Aerotech BA10 SERIES, Руководство пользователя

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BA10/20/30 Series User’s Manual Introduction
Version 1.6
Aerotech, Inc.
1-7
Table 1-4. Connector P1 Pinouts
Pin # Input or
Output
Signal Function
Pin 1 shield ground
Connection point to earth ground. Used for reducing electrical noise in
control and feedback signals. Typically connected to the foil shield of a
shielded cable.
Pin 2 output power
On board 5V power supply. Pin 2 is intended for powering an encoder
and can supply up to 250mA of current.
Pin 3 input +tach
Tachometer input for velocity feedback, (encoder vs. tach velocity
feedback is jumper selectable). A tachometer may be used in the
velocity loop configuration to provide negative feedback to the
amplifier. This allows the amplifier to close the servo loop and control
the stability of the loop.
Pin 4 input
(1)
Hall A
Hall effect A. One of three commutation signals used with brushless
motors. Used in conjunction with Hall effect B and Hall effect C to
provide motor rotor position information to the amplifier.
Pin 5 input
(1)
cosine
Cosine signal from encoder. Optionally used, in conjunction with sine
for deriving an electronic tachometer signal. Line receiver input
Pin 6 input cosine-N Compliment of cosine (P1 - 5). Line receiver input.
Pin 7 input ground
Signal common. Electrical reference for all control circuitry on
amplifier.
Pin 8 input +input
Non-inverting input of differential input circuit. A positive voltage on
this input causes CCW motor rotation (torque or velocity mode). For
single ended operation, connect command to this input and ground (Pin
21 of P1).
Pin 9 input icmda
Current command A. Jumper selectable current command input.
Bypasses differential input, pre-amplifier, and self-commutation circuit.
Pin 10 input
(1)
shutdown
Jumper selectable active high or active low input. Used to shut off
power stage and therefore remove all power to the motor.
Pin 11 input
(1)
+ilmt
Directional current limit input. When pulled to its active state, motion in
the positive direction (CW motor shaft rotation) is inhibited (jumper
selectable).
Pin 13 NC
Pin 12 output -fdbk
Current feedback monitor. When running a brushless motor, this signal
represents the current in motor phase A. When running a brush motor,
this signal represents the entire motor current. Scaling is as follows:
BA10 3.2 Amp/V
BA20 6.5 Amp/V
BA30 9.7 Amp/V
Pin 14
signal
common
ground
Electrical reference for all control circuitry on amplifier. This pin is
intended to be used as the connection point for the signal common of an
encoder. (Used in conjunction with Pin 2 as the power supply
connections to an encoder.)
Pin 15 input -tach
Recommended reference input for tachometer. This point is identical to
signal common.
Pin 16 input
(1)
Hall B
Hall effect B. One of three commutation signals used with brushless
motors. Used in conjunction with Hall effect A and Hall effect C.