MODEL 513, 513R DC BRUSHLESS SERVO AMPLIFIER (513) WITH RESOLVER OPTION (513R) FEATURES. ±180 Volts at ±26A Peak, ±13A. Resolver option 513R

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1 MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) FEATURES Wide voltage range: ±80 Volts at ±A Peak, ±A to 90V A continuous, A peak Model khz pwm frequency Drives motors with 0 or 0 Halls. Fault protections: Output shorts Over/under voltage Over temperature.khz Bandwidth 0.0 mh load inductances,v Hall voltages Separate peak, peaktime, and continuous current limits Simplified compensation adjustments Surface mount technology Resolver option R Replaces Hall sensors Tachometer emulation Encoder emulation Interface motors to microprocessor controls and PLC's. APPLICATIONS XY stages Automated assembly machinery Robotics Component insertion machines THE OEM ADVANTAGE Component header customizes amps for different motors Conservatively rated components for high MTBF PRODUCT DESCRIPTION Standard Amplifier () Model is a complete pwm servoamplifier that operates from transformerisolated singlevoltage power supplies and provides sixstep commutation of dc brushless servomotors. Power output is fourquadrant for rapid acceleration and deceleration. Amplifier operates in torque ( current ) mode for use with microprocessor based control cards. Analog ( brush ) tachometers can be used to make velocity loops. New servo preamplifier circuits give improved control over frequency response for faster setup and adjustment. An internal header socket holds components that configure current limits and loadinductance compensation to set up the Model for different loads and applications. Separate peak current, continuous current, and peaktime limits allow high acceleration without sacrificing protection against continuous motor overloads. Over and undervoltage conditions will cause the unit to shutdown temporarily. Heatplate overtemperature and shorts from output to output, or output to ground will cause a latching disable that can be reset by grounding the Reset input, or by powering off & on. Selfreset will occur if /Reset input is wired to ground. High quality components and conservative design insure long service life and high reliability in industrial installations. Potentiometers may be replaced with fixed resistors for OEMs which require amplifiers that have no adjustments (contact factory). DC brush motors also can be driven from the Model by setting the DIP switch to 0, leaving the Hall inputs open, and connecting the motor between the U and V outputs. Resolver Option (R) Model R Provides velocityloop operation using resolverderived analog tachometer signal. Encoder outputs give position feedback, emulate 0 line quadrature encoder. Both permit use with programmable logic controls ( PLC s ) that require speedloops for motion modules. Option card installs inside drive case and interfaces with standard twophase resolvers. A readonly memory chip converts resolver position data to Hall signals that control motor commutation for motors with electrical cycles per revolution. Custom eproms available to interface with most motors ( contact factory ). Option eprom supports DC brush motors with resolvers.

2 MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) FUNCTIONAL DIAGRAM () MOMENTARY SWITCH RESETS WIRE RESET TO GROUND FOR F TACH REF() 8 REF() 9 TACH () or TACH() V DIFF AMP 0K 0K K NF V 0K 0K TACH GAIN CW REF GAIN cw 0K K RH RH 00K CH 0K 00K CW.M BALANCE 0K RH 00K CH.99K CW K CW 0K 00K LO FREQ HI FREQ CH SW 0.UF NF NORMAL LED G REF JP Note V STATUS & CONTROL LOGIC RESET NORM NEG POS ENABLE (Note J SIGNAL J MOTOR Total power from,, V outputs ( including Halls not to exceed J SIGNAL J HALLS HALLS V MONITOR 0 U V W V V 0K.NF HALL LOGIC HALL PHASE OFF = 0 ON = 0 SW Total power from / PEAK CONT PEAK TIME SECTION G = X RH RH8 RH9 0k 9.9K 9.9K CH0.NF 0 PF ERROR AMP RH 9.9K. 00 PF 0.V/ PWM STAGE MOSFE "H" BRIDGE Gv = HV 0 OUTPUT SENSE HV DC / DC CONVERTER POWER GROUND AND SIGNAL GROUNDS ARE U (DC) V (DC) W (n.c.) HV MOTOR J POWER GROUND CASE FOR CASE NOT TO CIRCUIT CONNECTOR & INTERNAL LAYOUT HEADER LOCATION ( COVER REMOVED ) J J J J S, LED BALANCE RESP LO RESP HI TACH GAIN REF GAIN /ENABLE POLARITY JUMPER JP (NOTE ) RH CH RH CH RH CH RH RH8 RH9 CH0 RH Notes:. Components shown in dotted lines are not installed at factory.. Jumper JP is delivered in nonshorting position, making /Enable input groundactive ( V or open inhibits ). To invert logic of /Enable input install jumper between pins. Now, V or open enables, ground inhibits. Note: the /Pos and /Neg enable inputs are not affected by this jumper, and remain groundenable, V or open inhibits.

3 TECHNICAL SPECIFICATIONS MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) Typical at C, HV = 90VDC. Load = 00µH. in series with ohms. OUTPUT POWER Peak power Sec 0A, 00W 00 msec A, 0W Continuous power A, 0W OUTPUT VOLTAGE V out = 0.9*HV (0.)(I out ) MAXIMUM CONTINUOUS OUTPUT At C. ambient, 90VDC, perpendicular to thermally conductive mounting surface Convection cooled, no heatsink ±9A Fan cooled, 00 ft/min, no heatsink ±A At 90VDC, ±A, fancooled with heatsink 0 C max. ambient LOAD INDUCTANCE Selectable with components on header socket BANDWIDTH Small signal PWM SWITCHING FREQUENCY 0.mH to 0mH (Consult factory for higher inductances) with 00µH load INPUT CHARACTERISTICS Reference Differential, 0KΩ between inputs Tachometer Singleended, KΩ minimum with no header components installed Maximum tachometer voltage ±00V GAINS POTENTIOMETERS LOGIC INPUTS Input differential amplifier x to x.0 (Potentiometer adjustable) Servo preamplifier x to x (Potentiometer adjustable, with RH, RH not installed ) Integrator x (at f >> integrator break frequency) PWM transconductance stage A/V LOGIC OUTPUTS /Normal ( Fault ) khz Reference gain, Tachometer gain, Balance Preamp gain, Preamp integrator break frequency /Enable, /Forward Enable, /Reverse Enable, /Reset (Ground = enabled, V or open inhibits) Internal jumper inverts logic of /Enable only, so that V enables & ground inhibits LO (current sinking) when unit operating normally. ma maximum, V maximum ratings Note: Do not connect output to devices that operate at voltages >V. MONITOR OUTPUT Current monitor ±A (A/volt) AUXILIARY POWER OUTPUTS VDC 0mA (Includes power for Hall sensors) VDC 0mA VDC 0mA Note: Total DC power from all auxiliary outputs and Hall outputs not to exceed 00mW PROTECTIVE FEATURES Output shorts: output to output, output to ground Latches unit OFF (Reset input resets, ground input for selfreset) Heatplate overtemperature Shutdown at 0 C (Latches unit OFF) Power supply voltage too low (Undervoltage) Shutdown at HV <VDC (Operation resumes when >V)) Power supply voltage too high (Overvoltage) Shutdown at HV >9VDC (Operation resumes when <9V) POWER REQUIREMENTS Model : A peak, Model R: A peak Minimum power consumption W Maximum power consumption continuous, A peak THERMAL REQUIREMENTS Storage temperature range 0 to 8 C Operating temperature range 0 to 0 C baseplate temperature MECHANICAL Size Amplifier:. x. x.9" ( x 8 x.mm), with heatsink:. x. x. ( x 8 x mm) Weight. lb (0.0 kg.) for,.8lb (0. kg.) for R, add. lb ( 0. kg ) for heatsink CONNECTORS DC power (J) Phoenix: MSTB./ST.08;Curtis: PA 0./ Motor (J) Phoenix: MSTB./ST.08; Curtis: PA 0./ Halls (J) Housing: Molex 00; Terminals (): Molex 0800 Signal (J) Housing: Molex: 0; Terminals () Molex 0800 Note: If using Phoenix, Weidmuller or equivalent connectors, some positions are noconnects. Observe J and J to see missing pins. Curtis connectors are delivered with unused contacts removed from connector housing.

4 MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) RESOLVER OPTION Note: when using this option the minimum supply voltage is 0VDC. Installation The resolver option card installs inside the case of the R. The cover has cutouts and silkscreens for the resolver card potentiometers, switches and connectors. Connections Power for the option card is supplied by the DC/DC converter on the amplifier motherboard. The Hall signals and tachometer emulator signals from the card connect to the amplifier via the card mounting connector. Useraccessible connectors on the card connect to the resolver, and to the encoder inputs on an external controller. Monitor signals are provided to measure the resolver Reference and Sine signals. A Sync function is provided which lets multiple amplifiers be jumpered together to synchronize the reference signals to eliminate interference between them. Resolver Resolvers used must be of the type using two stators separated by 90 and a rotating winding that excites the stators. These typically have : ratios of primary ( Reference ) to secondary ( Sin & Cos ). The.8 to Vrms output range of the Reference output permits adjustment of the Sin/Cos signals to the.0vrms requirement of the option card. The 0kHz frequency range of the Reference signal drives a wide range of resolvers. Phase adjust switches and a potentiometer provide adjustments to zeroout the phase difference between the reference and Sin signals. A two section DIP switch sets the number of motor electrical cycles per resolver revolution from to. (Consult factory for motors with other cycles/rev ratios). Reference Signal This is the signal which excites the rotor of the resolver. It should be adjusted so that the Sin signal has an amplitude of.0vrms (.V pp) when the shaft is rotated to the point of maximum output. Typical resolvers have : ratios from Ref inputs to Sin or Cos outputs. Thus the reference signal from the option card will be in the Vrms range in most cases. Encoder Emulation The position of the resolver is tracked by a positionfeedback loop in the resolver integrated circuit. This position is then converted into a twophase quadrature encoder signal which can be used by position controllers. The electrical resolution of the position loop is 09 parts per revolution. Each of these parts comprises a digital code, and four codes constitute an encoder 'line', giving the equivalent of a 0 line quadrature encoder. Index Signal A onceperrevolution index signal is part of the encoder emulation. The width of this signal may be set to / or / of an encoder cycle using the DIP switch S. ENCODER SIGNALS CHAN A CHAN B /09 REV /0 REV INDEX Commutation / LINE / LINE LINE = QUADRATURE COUNTS An eprom chip converts the binary output from the resolver converter into Hall signals for commutation. These connect to the amplifier Hall inputs internally to operate the motor in sixstep ( trapezoidal ) mode. The standard eprom will drive motors having,,, or Hall cycles per mechanical revolution of the motor (,,, or 8 pole motors ) To accommodate other motors, contact factory for custom eproms. Synchronization When using multiple resolvers in a motion control system, coupling between cables can introduce noise due to the slightly differing frequencies between oscillators on different resolver cards. In such a case, the oscillators can be wired together via a Sync connector so that all will operate at the same frequency. Connecting these inputs via a daisychain cable will cause all resolvers to oscillate at the same frequency. Tachometer Emulation A tach signal provided by the resolver card makes it possible to configure the drive as a velocityloop. This is particularly useful with PLC's with motion control modules which output position error signals. Velocity loop operation frequently improves the performance of microprocessor controls which derive velocity information from the encoder signal. Scaling potentiometers on both the resolver card and amplifier permit the user to set the RPM/volt factor over a wide range. Cabling Shielded cable should be used for connection to the resolver, and grounded at the amplifier. The motor case should also be grounded. This will minimize coupling between the motor windings and the resolver.

5 MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) RESOLVER OPTION SPECIFICATIONS REFERENCE OUTPUT Frequency to 0kHz Amplitude.8 to.0 VRMS, 0mA RMS max ENCODER EMULATION Outputs Ch. A,B, and Index, differential line driver (V CMOS, ma source/sink) Accuracy ±0. arc mins. ± lsb (±/ encoder cycle ± lsb) Resolution 0 lines/rev (09 quadrature counts), nonadjustable Bandwidth 00 Hz. min. Max. speed resolver cycles/sec max (.M quadrature counts/sec) Index output Index width settable to /, or / encoder cycle (/0 rev) TACHOMETER OUTPUT POTENTIOMETERS DIP SWITCHES Connects to amplifier tachometer input internally. Tach voltage can be monitored at amplifier J. Output voltage range ±V. Tach Gain pots on option card and amplifier interract. Adjust so that tach voltage does not exceed the ±V range, or clipping may occur. Reference frequency, reference amplitude, sinref phase adjust, tach gain Sin/reference phase adjust ( switches), motor electrical cycles ( switches), index width ( switch) CONNECTORS Sync (J): Housing: Molex 00, Terminals () Molex 0800 Encoder (J): Housing: Molex 00, Terminals (): Molex 0800 Resolver (J): Housing: Molex 008; Terminals (8): Molex 0800 Monitor (J8): Housing Molex 00, Terminals () Molex 0800 HALL OUTPUTS U,V,W commutation signals, 0 phasing, internally connected to amplifier MONITOR OUTPUTS Ref & Sin signals. Used to measure amplitude, and to adjust phasing between Sin and Ref signals SYNCHRONIZATION Jumper resolver cards together to synchronize excitation oscillators Oscillators will sync to lowest frequency when adjusted within ±%. DIP SWITCHES S, S Sin/ref phase adjust. Range will vary with frequency. Adjust so that pot can set Sin/Ref phase difference to zero. S Index pulse width; sets index pulse to /09 or /08 revolution (/ or / encoder line) S, S Motor electrical cycles per revolution setting. Standard choices are,,, or cycles per revolution. Other options possible, consult factory. TYPICAL CONNECTIONS RESOLVER OPTION (R) AMPLIFIER () ENCODER HALLS H REF REF /ENABLE /NEG ENABLE /POS ENABLE GROUND DC POWER SUPPLY 9 8 U V W J J J 8V, HALL U HALL V HALL W TACH J J CHAN A CHAN /A CHAN B CHAN /B INDEX /INDEX TO CONTROLLER ENCODER INPUTS RESOLVER SIN () RESOLVER SIN () COS () COS () SHIELD R REF OUT REF RET SHIELD GROUND MOTOR 8 CASE & USE SHIELDED CABLE FOR RESOLVER MONITOR AND SYNC PINOUTS NOT SHOWN AC AC J J U V W M NOTE: MOTOR PHASE CONNECTIONS MAY VARY LINE ISOLATED

6 MODEL, R DC BRUSHLESS SERVO AMPLIFIER () WITH RESOLVER OPTION (R) OUTLINE DIMENSIONS Dimensions in inches (mm.) ORDERING GUIDE Model Model R A Continuous, A Peak DC Brushless Servo Amplifier Model with Resolver option Notes:. For custom configurations such as potentiometer replacement with fixed resistors, nonstandard component header parts, etc. please consult factory.. For heatsink add "H" to part number. OTHER BRUSHLESS AMPLIFIERS Model 0 Model 0 Torque mode brushless amplifier. A continuous, 0A peak, 8VDC operation. NEW! Same power output as 0. Adds Hall / Encoder tachometer for velocity loop operation. 00 Series NEW! Six models covering to VDC operation, A continuous, 00A peak. With optional Hall / Encoder tachometer, and brushless tachometer features. Corporate Office, USA 0 Dan Road Canton, MA 00 Tel: Fax: 888 Visit us on the Rev 0, /9