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Introduction

BA Linear Series User’s Manual

1-10

Aerotech, Inc.

Version

1.5

1.4.5. I/O

Circuitry

The following shows the internal circuitry for the BAL amplifier. Note that all of the
logic inputs can to24VDC.

Figure 1-4.

Fault Output

Figure 1-5.

Enable/Shutdown Inputs

*

capable of 160mA max.

FAULT OUTPUT

2K

B

C

E

Q3

MMBT2222

P6-23

SHUTDOWN / ENABLE

+5V

10K

10K

.1UF

74HC14

P6-10

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Содержание BAL LINEAR AMPLIFIER SERIES

Страница 1: ...EAR AMPLIFIER SERIES USER S MANUAL P N EDA139 V1 5 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 aerote...

Страница 2: ...duct registration form is available at our web site Our web site is continually updated with new product information free downloadable software and special pricing on selected products The BAL Linear...

Страница 3: ...figuration Current 2 5 2 3 3 Dual Phase Command Configuration 2 6 2 4 Three Phase Brushless Motors with Unconnected Phases 2 7 2 5 Power and Control Connections 2 8 2 5 1 Setup Torque Command Mode Cur...

Страница 4: ...Table of Contents BA Linear Series User s Manual iv Aerotech Inc Version 1 5...

Страница 5: ...y Command Configuration 2 4 Figure 2 3 Torque Current Command Configuration 2 5 Figure 2 4 Dual Phase Command Configuration 2 6 Figure 2 5 Connection of Six Wire Motors to BAL Series Amplifiers 2 7 Fi...

Страница 6: ...List of Figures BA Linear Series User s Manual vi Aerotech Inc Version 1 5...

Страница 7: ...IP Switch Functions 1 6 Table 1 3 Potentiometer Functions 1 7 Table 1 4 Connector J6 Pinouts 1 8 Table 2 1 Jumper Selections 2 2 Table 3 1 Part Number and Ordering Example BAL20 40 A AH 3 1 Table 3 2...

Страница 8: ...List of Tables BA Linear Series User s Manual viii Aerotech Inc Version 1 5...

Страница 9: ...e brushless servo amplifiers refer to Figure 1 1 that are easily adaptable to drive brush or brushless servomotors The BAL amplifier package is a complete modular unit that includes heat sink metal co...

Страница 10: ...d between the control stage and the power stage for all models of the BAL Series This is accomplished with a transformer isolated control voltage power supply and opto isolation of the drive signals c...

Страница 11: ...ic power limit circuit monitors the instantaneous power across each output power transistor and clamps the incoming current command signal to a level just below the second breakdown specification of t...

Страница 12: ...ontrol Connections J8 LO G HI DC Bus Toroidal 115VAC 230VAC Step Down Transformer DC Bus A Phase Drive B Phase Drive C Phase Drive Drive Power Supply Drive Power Supply Drive Power Supply J8 B C A ISO...

Страница 13: ...Input Power Connection J8 Motor Power Connection J8 Enable LED DIP Switch Input POT Tach POT Gain POT Control Connection J6 BALance Pot Figure 1 3 Amplifier Hardware 1 4 1 Motor and AC Power Connectio...

Страница 14: ...ak 2 closed Peak is 13 of Ipeak 3 closed Peak is 27 of Ipeak Current Limit Peak self commutating modes only 4 closed Peak is 54 of Ipeak Test 5 closed Closing this position allows the BALance potentio...

Страница 15: ...increase This pot adjusts the AC gain of the pre amplifier INPUT increase decrease This pot adjusts the DC gain of the input command present at J6 Pins 8 21 TACH increase decrease This pot adjusts the...

Страница 16: ...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...

Страница 17: ...put circuit A positive 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 J6 Pin 22 input i...

Страница 18: ...cuitry The following shows the internal circuitry for the BAL amplifier Note that all of the logic inputs can tolerate 24VDC Figure 1 4 Fault Output Figure 1 5 Enable Shutdown Inputs capable of 160mA...

Страница 19: ...10K 1 10K 1 1UF 74HC14 P6 11 ILMT 5V 10K 1 10K 1 1UF 74HC14 P6 24 R225 C186 100PF 6 10K 1 3 1 74HC14 5 SN75157 R226 10K 1 74HC14 74HC14 3 5 2 4 6 C187 100PF C188 100PF 10K 1 10K 1 R229 R228 R227 10K 1...

Страница 20: ...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 th...

Страница 21: ...sh or brushless DC motor Wiring grounding and shielding techniques an explanation of the current regulator adjustment and the motor phasing process are also covered in this section 2 2 Jumper Selectio...

Страница 22: ...igital Hall or analog feedback default 3 4 Phase A current command for AC Brushless operation derived externally through pins 9 and 22 of J6 respectively 5 6 Phase A current command for AC Brushless o...

Страница 23: ...R30 R31 R32 TP30 TP34 JP37 1 SW3 R33 TP35 TP36 JP11 1 JP2 1 JP1 1 JP4 1 JP3 1 JP6 1 JP5 1 JP7 1 JP8 1 JP10 1 TP1 TP4 1 2 7 8 6 4 JP9 R5 R6 R20 R21 R22 TP20 TP24 JP27 SW2 R23 TP25 TP26 1 R10 R11R12 TP...

Страница 24: ...locity loop The velocity command configuration is shown in Figure 2 2 This configuration can drive both brush and brushless DC motors Figure 2 2 Velocity Command Configuration COS SIG COM 5V Signals t...

Страница 25: ...on 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 SIN SIN N HALL A B C Square Wave Quadrature Encoder with Commutation Tracks or...

Страница 26: ...possible motion Figure 2 4 Dual Phase Command Configuration SIG COM 5V Signals to Optional Position Velocity 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...

Страница 27: ...simplicity has one drawback This drawback is phase winding imbalances that can cause torque ripple and make it difficult to compensate since the servo amplifier only controls two of the three phase cu...

Страница 28: ...fier circuit for use in the torque current command mode configure the BA amplifier as follows Place SW4 position 6 mode to closed default Place SW4 position 5 test to open default SW4 positions 1 thro...

Страница 29: ...TACH adjust pre amplifier gain and offset For most applications under the velocity command mode the preferred starting point for setting the three gain pots is as follows INPUT pot 1 3 CW from full C...

Страница 30: ...the polarity of the tach input signal If an encoder is being used switch the sine and cosine input signals Verify compliment signals sin sin N cos cos N are of correct phasing WARNING 2 5 56K BALANCE...

Страница 31: ...ancel any bias in the internal or external control circuit that would cause the motor to rotate when the input command signal is zero If the TEST switch is closed the effects of the BALance pot are gr...

Страница 32: ...the motor terminals Differential at full speed Connecting the side of the motor to A and to the RT Return allows the motor to operate in a single ended mode This means that the A terminal will swing...

Страница 33: ...bus Meaning BAL10 40 drops 40 volts across the motor and a BAL10 80 drops 80 volts across the motor The jumper configurations for this mode are JP9 and JP13 set to 3 4 JP8 set to 2 3 JP3 set to 2 3 F...

Страница 34: ...tem interconnection drawings in Figure 2 2 Figure 2 3 and Figure 2 4 2 7 1 Determining Phase Hall Sequence For a motor with an unknown phase hall sequence a simple test can be performed on the motor t...

Страница 35: ...e of Hall signals relative to the generated motor voltage e g motor CEMF is adhered to as illustrated in Figure 2 9 a positive voltage signal applied to pin 8 INPUT of connector J6 relative to pin 21...

Страница 36: ...settings In addition Figure 2 10 shows selectable resistors RCN1 4 13 6 11 8 9 for adjustment of the current command gain The default values of 6 8 K ohm provided a scale factor of 10 volts equal to m...

Страница 37: ...0 A peak current with cooling fan and autotransformer BAL20 40 x Brushless linear amplifier with 40 V output 80 V bus and 20 A peak current with cooling fan and autotransformer x A for 110 VAC single...

Страница 38: ...power transistors under any operating condition 3 This specification based on the output power transistors in the saturated e g full on condition Modes of Operation jumper selectable Brushless single...

Страница 39: ...tive state motion in the negative direction CCW motor shaft rotation is inhibited TTL level input 0 to 5 VDC internal pull up 10K input shutdown Pin 10 Jumper selectable active high or active low inpu...

Страница 40: ...itch This switch selects current or velocity mode Test This switch selects test mode to allow the BAL pot to be used as velocity or current command Protective Features Peak over current RMS over curre...

Страница 41: ...R SERVO AMPLIFIER AEROTECH R DRIVE COMPONENTS DIVISION 6 4 25 Typ 3 6 14 233 2 9 18 4 7 19 Typ 228 6 9 00 182 9 7 20 256 2 10 08 273 1 10 75 5 7 22 111 8 4 40 76 2 3 00 Typ 33 3 1 31 15 9 62 Typ 79 9...

Страница 42: ...Technical Details BA Linear Series User s Manual 3 6 Aerotech Inc Version 1 5...

Страница 43: ...or running amplifier Brushless motor will not spin in open loop current mode 1 Motor phases A B and C connected incorrectly relative to HA HB and HC hall inputs See section 2 3 for motor phasing infor...

Страница 44: ...Troubleshooting BA Linear Series User s Manual 4 2 Aerotech Inc Version 1 5...

Страница 45: ...rce Voltage generated by a 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 el...

Страница 46: ...Appendix A BA Linear Series User s Manual A 2 Aerotech Inc Version 1 5...

Страница 47: ...ip 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 removal of the serial tag or...

Страница 48: ...olicy 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 transportat...

Страница 49: ...T 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 BLK BRN...

Страница 50: ...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 FT LENGTH FOR FOIL SH...

Страница 51: ...oder 2 4 Encoders 1 2 External Controller 2 4 F Fault conditions 1 2 feedback signals 1 2 Field Service Policy B 1 Functional diagram 1 4 G GAIN pot 1 7 H Hall effect device 1 2 A 1 Hardware function...

Страница 52: ...6 Sinlge brush motor 2 12 Six wire connections 2 7 T TACH pot 1 7 Tachometer 2 4 Test 1 6 Torque command mode 2 8 Troubleshooting 4 1 TTL A 1 U Unconnected phases 2 7 V Velocity 1 6 2 4 Velocity Comm...

Страница 53: ...General Information cell Table R 1 Revisions Revision Section s Affected General Information 1 4 5 Figures 1 4 through 1 7 text changes P1 n should have been P6 n Table 2 1 jumper 11 setting changed...

Страница 54: ...Revision History BA Linear Series User s Manual R 2 Aerotech Inc Version 1 5...

Страница 55: ...______________________________________________ _____________________________________________________________________ _____________________________________________________________________ _____________...

Страница 56: ......

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