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Installation and Operation

BA10/20/30 Series User’s Manual

2-16

Aerotech, Inc.

Version

1.6

Figure 2-11.

Motor Phasing

Motor

Amplifier

PHASE A

PHASE B

PHASE C

Motor Rotation

CCW

0 101 100 110 010 011 001

30 001 101 100 110 010 011 001

DEGREES COMMUTATION SEQUENCE (HALL A,B,C)

0° Commutation Waveforms
(Aerotech Motors)

30° Commutation Waveforms

+A
+1/2A

-1/2A
-A
+B
+1/2B
0
-1/2B
-B
+C
+1/2C
0
-1/2C
-C

0

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Содержание BA10 SERIES

Страница 1: ...10 20 30 SERIES USER S MANUAL P N EDA121 V1 6 AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 USA Phone 412 963 7470 Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotech co...

Страница 2: ...ite is continually updated with new product information free downloadable software and special pricing on selected products The BA Series User s Manual Revision History Rev 1 0a February 21 1995 Rev 1...

Страница 3: ...1 40 Volt Option 2 6 2 3 3 Minimizing 50 60 HZ Line Interference 2 7 2 4 Integrated Configurations 2 9 2 4 1 Velocity Command Configuration 2 9 2 4 2 Current Command Configuration 2 10 2 4 3 Dual Phas...

Страница 4: ...Table of Contents BA10 20 30 Series User s Manual iv Aerotech Inc Version 1 6...

Страница 5: ...Option 2 6 Figure 2 5 Back propagation Line Filter Connection 2 7 Figure 2 6 Isolation Transformer Connection eliminates torque disturbance 2 8 Figure 2 7 Velocity Command Configuration 2 9 Figure 2...

Страница 6: ...List of Figures BA10 20 30 Series User s Manual vi Aerotech Inc Version 1 6...

Страница 7: ...Models and Voltage Configurations 1 2 Table 1 2 DIP Switch Functions 1 5 Table 1 3 Potentiometer Functions 1 6 Table 1 4 Connector P1 Pinouts 1 7 Table 2 1 Jumper Selections 2 2 Table 3 1 Ordering Inf...

Страница 8: ...List of Tables BA10 20 30 Series User s Manual viii Aerotech Inc Version 1 6...

Страница 9: ...ctober 19 1995 The report number is WLL 2956F The brushless amplifier was tested with a brushless servomotor To ensure that the product passes the conducted emissions tests a line filter and common mo...

Страница 10: ...Regulatory Information BA10 20 30 Series User s Manual x Aerotech Inc Version 1 6...

Страница 11: ...rushless servomotors The amplifiers are available in 3 peak output current ratings of 10 20 and 30 amps The BA amplifier package is a complete modular unit that includes heat sink metal cover and bus...

Страница 12: ...s but it is recommended that this heat sink be mounted to a larger thermally conductive surface for further heat dissipation Complete electrical isolation is provided between the control stage and the...

Страница 13: ...er is required to operate below 80 VDC The shunt regulator is not included with the BA10 20 drive 115 230 VAC AC1 AC HI AC2 AC LO EARTH GND ICMDA ICMDB ICMD Mon INPUT INPUT TACH HALL A HALL B HALL C S...

Страница 14: ...ions Figure 1 3 Amplifier Hardware 1 4 1 Motor and AC Power Connections The three phase motor terminal connections are made at connections A B and C This area is designated as such on the amplifier In...

Страница 15: ...losed Icont is 14 of Ipeak Continuous Current Peak 8 closed Icont is 27 of Ipeak Test 9 closed Closing this position allows the BALance potentiometer to manually control motor velocity or torque witho...

Страница 16: ...set for velocity control using an external DC tachometer or incremental encoder for velocity feedback Refer to Table 1 3 for pot functions Table 1 3 Potentiometer Functions Potentiometer CW CCW Funct...

Страница 17: ...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 inpu...

Страница 18: ...ositive voltage on this input causes CW motor rotation torque or velocity mode For single ended command operation ground this connection and connect signal to Pin 8 of P1 Pin 22 input icmdb Current co...

Страница 19: ...uitry The following shows the internal circuitry for the BA amplifier Note that all of the logic inputs can tolerate 24VDC Figure 1 4 Fault Output Figure 1 5 Enable Shutdown Inputs FAULT OUTPUT 5 1K C...

Страница 20: ...10K 1 10K 1 P1 11 74HC14 1UF ILMT 5V 10K 1 10K 1 P1 24 74HC14 1UF 5V 10K 1 P1 4 74HC14 R224 P1 16 P1 17 P1 18 P1 19 P1 5 P1 6 HEA HEB HEC SIN SIN N COS COS N 5V 5V 10K 1 10K 1 R225 R226 10K 1 R229 10K...

Страница 21: ...r is decoupled from the mechanical system and no harm to personnel will result if the motor begins to spin Before performing the following steps ensure that the motor is completely disconnected from t...

Страница 22: ...Introduction BA10 20 30 Series User s Manual 1 12 Aerotech Inc Version 1 6...

Страница 23: ...hardware configurations using the switches jumpers connectors and power hook ups when used with a brush or brushless DC motor Also covered is wiring grounding and shielding techniques an explanation o...

Страница 24: ...movement default JP10 2 3 Active high ILMT Logic high 5V on P1 24 stops CCW motor movement 1 2 Power stage drive signal phase A is derived from differential pre amp input BA drive performs self commut...

Страница 25: ...d optional on BA10 BA20 JP3 JP4 JP5 JP6 T1 JP2 1 1 1 1 P3 1 6 7 14 Shunt Fuse 250 VAC 2 amp slow blow Side View of Shunt Sh RCN1 1 JP8 1 1 1 1 1 JP9 JP10 JP22 JP15 P1 1 1 1 1 JP25 JP13 JP11 JP12 JP26...

Страница 26: ...hock hazard Additional electro static coupling exists between the three twisted motor leads and the foil shield of the motor cable This coupling forces high frequency currents to flow through the retu...

Страница 27: ...AWG wire and 7 tunrs for 14 AWG wire Use a Ferrox cube 500T600 3C81 core or equal This configuration is especially important if the BA amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e...

Страница 28: ...r supply of the BA amplifier requires a minimum of 56 VAC input to operate properly The figure below shows the connection to the separate AC power board The connection is made to the AC input board wi...

Страница 29: ...HI LO AC input power Since LO is referenced to earth ground back at the source the DC bus of the amplifier swings at 50 60 Hz with respect to the motor frame The path of current caused by this couplin...

Страница 30: ...ce BA AMPLIFIER GROUNDING SCREW EARTH GROUND FRAME GROUND This configuration is especially important if the BA amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e g 115 VAC or 230 VAC in...

Страница 31: ...er closes and controls the velocity loop The velocity command configuration is shown in Figure 2 7 This configuration can drive both brush and brushless DC motors Figure 2 7 Velocity Command Configura...

Страница 32: ...t Command Configuration Signals to Optional Position Loop Controller 3 Hall A B C 2 MKR MKR N 2 COS COS N 2 SIN SIN N 2 5V SIG COM MKR MKR N SIN SIN N COS COS N 5V SIG COM HALL A B C Square Wave Quadr...

Страница 33: ...in Figure 2 9 The advantage to this configuration is that it provides the smoothest possible motion Figure 2 9 Dual Phase Command Configuration Signals to Position Velocity Commutation Loop Controller...

Страница 34: ...10 volts for full current output Balance and Tach have no effect JP14 set to 2 3 default JP11 and JP13 set to 1 2 default JP3 JP5 JP15 and JP6 set to 1 2 default for brushless motor operation or 2 3...

Страница 35: ...mmand Signal Adjustment Portion of the Pre Amplifier Circuit To minimize the possibility of electrical shock and bodily injury ensure that the motor is decoupled from the mechanical system to avoid pe...

Страница 36: ...ss is unattainable the components connected to personality module RCN1 pins 8 9 and 7 10 may be need to be changed The BALance pot is used to cancel any bias in the internal or external control circui...

Страница 37: ...11 illustrates the generated output voltage of the amplifier relative to the input Hall sequences The equipment needed for this test is a two channel oscilloscope and three resistors typically 10 Kohm...

Страница 38: ...ure 2 11 Motor Phasing Motor Amplifier PHASE A PHASE B PHASE C Motor Rotation CCW 0 101 100 110 010 011 001 30 001 101 100 110 010 011 001 DEGREES COMMUTATION SEQUENCE HALL A B C 0 Commutation Wavefor...

Страница 39: ...one for each phase of the DC brushless motor for DC brush motors only Phase A regulator is used Regulators A and B are each provided with a current command from either the internal six step commutatio...

Страница 40: ...r DC brushless motor operation the signal at this pin would represent motor phase A current For DC brush motor operation this signal would represent the current flowing in the motor armature 10 volts...

Страница 41: ...d use TV0 3 56 160 160 VDC bus 100 115 VAC input direct line operation 320 320 VDC bus 230 VAC input direct line operation includes shunt regulator Options S Shunt regulator Example BA30 320 S 15 A co...

Страница 42: ...eg C 0 to 50 Storage Temperature deg C 30 to 85 Weight lb kg 2 5 1 1 Modes of Operation jumper selectable Brushless single current command with on board 6 step commutation from HED inputs dual phase c...

Страница 43: ...tion CW motor shaft rotation is inhibited When ILMT is pulled to its active state motion in the negative direction CCW motor shaft rotation is inhibited TTL level input 0 to 5 VDC internal pull up 10K...

Страница 44: ...velocity feedback input Input adjusts gain of command input DIP Switches Peak current limit 4 switches allow the user to set the peak current from 6 100 of max value RMS current limit 4 switches allo...

Страница 45: ...nk must be flat to allow good thermal conductivity between the heat sink and the amplifier 5 If possible add a thermal conductivity enhancer i e thermal grease between the heat sink and the amplifier...

Страница 46: ...etter heat dissipation Refer to Figure 3 3 Figure 3 3 Preferred Mounting of BA Amplifiers 82 0 3 23 TYP 119 9 4 72 TYP 2 FT 1FT 186 7 7 35 12 7 0 50 TYP 168 0 6 61 114 3 4 50 6 4 0 25 Typ CE 13 CONTRO...

Страница 47: ...lows the generation of 56 VAC from a 115 VAC and 230 VAC source respectively When rectified by the BA amplifier 56 VAC yields an 80 VDC power bus The TV0 3 28 power transformer is an optional accessor...

Страница 48: ...Technical Details BA10 20 30 Series User s Manual 3 8 Aerotech Inc Version 1 6...

Страница 49: ...is disconnected from amplifier Resistance should read infinity 4 Shutdown P1 10 is not at active state for running amplifier 5 If amplifier faults remove AC for 30 seconds Brushless motor will not spi...

Страница 50: ...Troubleshooting BA10 20 30 Series User s Manual 4 2 Aerotech Inc Version 1 6...

Страница 51: ...motor DIP switch Dual In line Package switch A set of tiny toggle switches built into a housing commonly used on printed circuit boards Hall effect devices A set of three electro optical or magnetic...

Страница 52: ...Glossary of Terms BA10 20 30 Series User s Manual A 2 Aerotech Inc Version 1 6...

Страница 53: ...y covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or...

Страница 54: ...lowing policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all tra...

Страница 55: ...CCW LMT N HOME LMT N LMT COM LMT 5V 22 G YEL SPLICE P1 6 5 19 18 14 2 4 16 17 15 20 1 1 FT 24 GRY 24 VIO 24 W GRY 24 W BRN 24 W ORN 24 W RED 24 W GRN 24 W YEL 22 W BLK 22 YEL 24 R GRN 24 R YEL 24 W BL...

Страница 56: ...NGUE EIK399 KEEP WIRE SHORT AS POSSIBLE 1 1 4 STRIP BACK INSULATION 3 16 FROM THIS END COVER ALL SOLDER CONNECTIONS WITH HEATSHRINK HEATSHRINK SECURED WITH CABLE TIE EIZ100 CABLE ECX566 START WITH 17...

Страница 57: ...EMI interference 2 4 ENABLE LED 1 6 Encoder 2 9 Encoders 1 2 External Controller 2 9 F Fault conditions 1 2 feedback signals 1 2 Field Service Policy B 1 G GAIN pot 1 6 Grounding techniques 2 4 H Hal...

Страница 58: ...1 11 Product Overview 1 1 PWM A 1 R RMS A 1 S Safety Procedures 1 11 Self Commutation 2 11 Shielding techniques 2 4 T TACH pot 1 6 Tachometer 2 9 Test 1 5 Torque command mode 2 12 Troubleshooting 4 1...

Страница 59: ...ion regarding the latest changes to this manual Extensive changes if made may not be itemized instead the section or chapter will be listed with extensive changes in the corresponding General Informat...

Страница 60: ...Revision History BA10 20 30 Series User s Manual R 2 Aerotech Inc Version 1 6...

Страница 61: ..._________________________________________________ _____________________________________________________________________ _____________________________________________________________________ __________...

Страница 62: ......

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