Advanced motion controls be12a6
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This document describes an analog servo drive that: - Can provide up to 12A of peak current and 6A of continuous current from a 20-60VDC power supply. - Includes features like four quadrant regenerative braking, adjustable current limits, and selectable commutation phasing. - Can operate in different modes including current control, open loop, and encoder velocity control. - Accepts ±10V analog command inputs and supports feedback from Hall sensors or encoders. - Has status LEDs, adjustable gains, and overvoltage/current protection.
Advanced motion controls be12a6
- 1. Analog Servo Drive BE12A6 Description Power Range Peak Current 12 A Continuous Current 6 A Supply Voltage 20 - 60 VDC The BE12A6 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. This drive can use quadrature encoder inputs for velocity control. Features Four Quadrant Regenerative Operation DIP Switch Selectable Modes Adjustable Current Limits High Switching Frequency Differential Input Command On-Board Test Potentiometer Offset Adjustment Potentiometer Adjustable Input Gain Selectable 120/60 Hall Commutation Phasing Encoder Velocity Mode Drive Status LED Velocity Monitor Outputs MODES OF OPERATION ƒ Current ƒ Open Loop ƒ Encoder Velocity COMMAND SOURCE ƒ ±10 V Analog FEEDBACK SUPPORTED ƒ Halls ƒ Incremental Encoder 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 BE12A6 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 89/336/EEC 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 73/23/EEC (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 BE12A6 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 - 60 DC Bus Over Voltage Limit VDC 62 Maximum Peak Output Current1 A 12 Maximum Continuous Output Current A 6 Maximum Power Dissipation at Continuous Current W 18 Minimum Load Inductance (Line-To-Line)2 μH 200 Switching Frequency kHz 33 Control Specifications Description Units Value Command Sources - ±10 V Analog Feedback Supported - Halls, Incremental Encoder Commutation Methods - Trapezoidal Modes of Operation - Current, Encoder Velocity, Open Loop Motors Supported - Brushed, Brushless, Voice Coil Hardware Protection - Invalid Commutation Feedback, Over Current, Over Temperature, Over Voltage, Short Circuit (Phase-Phase & Phase-Ground) 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) 129.3 x 75.8 x 25.1 (5.1 x 3 x 1) Weight g (oz) 280 (9.9) Heatsink (Base) Temperature Range3 °C (°F) 0 - 65 (32 - 149) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Stand Alone P1 Connector - 16-pin, 2.54 mm spaced, friction lock header P2 Connector - 5-port, 5.08 mm spaced, screw terminal Notes 1. Maximum duration of peak current is ~2 seconds. 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 BE12A6 PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 +5V 3mA OUT O 2 SIGNAL GND GND 3 -5V 3mA OUT ±5 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 ENCODER-B IN Single-ended encoder channel B input. +5 V logic level. I 7 ENCODER-A IN Single-ended encoder channel A input. +5 V logic level. I 8 CURRENT MONITOR Current Monitor. Analog output signal proportional to the actual current output. Scaling is 2 A/V. Measure relative to signal ground. O 9 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 10 +V HALL 30mA OUT Low Power Supply For Hall Sensors (+6 V @ 30 mA). Referenced to signal ground. Short circuit protected. O 11 GND Signal Ground GND 12 HALL 1 I 13 HALL 2 I 14 HALL 3 Single-ended Hall/Commutation Sensor Inputs (+5 V logic level) I 15 VEL MONITOR OUT Velocity Monitor. Analog output proportional to motor speed. In Encoder Velocity mode, output is proportional to the encoder line frequency. Encoder Velocity scaling is 22 kHz/V. O 16 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 P2 - 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 (Common With Signal Ground) GND 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 BE12A6 HARDWARE SETTINGS Switch Functions Setting Switch Description On Off 1 Open-loop mode selector. Activates internal PWM feedback. Open-loop mode Other modes 2 60/120 degree commutation phasing setting 120 degrees 60 degrees 3 Outer loop integration. Activates or deactivates integration. ON, by default, for current mode and OFF for other modes. Inactive Active 4 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 Mode Selection Table Mode SW1 SW3 Encoder CURRENT OFF ON Not Connected OPEN LOOP ON OFF Not Connected ENCODER VELOCITY* OFF OFF Connected *NOTE: Interchange P1-6 and P1-7 to change feedback polarity. This may be required to prevent a run-away condition. Potentiometer Functions Potentiometer Description Turning CW 1 Loop gain adjustment for open loop / 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. Through-hole Components† Location Description C8* 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. 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:
- 6. Analog Servo Drive BE12A6 MECHANICAL INFORMATION P1 - Signal Connector Connector Information 16-pin, 2.54 mm spaced, friction lock header Details Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals) Mating Connector Included with Drive Yes +5V 3mA OUT1SIGNAL GND2-5V 3mA OUT3+REF IN4-REF IN5ENCODER-B IN6ENCODER-A IN7CURRENT MONITOR8INHIBIT IN9+V HALL 30mA OUT10GND11HALL 112 HALL 213VEL MONITOR OUT15 P2 - Power Connector Connector Information 5-port, 5.08 mm spaced, screw terminal Details Not applicable Mating Connector Included with Drive Not applicable MOTOR A1MOTOR B2MOTOR C3 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. Analog Servo Drive BE12A6 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. Analog Servo Drive BE12A6 PART NUMBERING INFORMATION APeak VoltagePeak Current6- Additional OptionsB 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 Option12BE ADVANCED Motion Controls servo drives are available in many configurations. All models listed in the selection tables of thewebsite 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 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 Filter Cards 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: