Advanced motion controls se30a20ac
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The document describes the SE30A20AC series brushless servo amplifiers. Key points: - The amplifiers are designed to drive brushless motors with 3-phase sine wave current generated from an encoder. - Features include surface mount technology, small size, low cost, four quadrant regenerative operation, and protection against over-voltage, over-current, and short circuits. - The amplifiers require a single-phase AC power supply and have DIP switches to select current or encoder velocity modes.
Advanced motion controls se30a20ac
- 1. SE30A20AC Series SE30A20AC SERIES BRUSHLESS SERVO AMPLIFIERS Models: SE10A20AC, SE30A20AC 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 or encoder velocity • Four quadrant regenerative operation • Encoder interface for sinusoidal commutation • AC Supply Operation • Agency Approval: BLOCK DIAGRAM: ADVANCED MOTION CONTROLS Sold & Serviced By:
- 2. Sold & Serviced By: ELECTROMATE SE30A20AC Series Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 DESCRIPTION: The SE30A20AC Series PWM servo amplifiers are designed to drive brushless motors with 3 phase sine wave current. An on board digital controller generates the 3 phase sine wave signals from an optical "incremental encoder". Although encoders are used for the sinusoidal commutation, Hall sensors are required for the start up routine. This model is fully protected against over-voltage, under-voltage, over-current, over-heating and short-circuits. These models interface with digital controllers or can be used as stand-alone drives. They require a single-phase AC power supply. A red/green LED and two digital outputs indicate operating status. 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 SW1 (DIP switch) is ON. SPECIFICATIONS: All SE10A20AC and SE30A20AC specifications are respectively identical to the SE10A20 and SE30A20 specifications (see SE30A series data sheets) except for: www.electromate.com sales@electromate.com D-54 MODEL POWER STAGE SPECIFICATIONS SE10A20AC SE30A20AC SINGLE PHASE AC SUPPLY VOLTAGE 45 - 125 VAC @ 50-60 Hz INTERNAL SHUNT RESISTOR 10 Ω @ 50 W SHUNT SWITCH-ON VOLTAGE * 185 VDC BUS CAPACITANCE 3600 μF SHUNT FUSE (d=.25 inches, L=1.25 inches) 3 A Motor Delay rated @ 250 VAC AC LINE FUSES (d=.25 inches, L=1.25 inches) 16 A slow blow rated @ 250 VAC MECHANICAL SPECIFICATIONS AC CONNECTOR: P3 Screw terminals SIGNAL CONNECTORS: P1, P2 AMP 748390-6, AMP 748481-6 P1 is a 26 pin high density female D-sub connector and P2 is a 15 pin high density female D-sub connector. SIZE 8.00 x 6.52 x 2.97 inches 203.2 x 165.7 x 75.4 mm WEIGHT 2.96 Lb. 1.34 Kg * If the shunt regulator is disabled the shut down voltage is 195 VDC. These amplifiers contain a rectifier bridge and filter capacitors to generate the DC bus internally from the AC input power. The DC bus voltage is 1.4 times AC voltage (RMS), e.g. 170 VDC from 120 VAC. During braking much of the stored mechanical energy is fed back into the power supply and charges the bus capacitor to a higher voltage. If this voltage reaches the amplifier’s over-voltage shutdown point, output current and braking will cease. To ensure smooth braking of large inertial loads, a built-in “shunt regulator” is provided in these models. The shunt regulator will switch on the internal power resistor when the bus voltage exceeds 185 VDC. This allows the bus capacitor to discharge and thus lower the bus voltage. If the shunt regulator becomes inoperative, the over voltage protection on the amplifier will disable the drive when regeneration energy causes the bus voltage to exceed 195 VDC.
- 3. SE30A20AC Series D-55 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com ORDERING INFORMATION: Models: SE10A20ACX, SE30A20ACX *Divide by 4 option Models: SE10A20ACX-4, SE30A20ACX-4 *Divide by 8 option Models: SE10A20ACX-8, SE30A20ACX-8 *Divide by 16 option Models: SE10A20ACX-16, SE30A20ACX-16 *For use with high-resolution encoders, contact the factory to determine which option is best for your application X indicates current revision letter. MATING CONNECTORS: Manufacturer: AMP (Tel: 1-800-522-6752) Part numbers: 15 Pin plug 748364-1 26 Pin plug 748365-1 Pins 748333-2 Shell Kit (plastic with metal coating) 15 Pin 748677-1 26 Pin 748677-2 TYPICAL SYSTEM WIRING: See section “G”. MOUNTING DIMENSIONS: See page F-31.
- 4. SE30A Series D-45 SE30A SERIES BRUSHLESS SERVO AMPLIFIERS Models: SE10A8, SE10A20, SE10A40, SE30A8, SE30A20, SE30A40 Sold & Serviced By: 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, encoder velocity, external velocity, tachometer • Four quadrant regenerative operation • Encoder interface for sinusoidal commutation • Agency Approvals: BLOCK DIAGRAM: ADVANCED MOTION CONTROLS 3805 Calle Tecate, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165
- 5. Sold & Serviced By: ELECTROMATE SE30A Series Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 DESCRIPTION: The SE30A20 Series PWM servo amplifiers are designed to drive brushless motors with 3 phase sine wave current. An on board digital controller generates the 3 phase sine wave signals from an optical "incremental encoder". Although encoders are used for the sinusoidal commutation, Hall sensors are required for the start up routine. This model is fully protected against over-voltage, under-voltage, over-current, over-heating and short-circuits. This model interfaces with digital controllers or can be used as a stand-alone drive. The SE30A20 series amplifiers require only a single unregulated DC power supply. A red/green LED and two digital outputs indicate operating status. 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 SW1 (DIP switch) is ON. SPECIFICATIONS: www.electromate.com sales@electromate.com D-46 MODEL POWER STAGE SPECIFICATIONS SE10A8* SE10A20* SE10A40 SE30A8* SE30A20* SE30A40 DC SUPPLY VOLTAGE 20-80 V 60-190 V 60-400 V 20-80 V 60-190 V 60-400 V PEAK CURRENT (2 sec. Max., internally limited) ±10 A (7.1 Arms) ±10 A (7.1 Arms) ±10 A (7.1 Arms) ±30 A (21.2 Arms) ±30 A (21.2 Arms) ±30 A (21.2 Arms) MAXIMUM CONTINUOUS CURRENT (internally limited) ±5 A (3.5 Arms) ±5 A (3.5 Arms) ±5 A (3.5 Arms) ±15 A (10.6 Arms) ±15 A (10.6 Arms) ±15 A (10.6 Arms) MINIMUM LOAD INDUCTANCE * 200 μH 250 μH 600 μH 200 μH 250 μH 600 μH SWITCHING FREQUENCY 20 kHz nominal HEATSINK (BASE) TEMPERATURE RANGE 0o to +65o C, disables if > 65o C POWER DISSIPATION AT CONT. CURRENT 20 W 50 W 100 W 60 W 145 W 300 W OVER-VOLTAGE SHUT-DOWN (self reset) 84 V 195 V 425 V 84 V 195 V 425 V BANDWIDTH (load dependent) 2.5 kHz MECHANICAL SPECIFICATIONS POWER CONNECTOR: P3 Screw terminals SIGNAL CONNECTORS: P1, P2 P1 is a 26 pin high density female D-sub connector and P2 is a 15 pin high density female D-sub connector. SIZE 8.00 x 5.62 x 1.60 inches 203.2 x 142.9 x 40.7 mm WEIGHT 2.12 lb. 0.99 Kg * Low inductance motors require external inductors.
- 6. SE30A Series Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 PIN FUNCTIONS: CONNECTOR PIN NAME DESCRIPTION / NOTES I/O 1 +10V @ 3 mA For customer use O 2 SIGNAL GND Reference ground SGND 3 -10V @ 3 mA For customer use O 4 +REF 5 -REF D-47 Differential reference input, maximum ±15V, 20K input resistance I 6 Velocity Input Single ended reference input, external velocity signal, maximum ±15V, 10K input resistance I 7 Velocity Monitor SW2-3=OFF; 1 V = 25 kHz Encoder frequency, maximum 250 KHz SW2-3=ON; 1 V = 175 kHz Encoder frequency, maximum 1.75 MHz O 8 Current Monitor This signal is proportional to the RMS current in the motor leads. Models SE10A: 1V = 1.33 A Models SE30A: 1V = 4 A O 9 Current Reference This is the command signal to the internal current-loop. The maximum peak current rating of the amplifier always equals 7.25 V at this pin. Models SE10A: SW1-3=ON, 7.25V=10A; SW1-3=OFF, 7.25V=5A. Models SE30A: SW1-3=ON, 7.25V=30A; SW1-3=OFF, 7.25V=15A. O 10 Phase TTL level output: Output is low when commutating in trapezoidal mode and will be high when the amplifier is commutating sinusoidally. O 11 Inhibit/Enable This TTL level input signal turns off all power devices of the “H” bridge when pulled to ground with SW1-6=ON. If SW1-6 = OFF pulling this pin to ground will enable the amplifier. This inhibit will cause a fault condition and a red LED. For inverted inhibit inputs, see section "G". I 12 +Inhibit/Enable I 13 -Inhibit/Enable If SW1-6=ON, pull P1-12 to ground to inhibit (+) amplifier output and P1- 13 to inhibit (-) amplifier output. If SW1-6=OFF, pull P1-12 to ground to enable (+) amplifier output and P1- 13 to enable (-) amplifier output. These inputs will NOT cause a fault condition or a red LED. I 14 Fault (LED red) TTL level output. Becomes high during output short circuit, over-voltage, inhibit, over-temperature and during power-on reset. Fault condition indicated by red LED. O 15 +5V @ 250mA For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. O 16 SIGNAL GND Reference ground SGND 17 Controller Power* Connected to P2-15. For customer use I 18 Controller Line 1* Connected to P2-10. For customer use I 19 Controller Line 2* Connected to P2-11. For customer use I 20 Encoder Channel A+ Encoder Output (from connector P2) O 21 Encoder Channel A-Differential 22 Encoder Channel B+ 23 Encoder Channel B-Differential Encoder Output (from connector P2) O 24 Index+ 25 Index- Differential Encoder Output (from connector P2) O www.electromate.com sales@electromate.com P1 26 Reserved NOTE: All circuits on connectors P1 and P2 are optically isolated fromall circuits on connector P3. * No connection internal to the amplifier. See block diagram.
- 7. Sold & Serviced By: ELECTROMATE SE30A Series Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com PIN FUNCTIONS: CONNECTOR PIN NAME DESCRIPTION / NOTES I/O D-48 1 HALL 1 2 HALL 2 3 HALL 3 Hall sensor inputs, internal 2K pull-up, logic levels: maximum low level input is 1.5VDC, minimum high level input is 3.5VDC I 4 Encoder Channel A+ 5 Encoder Channel A-Differential Encoder Input I 6 Encoder Channel B+ 7 Encoder Channel B- Differential Encoder Input I 8 Encoder Channel I+ Encoder Input (Not Required) I 9 Encoder Channel I-Differential 10 Controller Line 1* Connected to P1-18. For customer use. O 11 Controller Line 2* Connected to P1-19. For customer use. O 12 Signal GND Reference ground SGND 13 +5V @ 250mA For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. O 14 TACH Tachometer Input, 60 KΩ input resistance, ± 60 V max. I P2 15 Controller power* Connected to P1-17. For customer use. O 1 MOTOR A Motor phase A connection O 2 MOTOR B Motor phase B connection O 3 MOTOR C Motor phase C connection O 4 POWER GND Power ground PGND P3 5 HIGH VOLTAGE DC power input I NOTE: All circuits on connectors P1 and P2 are optically isolated from all circuits on connector P3. * No connection internal to the amplifier. See block diagram.
- 8. SE30A Series D-49 Sold & Serviced By: SWITCH FUNCTIONS: BANK 1 SETTING SWITCH FUNCTION DESCRIPTION ON OFF 1-1 Test / Offset controls the sensitivity of the "offset" pot. This is used as an on-board reference signal in test mode. Test Offset 1-2 Current loop gain* Decrease Increase 1-3 Current scaling. When OFF, this increases the sensitivity of the current sense thus reducing both peak and continuous current limit by 50%. 100% 50% 1-4 Continuous current reduction Continuous / peak current limit ratio is 50% Continuous / peak current limit ratio is 25% 1-5 60/120 degree commutation phasing 120 degree phasing 60 degree phasing 1-6 INHIBIT/ENABLE P1-11, 12, 13 : INHIBIT P1-11, 12, 13 : ENABLE * See item “6.3 Current Loop Adjustments” in section G for more information. Units are shipped set for ½ current output via SW1-3=off and in the disabled state via SW1-6=off. BANK 2 SETTING SWITCH FUNCTION DESCRIPTION ON OFF 2-1 Encoder Velocity feedback. This connects the internally generated velocity signal from the encoder. Encoder velocity feedback enabled. Encoder velocity feedback disabled. 2-2 Reserved Must be OFF. 2-3 Velocity Monitor Scaling 1V=175 KHz 1V=25 KHz 2-4 Velocity Feedback Polarity Toggles the polarity of the encoder velocity feedback. 2-5 Loop integrator. This capacitor normally ensures "error-free" operation in velocity mode by reducing the error signal (output of summing amplifier) to zero. Disables velocity / voltage loop integrator capacitor Enables velocity / voltage loop integrator capacitor 2-6 Integrator capacitor. This adjusts the value of the integrator capacitor in the velocity mode. Increase Decrease ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 9. Sold & Serviced By: ELECTROMATE SE30A Series Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 POTENTIOMETER FUNCTIONS: www.electromate.com sales@electromate.com POTENTIOMETER DESCRIPTION TURNING CW D-50 Pot 1 This potentiometer is the loop gain adjustment in the velocity mode. Turn this pot fully CCW in current mode. Increases loop gain Pot 2 Current limit. This potentiometer adjusts both the continuous and peak current limit while maintaining a selected ratio. Increases current limit Pot 3 Reference in gain. This potentiometer adjusts the ratio between input signal and output variables (current, velocity). Increases reference input gain Pot 4 Test / Offset. Used to adjust any imbalance in the input signal or in the amplifier. When SW1-1 (DIP switch) is ON, the sensitivity of this pot is greatly increased allowing it to be used as an on-board signal source for testing purposes. N/A TEST POINTS FOR POTENTIOMETERS: See section "G". OPERATING MODE SELECTION: FEEDBACK MODE The following operating modes can be selected by setting the DIP switches according to the following chart: • Current mode • Encoder velocity mode • External velocity mode • Tachometer mode MODE SW1-1 SW1-2 SW1-3 SW1-4 SW1-5 SW1-6 SW2-1 SW2-2 SW2-3 SW2-4 SW2-5 SW2-6 Current Mode X X X X X X OFF OFF OFF X ON OFF Encoder Velocity Mode X X X X X X ON OFF OFF X OFF X External velocity mode X X X X X X OFF OFF OFF X OFF X Tachometer mode X X X X X X OFF OFF OFF X OFF X X does not affect mode. 120°/60° PHASE SENSOR START UP: In sinusoidal mode, the motor will be commutated using the Hall sensors for a minimum of one torque cycle and a maximum of two torque cycles to synchronize the motor phases with the encoder. Once the phases are synchronized the amplifier will commutate the motor sinusoidally. The In-phase indicator will indicate when the amplifier is commutating sinusoidally. If the encoder signals are lost the amplifier will commutate the motor using the Hall sensors and then attempt to re-synchronize the motor phase with the encoder. The In-phase output will deactivate when the amplifier is commutating using Hall sensors.
- 10. SE30A Series Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 APPLICATION NOTE: For proper operation, P1-6, and P2-14 must be connected to the signal ground if they are not being used. D-51 www.electromate.com sales@electromate.com SET-UP: See section "G" for engineering and installation notes. CURRENT LIMIT ADJUSTMENTS: These amplifiers feature separate peak and continuous current limit adjustments. The current limit adjustment Pot 2 adjusts both peak and continuous current limit at the same time. It has 12 active turns and one inactive turn at each end. This pot is approximately linear. Thus, to adjust the current limit turn the potentiometer counter-clockwise to zero, then turn clockwise to the appropriate value. In many applications it is sufficient to use only the DIP-switches for current limit adjustments. SW1-3 reduces both peak and continuous current limit by 50% when OFF. SW1-4 reduces only the continuous current limit by 50% when OFF: SW1-4 CONTINUOUS / PEAK CURRENT LIMIT RATIO ON 50% OFF 25% P1-9 is the input to the internal current amplifier power stage. Since the output current is proportional to P1-9, the adjusted current limit can easily be observed at this pin without connecting the motor. 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 and the maximum continuous current value equals 3.63 V at this pin. If SW1-3=ON, peak rated amplifier current = 7.25 V. If SW1-3=OFF, ½ peak rated amplifier current =7.25 V. Example: using the SE30A20 with SW1- 3=ON, 30A=7.25V and with SW1-3=OFF, 15A=7.25V. The actual output current can be monitored at pin P1-8. TYPICAL SYSTEM WIRING: See section "G". MATING CONNECTORS: Manufacturer: AMP (Tel: 1-800-522-6752) Part numbers: 15 Pin plug 748364-1 26 Pin plug 748365-1 Pins 748333-2 Shell Kit (plastic with metal coating) 15 Pin 748677-1 26 Pin 748677-2
- 11. Sold & Serviced By: ELECTROMATE SE30A Series Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 ORDERING INFORMATION: Models: SE10A8X, SE10A20X, SE10A40X, SE30A8X, SE30A20X and SE30A40X *Divide by 4 option Models: SE10A8X-4, SE10A20X-4, SE10A40X-4, SE30A8X-4, SE30A20X-4 and SE30A40X-4 *Divide by 8 option Models: SE10A8X-8, SE10A20X-8, SE10A40X-8, SE30A8X-8, SE30A20X-8 and SE30A40X-8 *Divide by 16 option Models: SE10A8X-16, SE10A20X-16, SE10A40X-16, SE30A8X-16, SE30A20X-16 and SE30A40X-16 *For use with high-resolution encoders, contact the factory to determine which option is best for your application X indicates the current revision letter. MOUNTING DIMENSIONS: See page F-13. www.electromate.com sales@electromate.com D-52