • A larger capacitor value will increase the integration time, and therefore create a slower response time. Proper tuning using the through-hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through-hole component values for the specific application. Acceleration/Deceleration Setting Details The acceleration and deceleration rates can be set independently using through-hole resistors at locations R914, R915, R907, R908 ( see table below). The rates are based on + or – 10 Volts to the Reference inputs. The “Time” listed in the table below is the time it takes to reach the 10-Volt input. The ramping rates are linear with respect to time. For example, if the input were only 5 Volts, the time to ramp to this voltage would be half the time to ramp to 10 Volts. These locations are silk-screened on the PCB for easy identification. Acceleration Deceleration Time (s) R914 (kΩ) R915 (kΩ) R907 (kΩ) R908 (kΩ) 1 50 50 50 50 2 50 20 50 20 3* 10 10 10 10 4 500 20 500 20 5 50 5 50 5 6 500 10 500 10 7 50 2 50 2 8 50 1 50 1 9 20 0.1 20 0.1 10 100 0.1 100 0.1 * Default setting †Note: Damage done to the drive while performing these modifications will void the warranty. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. Analog Servo Drive B100A40 MECHANICAL INFORMATION P1 - Signal Connector Connector Information 25-pin, female D-sub Details TYCO: Plug P/N 5205208-1; Housing P/N 5745173-1; Terminals P/N 1658540-5 (loose) or 1658540-4 (strip) Mating Connector Included with Drive No P2 - Feedback Connector Connector Information 15-pin, female D-sub Details TYCO: Plug P/N 205206-3; Housing P/N 5745172-1; Terminals P/N 1658540-5 (loose) or 1658540-4 (strip) Mating Connector Included with Drive No INDEX-9CTLR SIGNAL10+V HALL OUT11+5V @ 250mA13GND12INDEX+8ENC. CH. B-7ENC. CH. B+6ENC. CH. A-5ENC. CH. A+4HALL 33HALL 22HALL 11 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. Analog Servo Drive B100A40 P3 - Power Connector Connector Information 5-contact, 11.10 mm spaced, tri-barrier terminal block Details Not applicable Mating Connector Included with Drive Not applicable ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. Analog Servo Drive B100A40 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 10. Analog Servo Drive B100A40 PART NUMBERING INFORMATION APeak VoltagePeak Current40- Additional Options* B or BX:Brushless drive. Maximum peak current rating in Amps. Peak voltage rating scaled 1:10 in Volts. Power Supply:DC Power SupplyDrive TypeBE:Encoder Velocity Mode AvailableBD:PWM CommandBDC:PWM Command, Closed Current LoopS or SX:Commutated Sine CommandRevisionAssigned a letter (A through Z) by manufacturer. AC:AC Power SupplyFAC:AC Power Connecter Relocated to the FrontI:Optical IsolationIsolation Option100B-ANP:Analog Position Loop-INV:Inverted Inhibit*Options available for orders with sufficient volume. Contact ADVANCED Motion Controls for more information. ADVANCED Motion Controls analog series of servo drives are available in many configurations. Note that not all possible part number combinations are offered as standard drives. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick- turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. Examples of Modifications and Customized Products Integration of Drive into Motor Housing Integrate OEM Circuitry onto Drive PCB Mount OEM PCB onto Drive Without Cables Custom Control Loop Tuned to Motor Characteristics Multi-axis Configuration for Compact System Custom I/O Interface for System Compatibility Custom PCB and Baseplate for Optimized Footprint Preset Switches and Pots to Reduce User Setup RTV/Epoxy Components for High Vibration Optimized Switching Frequency OEM Specified Connectors for Instant Compatibility Ramped Velocity Command for Smooth Acceleration OEM Specified Silkscreen for Custom Appearance Remove Unused Features to Reduce OEM Cost Increased Thermal Limits for High Temp. Operation Application Specific Current and Voltage Limits Feel free to contact Applications Engineering for further information and details. Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit www.a-m-c.com to see which accessories will assist with your application design and implementation. Power Supplies Shunt Regulators Drive(s) To Motor All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: