Advanced motion controls b30a40
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The B30A40 PWM servo drive is designed to drive brushless DC motors with a peak current of 30A and continuous current of 15A. It can interface with digital controllers or operate stand-alone, and includes protections against overheating, overcurrent, and other faults. The drive allows adjusting parameters like current limit, input gain, and offset using on-board potentiometers, and supports Hall, encoder, and tachometer feedback.
Advanced motion controls b30a40
- 1. Analog Servo Drive B30A40 Description Power Range Peak Current 30 A Continuous Current 15 A Supply Voltage 60 - 400 VDC The B30A40 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 Current Limits Selectable Inhibit/Enable Logic 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 Directional Inhibit Inputs for Limit Switches 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 B30A40 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 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1:2006), 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 B30A40 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 30 Maximum Continuous Output Current A 15 Maximum Continuous Output Power W 5700 Maximum Power Dissipation at Continuous Current W 300 Minimum Load Inductance (Line-To-Line)2 μH 600 Low Voltage Supply Outputs - ±10 VDC (3 mA), +5 VDC (250 mA) Switching Frequency kHz 20 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) 203.2 x 142.9 x 40.7 (8 x 5.6 x 1.6) Weight g (oz) 990 (34.9) 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 - 26-pin, high-density, female D-sub P2 Connector - 15-pin, high-density, 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 B30A40 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 I 5 -REF 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 ENC. VEL. MONITOR Encoder Velocity Monitor. Analog output proportional to the frequency of encoder lines or, equivalently, to motor speed. Scaling is 25 kHz/V. O 8 CURR MONITOR OUT Current Monitor. Analog output signal proportional to the actual current output. Scaling is 4.2 A/V by default but may be reduced to half this value by setting DIP switch SW1-3 to OFF (see Hardware Settings section below). Measure relative to signal ground. O 9 CURR REFERENCE 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 INHIBIT / ENABLE TTL level (+5 V) inhibit/enable input. Pull to ground to inhibit drive (SW1-6 ON). Pull to ground to enable drive (SW1-6 OFF). I 12 +INHIBIT / ENABLE Positive Direction Inhibit (Does Not Cause A Fault Condition) I 13 -INHIBIT / ENABLE Negative Direction Inhibit (Does Not Cause A Fault Condition) I 14 FAULT 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. LINE 1 I/O 19 CTLR. LINE 2 User Controller Signal. Pass-through to Port 2 (P2) for customer use. I/O 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 ENC. CH. INDEX+ O 25 ENC. CH. INDEX- Differential Encoder Index Output. Pass-through from Port 2 (P2). O 26 HALL VEL. MONITOR Hall Velocity Monitor. Analog output proportional to the Hall frequency or, equivalently, to motor speed. Scaling is 95 Hz/V. O P2 - Feedback Connector Pin Name Description / Notes I/O 1 HALL A I 2 HALL B I 3 HALL C 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 ENC. CH. INDEX+ I 9 ENC. CH. INDEX- Differential Encoder Index Input (+5 V Logic Level) I 10 CTLR. LINE 1 I/O 11 CTLR. LINE 2 User Controller Signal. Pass-through to Port 1 (P1) for customer use. I/O 12 SIGNAL 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 IN 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 B30A40 HARDWARE SETTINGS Switch Functions SW1 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 Current ratio. Used to set continuous-to-peak current ratio. Default is ON. Cont./Peak Ratio = 50% Cont./Peak Ratio = 25% 5 Hall sensor phasing. Selects 120°/60° commutation phasing. ON by default. 120° 60° 6 Inhibit logic. Sets the logic level of inhibit pins. Active Low Active High SW2 Setting Switch Description On Off 1 Mode selection. See mode selection table below. - - 2 Mode selection. See mode selection table below. - - 3 Mode selection. See mode selection table below. - - 4 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 5 Outer loop integration. Activates or deactivates integration. OFF, by default, for current mode and ON for other modes. Active Inactive 6 Outer loop integral gain adjustment. It is recommended to leave this switch OFF for most applications, but ON for Hall Velocity Mode. Decrease Increase Mode Selection Table Mode SW2-1 SW2-2 SW2-3 SW2-5 Encoder Tachometer CURRENT OFF OFF OFF OFF Not Connected Not Connected DUTY CYCLE OFF OFF ON ON Not Connected Not Connected HALL VELOCITY* OFF ON OFF ON Not Connected Not Connected ENCODER VELOCITY* ON OFF OFF ON Connected Not Connected TACHOMETER VELOCITY OFF OFF OFF ON Not Connected Connected EXTERNAL VELOCITY OFF OFF OFF ON Not Connected Not Connected *NOTE: See details of switch SW2-4 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. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. Analog Servo Drive B30A40 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. 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. †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 B30A40 MECHANICAL INFORMATION P1 - Signal Connector Connector Information 26-pin, high-density, female D-sub Details TYCO: Plug P/N 1658671-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Mating Connector Included with Drive No +10V 3mA OUT123456897FAULT14INHIBIT / ENABLE11+INHIBIT / ENABLE12-INHIBIT / ENABLE13+5V @ 250mA15CTLR. POWER17CTLR. LINE 118SIGNAL GND16SIGNAL GNDCURR REFERENCECURR MONITOR OUTENC. VEL. MONITORVEL INPUT-REF+REF-10V 3mA OUTCTLR. LINE 219ENC. CH. INDEX+24ENC. CH. B+22ENC. CH. A+20ENC. CH. A-21ENC. CH. B-23ENC. CH. INDEX-25HALL VEL. MONITOR26 P2 - Feedback Connector Connector Information 15-pin, high-density, female D-sub Details TYCO: Plug P/N 748364-1; Housing P/N 5748677-1; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) Mating Connector Included with Drive No HALL A1HALL B2HALL C3ENC. CH. A+4ENC. CH. A-5CTLR. LINE 211SIGNAL GND12+5V @ 250mA13TACH IN14CTLR. POWER15ENC. CH. B+6CTLR. LINE 110ENC. CH. B-7ENC. CH. INDEX+8ENC. CH. INDEX-9 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. Analog Servo Drive B30A40 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 MOTOR A1MOTOR B2MOTOR C3POWER GND4HIGH VOLTAGE5 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. Analog Servo Drive B30A40 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 B30A40 PART NUMBERING 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 Filter Cards Drive(s) 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: