MODEL 7225X2 DUAL LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS

Transcription

1 MODEL X WITH /0 ANALOG INPTS FEATRES Two independent amplifiers in one package drive two phase AC brushless motors with sinusoidal commutation Compatible with controllers that output /0 analog torque commands for & phases Reduced offset drift FALT PROTECTIONS Shortcircuits output to output output to H () output to H () Over / under voltage Over temperature Selfreset or latchoff No Transformer Required! Operates from power supplies that rectify the line directly with full optical isolation between signal and power stages. CRRENT LIMITING ser selectable, I T Limit with, indicator signal for control system Greater than khz Bandwidth WORKS WITH POPLAR CONTROLLERS Technology 80 A PMD MCA Chipset Delta Tau PMAC MEI DPS Series Galil DMC00 THE OEM ADANTAGE FEATRES MODEL POWER ICONT (A) IPEAK (A) X 4~80DC 0 Above specifications apply to each of two channels The X model is a dual (twomotor) PWM servoamplifier for AC Brushless servomotors that are commutated externally by digital control systems that output two /0 signals that represent the current command to the motor and windings. The amplifier then synthesizes the current command for the W winding. Dualaxis construction simplifies equipment design, lowers peraxis cost over single package per axis designs. Control cards take feedback from an encoder on the motor and use various techniques to determine the rotor position. When this has been done, the controller is able to output two signals that correspond to the current in the and windings to produce torque in the motor. The amplifier synthesizes the W winding current from signals that are 0 electrical degrees apart. Amplifier adjustments with this system consist of inductance compensation, current limit, transconductance, and offset. Thereafter, the controller does all of the velocity and/or position control of the motor. Internal solderless sockets let the user configure the various gain and current limit settings to customize the amplifiers for a wide range of loads and applications. Header components permit compensation over a wide range of load inductance's to maximize bandwidth with different motors. The /Enable input active logiclevel is jumperselectable to ground or to interface with all types of control cards. MOSFET output stage deliver fourquadrant power for bidirectional acceleration and deceleration of motors. All models are protected against output short circuits (output to output, output to ground, and output to H ) and heatplate overtemperature. With the /Reset input open the amplifier will latch off until powereddown or the /Reset input is toggled. The amplifier will reset itself automatically from faults if the /Reset input is wired to. Single package simplifies equipment construction Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

2 MODEL X WITH /0 ANALOG INPTS TECHNICAL SPECIFICATIONS Test conditions: C. ambient, Load = 400uH in series with Ω, H = 80. MODEL X OTPT POWER (per channel) Peak power 0DC Peak time sec at peak power independent of polarity reversal Continuous power 0 80DC OTPT OLTAGE Onresistance (Ro, ohms) 0. Max PWM Peak Output oltage ±out = (DC) (0.) (Ro) (Io) INPT POWER DC voltage ~8DC Input continuous output rating 0 A LOAD INDCTANCE Minimum inductance 400 µh. Maximum inductance No maximum. Bandwidth varies with inductance, H, and header parts. BANDWIDTH Small signal khz with minimum load at nominal supply voltage. aries with load inductance and header values PWM OTPTS PWM frequency khz Modulation Carriercancellation, 0% duty cycle at 0 output REFERENCE INPT Differential, 4kΩ max. to 4kΩ min. between inputs, ±0 maximum POTENTIOMETERS Ch R Ref fine gain Default = Center CW increased gain. Ch R48 Ref fine gain Default = Center CW increased gain. Ch R Phase current zero Adjusts output current to zero with and inputs = 0. Ch R Phase current zero Adjusts output current to zero with and inputs = 0. Ch R Ref Fine Gain Default = Center CW increased gain. Ch R8 Ref Fine Gain Default = Center CW increased gain.. Ch R0 Phase current zero Adjusts output current to zero with and inputs = 0. Ch R Phase current zero Adjusts output current to zero with and inputs = 0. INTERNAL JMPER JP /Enable input active polarity. JP Position (default ): Gnd enables amplifier, open or inhibits. : open enables LOGIC INPTS /Enable, /Enable Default = active enables channel open or >. inhibits with JP on. If JP on then inhibits Response time is ms from enable active to amplifier output ON. /Motemp, /Motemp Motor temp sensor. HI (open) = Motor HOT, amp channel shuts down. Nonlatching. LO (gnd) = Motor OK, amp channel will operate. /Reset Default = Open resets latching fault condition, ground for selfreset every 0 ms. Input resistance 0kΩ to, RC filters on inputs Logic threshold voltage. (Schmitt trigger inputs with hysteresis, 4HC4) Input voltage range 0 to DC LOGIC OTPTS /Normal, /Normal LO (current sinking) when channel is Enabled AND OK Amp OK = (NOT Short) AND (NOT Over, ndervoltage, or Basetemp) AND (MotorTemp OK) HI output voltage (no load). Output is Nchannel MOSFET drain terminal with0kω pullup resistor to LO output voltage On resistance Ro = Ω. Max sink current of 0 ma. max offvoltage = 0DC /CurrLimit, /CurrLimit HI when amplifier is not current limiting; LO when current is limit is active. HI output voltage (No load). Output is LM open collector with 0kΩ pullup resistor to LO output voltage Max sink current of ma, max off voltage = DC AmpOK Optoisolated signal: optotransistor output stage of optocoupler Transistor is ON when Amp is OK (see above) One output is connected to pins & of both J & J STATS LEDS Amp OK Blinking Green Power OK, no faults amp will run when enabled. Normal Solid GreenGreen Amplifier OK AND Enabled Fault Solid Red Amplifier NOT OK (Over/nder voltage, /Motmep not connected or open.) Latching Fault Blinking Red. Heatplate overtemp or short circuit. CRRENT MONITOR OTPTS Chan Current Monitor : Motor winding current in phase: ± A or. A/ (.kω, 4.nF RC filter) Chan Current Monitor : Motor winding current in phase: ± A or. A/ (.kω, 4.nF RC filter) Chan Current Monitor : Motor winding current in phase: ± A or. A/ (.kω, 4.nF RC filter) Chan Current Monitor : Motor winding current in phase: ± A or. A/ (.kω, 4.nF RC filter) Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

3 MODEL X WITH /0 ANALOG INPTS PROTECTIE FEATRES Short circuit (output to output, output to ground) Latches channel OFF (Power off/on, or ground at /Reset input resets) Overtemperature Latches channel OFF at 0 C on heatplate (Power off/on, or ground at /Reset input resets) Wire /Reset input to ground for automatic reset after latching fault ndervoltage Shutdown at DC buss < DC Overvoltage Shutdown at DC buss > DC (Amplifier operation resumes when internal DC buss is NOT ndervoltage or NOT Overvoltage ) Currentlimiting Continuous current and I T limit set by header components Current is reduced to continuous setting when I T limit is reached. I, I are hardware limited to A, whereas I W = (I I ) at all times Maximum I T setting (H & H8 = H4 & H = 0 ohms) will activate latching fault after Arms for.s Minimum I T setting (H & H8 = H4 & H8 = Open) will activate latching fault after Arms for 80mS Limiting action reduces transconductance so relative amplitude of,,w currents is maintained for no loss of phase /CurrLimit output indicates when current limiting is active. Amplifier will shutdown (latching fault)if I W > A at any time. LIFIER DISSIPATION Watts minimum W ref=0 and both channels enabled. continuous current 0W at maximum continuous output current, both channels THERMAL REQIREMENTS Storage temperature range 0 C to 8 C Operating temperature range 0 to 0 C baseplate temperature Thermal resistance (heatplate to ambient): No heatsink or fan:. deg. C/W; With heatsink, no fan:. deg. C/W No heatsink with fan: deg. C/W; With heatsink and fan: 0.4 deg. C/W MECHANICAL Size.0 x 4. x.8 in. without optional heatsink Weight. Lbs (.0 kg) CONNECTORS J: Power & motor position Euro connector for Chan and Chan motor outputs, H inputs, and chassis Gnd J: Chan Signal connections position female SubD type. #440 standoffs for cable shell lock screws J: Chan Signal connections position female SubD type. #440 standoffs for cable shell lock screws Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

4 MODEL X WITH /0 ANALOG INPTS FNCTIONAL DIAGRAM CONTROL SYSTEM J CHANNEL SIGNAL CASE _REF() _REF() _REF() _REF() 4 DIFF CRRENT.k MONITOR 0 /A 4.nF CRRENT MONITOR /A DIFF 0k.k 4.nF CW 0k CW 4.k 4.k H.0k ISOLATED CRRENT SENSE ISOLATED CRRENT SENSE BAL 0k H 8.k.k 8.k H H8 H CRRENT ERROR 0.4k ISOLATED CRRENT SENSE H4 CRRLIMIT PHASE W GENERATOR BAL 0k H0 H H H H.0k 8.k CRRENT 8.k ERROR.k 0.4k ISOLATED CRRENT SENSE H CRRLIMIT W = /ENABLE = ENABLE JP STATS & CONTROL LOGIC OK NORMAL LED G I^t Threshold H I^t Limit alue 0k 0 k 0 k MOMENTARY SWITCH RESETS FALT WIRE RESET TO GROND FOR SELFRESET RESET ENABLE /CurrLimit J CHANNEL SIGNAL /NORMAL MOTEMP MOTOR OERTEMP SWITCH OK () to J H4 OK () to J N.C DC/DC Converter PWM STAGE MOSFET "H" BRIDGE Gv = H W J MOTOR & POWER MOTOR NOTE: CIRCITS WITHIN DASHED LINE ARE AT LINE POTENTIAL CONTROL SYSTEM J CHANNEL SIGNAL CASE _REF() _REF() 4 DIFF CRRENT.k MONITOR 0 /A 4.nF _REF() _REF() DIFF 0k CW 0k CW 4.k H8.0k ISOLATED CRRENT SENSE 4.k H0 BAL 0k H 8.k.k.0k BAL 0k 8.k 8.k.k H H 8.k H H H4 CRRENT ERROR 0.4k ISOLATED CRRENT SENSE CRRLIMIT H 0.4k H H PHASE W GENERATOR CRRENT ERROR W = /ENABLE = ENABLE JP STATS & CONTROL LOGIC OK NORMAL LED G I^t Threshold Fault LED R 0k 0 k 0 k MOMENTARY SWITCH RESETS FALT WIRE RESET TO GROND FOR SELFRESET RESET ENABLE /CurrLimit J CHANNEL SIGNAL /NORMAL CRRENT MONITOR /A 4.nF.k ISOLATED CRRENT SENSE ISOLATED CRRENT SENSE H CRRLIMIT H8 I^t Limit alue MOTEMP MOTOR OERTEMP SWITCH H OK () from J OK () from J N.C PWM STAGE MOSFET "H" BRIDGE Gv = H 4 W J MOTOR & POWER MOTOR NOTE: CIRCITS WITHIN DASHED LINE ARE AT LINE POTENTIAL 8 H ( ) H ( ) Frame Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page 4 of 0

5 MODEL X WITH /0 ANALOG INPTS TYPICAL LIFIER CONNECTIONS Channel Connections Chan A Chan B Index Encoder Ref() Current Command Phase Phase Ground Ref() 4 Chassis Gnd Ref() J Note: Amplifier signal ground must be connected to controller ground. Ref() AmpOK() J Motor temp sensor AmpOK() /CurrLimit status /Normal output W Monitor Outputs Current Mon Current Mon 0 J Motor /Reset H () Fuse 8 H () /Enable 0AC Note: Circuits within dashed line are HOT! (At mains potential) Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

6 MODEL X WITH /0 ANALOG INPTS Channel Connections Chan A Chan B Index Encoder Current Command Phase Phase Ground Ref() Ref() Shld Ref() 4 J Note: Amplifier signal ground must be connected to controller ground. Ref() AmpOK() J Motor temp sensor AmpOK() /CurrLimit status /Normal output 4 W Monitor Outputs Current Mon 0 Motor Current Mon J /Reset H () Fuse 8 H () /Enable 0AC Note: Circuits within dashed line are HOT! (At mains potential) Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

7 MODEL X WITH /0 ANALOG INPTS CONNECTORS J POWER AND MOTOR WINDING CONNECTIONS (BOTH CHANNELS) Connector type: Barrierblock, Screwterminal connections. # locking screws with cable clamps. PIN SIGNAL FNCTION Ch. Motor W Channel Amplifier output to W winding of motor Ch. Motor Channel Amplifier output to winding of motor Ch. Motor Channel Amplifier output to winding of motor 4 Ch. Motor W Channel Amplifier output to W winding of motor Ch. Motor Channel Amplifier output to winding of motor Ch. Motor Channel Amplifier output to winding of motor Chassis Gnd Chassis safety ground. Also for cable shield of motor cable. 8 H() Input DC Power Gnd/Return H() Input DC Power Input J CHANNEL SIGNAL CONNECTIONS Connector type: Female SubD, position, #440 locking standoffs PIN SIGNAL FNCTION PIN SIGNAL FNCTION Safety (Case) Chassis ground. se to ground cable shield. Not connected to internal signal ground (J). Ref () Positive terminal of differential /0 analog command input 4 Ref () Negative terminal of differential /0 analog command input Ref () Positive terminal of differential /0 analog command input Ref () Negative terminal of differential /0 analog command input 4 N.C. 0.. /Enable input Amplifier enable N.C. /Normal output Mosfet output amp status 8 N.C. AmpOK () Output Optoisolator emitter AmpOK () Output Optoisolator collector 8 N.C. 0 N.C. /CLIMIT Current limit status Motemp Input 0 Current Monitor / A /Reset input Current Monitor / A N.C. 0 Signal Gnd 4 N.C. 0 must be connected to the controller N.C. J CHANNEL SIGNAL CONNECTIONS Connector type: Female SubD, position, #440 locking standoffs PIN SIGNAL FNCTION PIN SIGNAL FNCTION Safety (Case) Chassis ground. se to ground cable shield. Not connected to internal signal ground (J). Ref () Positive terminal of differential /0 analog command input 4 Ref () Negative terminal of differential /0 analog command input Ref () Positive terminal of differential /0 analog command input Ref () Negative terminal of differential /0 analog command input 4 N.C. 0.. /Enable input Amplifier enable N.C. /Normal output Mosfet output amp status 8 N.C. AmpOK () Output Optoisolator emitter AmpOK () Output Optoisolator collector 8 N.C. 0 N.C. /CLIMIT Current limit status Motemp Input 0 Current Monitor / A /Reset input Current Monitor / A N.C. 0 Signal Gnd 4 N.C. 0 Signal Gnd N.C.. The motor temperature sensor input is supported on X. J and J must be grounded for amplifier to operate (motor temp sensor should be a normallyclosed switch that opens when motor is too hot Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

8 MODEL X WITH /0 ANALOG INPTS PC BOARD LAYOT J JP = Enable input active level control JP J ~ = LO enabled ( /Enable ) Header Sockets Chan Chan ~ = HI enabled ( Enable ) H H8 H H H4 H H H0 H H H8 H H0 H H 8 J Power & Motor W W Gnd H 4 Note: Do not adjust surface mount, factory set, drift Potentiometers. J, J Signal JP F H8 H H H H H Gain and Balance Potentiometers Gain Trim Gain Trim Balance Balance Gain Trim Gain Trim Balance Balance HEADER SOCKETS DETAIL Chan Chan H H8 H H H H H0 H8 H H H4 H H H0 H8 H H H H H I^T LIMIT ALE I^T THRESHOLD INDCTANCE COMP HI FREQENCY CAPACITOR INDCTANCE COMP RESISTOR INDCTANCE COMP CAPACITOR INDCTANCE COMP HI FREQENCY CAPACITOR INDCTANCE COMP RESISTOR INDCTANCE COMP CAPACITOR CONTINOS CRRENT LIMIT SET TRANSCONDCTANCE CONTINOS CRRENT LIMIT SET TRANSCONDCTANCE BALANCE BALANCE Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page 8 of 0

9 HEADER SOCKET COMPONENT SELECTION LOAD INDCTANCE MODEL X WITH /0 ANALOG INPTS L (mh) 80 0 H,0,, 0.4.k k nf.4k 8.k nf 8.k 4.4k nf 0 4k 4k nf 0 0k k nf Note: Table values apply with components H,, 4, not installed. alues in bold and italic are factory installed. CRRENT LIMITS A micro controller uses an I T algorithm to monitor to protect against overload conditions. The I T overload protection for each channel operates independent of the other. The algorithm detects when the current is any phase exceeds the continuous current limit level set by the header component H &8. The I T algorithm tracks the energy of the overload (A sec) and when the I T limit is reached, the output current is limited to a level set by H4,,, &. The following tables or equations can be used to select header component values to obtain the desired overcurrent protection setting. Cont. Current (A) H 4,,, (Ohm) H, 8 (Ohm) 0 <out> 0 Ohms (short) 8.k k 8 4k 4 8 0k 0 <out> I T Limit (A sec) H 4, (Ohm) 0 0 (short) 800 k 40 4k 00 0k 0 <out> (0 I cont) H & H8 = 4.k ohms * ( I cont ) H4 & H = 4.k ohms * (. I Tlimit ) ( I Tlimit.) Example: The I T set point applies only to the energy delivered to the load over and above the continuous rating of the load. The amplifier's microchip is informed of the continuous current rating of the load via header resistor H. The I T set point is set via header resistor H4. sing a 0 Ohm value for H4 gives an I T set point of 0 A^*S. If a 0 ohm value is also used for H, the continuous current setting is set to 0A. This means for a Arms current on either phase,, or W, the I^*T protection will activate (current is forced to continuous limit as set by H4,H after a time T = 0 A *S/( 0 ) =.4 seconds. BALANCE RANGE AND TRANSCONDCTANCE SETTINGS Header components H,,, & control the offset range. Default value is k ohm that gives a range of /0mA. The ratio between output current, and the reference voltage at the input is the transconductance of the amplifier. It is measured in Amps/olt, and is controlled by components H,, 8, & 0 The chart below gives some common settings. Gain (A/) H,, 8, 0..k.0 k. 4.k.k 0..8k Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page of 0

10 MODEL X WITH /0 ANALOG INPTS DIMENSIONS.0 (.4). (.8) J MOTORS & POWER POWER CHAN CHAN H() H() MOT W MOT MOT MOT W 4 MOT MOT J CHAN SIGNAL J CHAN SIGNAL BALANCE BALANCE GAIN TRIM GAIN TRIM CHAN NORMAL CHAN NORMAL LEDS FALT. CHAN CHAN BALANCE BALANCE GAIN TRIM GAIN TRIM.04 (.4).4 (44.8).00 (.4).8 (4.) 4. (.4) Rev A /0/00 Copley Controls Corp., 0 Dan Rd., Canton, MA 00 Tel: Fax: Page 0 of 0