DigiFlex Performance Servo Drive B100A400AC

Transcription

1 Description Power Range The B100A400AC PWM servo drive is designed to drive brushless DC motors at a high switching frequency. A single red/green LED and a single digital output indicate operating status. The drive is fully protected against over-voltage, under voltage, over-current, over-heating and short-circuits across motor, ground and power leads. Furthermore, the drive can interface with digital controllers or be used stand-alone, and requires a single unregulated AC or DC power supply and a nominal 24 VDC logic supply. Loop gain, current limit, input gain, offset, and ramp can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes. The drive accepts quadrature encoder inputs or Hall sensor inputs for velocity control. Peak Current Continuous Current AC Supply Voltage DC Supply Voltage 100 A 50 A VAC VDC Features DP Switch Selectable Current Loop Tuning Ramped Command nput Adjustment Selectable Velocity Loop ntegrator Values Voltage Mode for Brushless Motors Selectable nhibit/enable Logic Selectable Fault Logic Selectable Tachometer Feedback Scaling Multiple Modes of peration AC or DC Supply nput Built-in Shunt Regulator Circuit Directional nhibit nputs for Limit Switches Encoder Velocity Mode MDES F PERAT Current Duty Cycle Voltage R Comp Encoder Velocity Hall Velocity Tachometer CMMAND SURCE ±10 V Analog FEEDBACK SUPPRTED Halls ncremental Encoder Tachometer (±60 DC) NPUTS/UTPUTS nhibit/enable nputs Current Monitor utput Fault utput Current Reference utput Velocity Monitor utput At Velocity utput CMPLANCES & AGENCY APPRVALS RoHS UL and cul Pending CE Pending Page 1 of 13

2 - DigiFlex Performance Servo Drive B100A400AC BLCK DAGRAM /-16 /-4 /-5 /-6 +REF 40k -REF +5V NH +5V +NH 10k 10k SGNAL GND 40k RESERVED FBK-14 TACH /-1 3mA /-2 SGNAL GND /-3 /-15 3mA AND /-11 20k /-12 CW SW U1 CMMAND 50k SURCE 20k PT3 SELECT 250mA +5V -NH +5V FAULT 10k 10k SW1-7 /-13 FAULT LEVEL DC-T-DC CVERTER GRUNDS ARE NT CNECTED /-14 SET HALL VEL M. ENC VEL M. /-26 /-7 SW K ENC- ENC- /-24 FBK-8 FBK-9 /-25 VELCTY LP NTEGRATR ENC /-20 FBK-4 A ENC FBK-5 /-21 /-22 FBK-6 /-9 CURRENT REFERENCE (UTPUT) B FBK-7 /-23 FBK-3 HALL3 HALL2 FBK-2 HALL1 FBK-1 B100A400AC FUNCTAL BLCK DAGRAM CURRENT LP NTEGRATR DC- 500k +5V SW SW TEST PT4 CW 0-3.5uF 20k SW1-4 SW1-1 Q1 5k 50k MMBT2222-5V LP GAN SW2-1 0k-310k 0-82 nf PEAK- 100k PT2 10k CT CW CURRENT SW1-2 SW1-6 U2 100k 0.5uF - LMT 10nF - 20k + 50k + 10k 50k U3 - SW1-8 PT1 CW 60/120 NH/EN + U4 5k 10k DUTY-CYCLE FEEDBACK RAMP SW2-5** 10k VLTAGE FEEDBACK CTRL PT5 SW2-6** 50k R-CMPENSAT +5V LGC SW2-7 SW1-9 SW1-10 RF1* 5k 5k 5k H3 N HALL H2 TACH VELCTY H1 SCALNG 10k SW2-2** SENSE 10k 20k DR SW2-4 10k ENCDER CURRENT FEEDBACK SW2-3** VELCTY SENSE AT VELCTY /-10 PASS THRU 1 /-18 FBK-10 PASS THRU 2 /-19 FBK-11 PASS THRU 3 FBK-15 /-8 NTERNAL CNECT PWER BARD SGNAL GND FBK-12 SHUNT REG 3-PHASE PWER DRVE SW1-3 CURRENT SENSE /-8 MTR A MTR B MTR C 20k DC+ BR DC+ L1 L2 L3 CURRENT MTR MDE SELECTS CURRENT MDE HALL VELCTY SW2-1 ENCDER VELCTY DUTY CYCLE MDE VLTAGE MDE R CMPENSAT TACHMETER MDE SW2-2 SW2-3 SW2-4 NA / / NA NA NA NA SW2-5 SW2-6 SW2-7 LED GREEN - NRMAL PERAT, LED RED- FAULT RECMMENDED SETTNG FR CURRENT MDE - PT1 FULLY CCW, PT3 FULLY CW DRVES ARE SHPPED N CURRENT MDE WTH MAXMUM CURRENT SETTNG SW2-8 MUST BE FR PRPER PERAT N HALL VELCTY MDE FR THER SWTCH FUNCTS SEE SWTCH DESCRPT * PTAL USER NSTALLED THRUGH-HLE CMPENT ** N MRE THAN E SWTCH CAN BE. nformation on Approvals and Compliances RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment. Page 2 of 13

3 SPECFCATS Power Specifications Description Units Value Rated Voltage VAC (VDC) 240 (339) AC Supply Voltage Range VAC AC Supply Minimum VAC 180 AC Supply Maximum VAC 264 AC nput Phases - 3 AC Supply Frequency Hz DC Supply Voltage Range 1 VDC DC Bus ver Voltage Limit VDC 420 DC Bus Under Voltage Limit VDC 205 Logic Supply Voltage (Required) VDC (@ 1 A) Maximum Peak utput Current 2 A 100 Maximum Continuous utput Current A 50 Max. Continuous utput Rated Voltage W Max. Continuous Power Rated Voltage W 848 nternal Bus Capacitance µf 1120 External Shunt Resistor Minimum Resistance 3 Ω 25 nternal Shunt Regulator Turn-on Voltage VDC 399 Minimum Load nductance (Line-To-Line) 4 µh 600 Switching Frequency khz 10 Maximum utput PWM Duty Cycle % 100 Low Voltage Supply utputs - +5 VDC (250 ma) Control Specifications Description Units Value Command Sources - ±10 V Analog Feedback Supported - Halls, ncremental Encoder, Tachometer (±60 VDC) Commutation Methods - Trapezoidal Modes of peration - Current, Duty Cycle, Voltage, R Comp, Hall Velocity, Encoder Velocity, Tachometer Motors Supported - Single Phase (Brushed, Voice Coil, nductive Load), Three Phase (Brushless) Hardware Protection - ver Current, ver Temperature, ver Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage nternal Shunt Regulator - Yes nternal Shunt Resistor - No Mechanical Specifications Description Units Value Agency Approvals - RoHS, UL and cul Pending, CE Pending Size (H x W x D) mm (in) x x (10.1 x 7.2 x 5.3) Weight g (oz) (124.8) Heatsink (Base) Temperature Range 5 C ( F) 0-75 (32-167) Storage Temperature Range C ( F) ( ) Form Factor - Panel Mount Cooling System - Forced Convection FEEDBACK Connector - 15-pin, high-density, female D-sub / Connector - 26-pin, high-density, female D-sub LGC PWER Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header FAN Connector - 2-port, 5.08 mm spaced, enclosed, friction lock header MTR PWER Connector - 4-port, mm spaced, enclosed, friction lock header DC PWER Connector - 4-port, mm spaced, enclosed, friction lock header AC PWER Connector - 4-port, mm spaced, enclosed, friction lock header Notes 1. Large inrush current may occur upon initial DC supply connection to DC Bus. 2. Capable of supplying drive rated peak current for 2 seconds with 3 second foldback to continuous value. Longer times are possible with lower current limits. 3. ADVANCED Motion Controls recommends using an external fuse in series with an external shunt resistor. A 5 amp time delay fuse is typical. 4. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 5. Additional cooling and/or heatsink may be required to achieve rated performance. Page 3 of 13

4 PN FUNCTS / Signal Connector Pin Name Description / Notes / 1 +10V UT 3 ma. For customer use. 2 SGN GND Signal Ground SGND 3-10V UT 3 ma. For customer use. 4 +REF Differential reference input, maximum 15V, 40k input resistance. 5 -REF 6 RESERVED Reserved - 7 ENCDER VELCTY MTR Encoder Velocity Monitor. Analog output proportional to the frequency of the encoder lines or, equivalently, to motor speed. Scaling is 25 khz/v. 8 CURRENT MTR This output represents the actual motor current. Scaling: SW1-3 =, 1V = 7.8 A motor current SW1-3 =, 1V = 16.7 A motor current 9 CURRENT REFERENCE This is the command signal to the internal current-loop. The maximum peak current rating of the drive always equals 7.24 V at this pin. 10 AT VELCTY pen Collector output. nternally pulled up to 5V through 10k. This output is low when the speed is within 10% of the commanded speed. Encoder or Hall Velocity is selectable through DP Switch settings. 11 NHBT/ENABLE This TTL level input signal turns off all power devices of the H bridge when pulled to ground with SW1-6=. perates from 3.3V to 24V. f SW1-6=, pulling this pin to ground will enable the drive. 12 +NHBT/ENABLE f SW1-6=, ground pin 12 to inhibit (+) drive output and pin 13 to inhibit (-) drive output. f 13 -NHBT/ENABLE SW1-6=, ground pin 12 to enable (+) drive output and pin 13 to enable (-) drive output. These inputs will NT cause a fault condition or a red LED. perates from 3.3V to 24V. 14 FAULT UT This output activates during short circuit, over-voltage, under voltage, inhibit, overtemperature and power-on reset. A red LED also indicates a fault condition. Active high or active low selectable through SW V UT (Common with FBK-13) 250mA. For customer use. Note that the total current on Feedback Connector Pin 13 and this pin should not exceed 250mA. 16 SGN GND (Common with FBK-12) Signal Ground SGND 17 PASS-THRUGH Connected to Feedback Connector Pin PASS-THRUGH Connected to Feedback Connector Pin PASS-THRUGH Connected to Feedback Connector Pin ENCDER A+ UT (Common with FBK-4) Differential Encoder utput from Feedback Connector Pin 4 21 ENCDER A- UT (Common with FBK-5) Differential Encoder utput from Feedback Connector Pin 5 22 ENCDER B+ UT (Common with FBK-6) Differential Encoder utput from Feedback Connector Pin 6 23 ENCDER B- UT (Common with FBK-7) Differential Encoder utput from Feedback Connector Pin 7 24 ENCDER + UT (Common with FBK-8) Differential Encoder utput from Feedback Connector Pin 8 25 ENCDER - UT (Common with FBK-9) Differential Encoder utput from Feedback Connector Pin 9 26 HALL VELCTY MTR Hall Velocity Monitor. Analog output proportional to the Hall frequency or, equivalently, to motor speed. Scaling is 100 Hz/V. Feedback Connector Pin Name Description / Notes / 1 HALL 1 Hall sensor inputs, internal 2K pull-up. Logic levels: maximum low level input is 1.5 VDC, 2 HALL 2 minimum high level input is 3.5 VDC. 3 HALL 3 4 ENCDER A+ N (Common with /-20) Differential Encoder nput, Channel A 5 ENCDER A- N (Common with /-21) 6 ENCDER B+ N (Common with /-22) Differential Encoder nput, Channel B 7 ENCDER B- N (Common with /-23) 8 ENCDER + N (Common with /-24) Differential Encoder nput, ndex Mark (Not Required) 9 ENCDER - N (Common with /-25) 10 PASS-THRUGH Connected to / Connector Pin PASS-THRUGH Connected to / Connector Pin SGN GND (Common with /-16) Signal Ground SGND 13 +5V UT (Common with /-15) 250mA. For customer use. Note that the total current on / Connector Pin 15 and this pin should not exceed 250mA. 14 TACH N Tachometer nput, 60k ohm input resistance, ± 60 V max. (Scalable with SW1-9,10) 15 PASS-THRUGH Connected to / Connector Pin 17 - Logic Power Connector Pin Name Description / Notes / 1 LGC GND Logic Supply Ground SGND 2 LGC PWR Logic Supply nput. Required for drive operation. Page 4 of 13

5 Fan Power Connector Pin Name Description / Notes / 1 FAN GND Fan Ground GND 2 FAN PWR Fan Power nput Motor Power Connector Pin Name Description / Notes / 1 CHASSS Chassis Ground CGND 2 MTR A Motor Phase A 3 MTR B Motor Phase A 4 MTR C Motor Phase B DC Power Connector Pin Name Description / Notes / 1 DC- Power Ground PGND 2 DC+ DC Power nput 3 DC+ External Shunt Resistor Connection. Connect resistor between DC+ and BR. 4 BR - AC Power Connector Pin Name Description / Notes / 1 L1 AC Supply nput (Three Phase). External 30 A time delay fuses are recommended in series 2 L2 with the AC input lines. 3 L3 4 CHASSS Chassis Ground CGND Page 5 of 13

6 HARDWARE SETTNGS Switch Functions SW-1 Description Setting n ff 1-1 Test / ffset controls the sensitivity of the offset pot. This is used as an on-board reference signal in test mode. Test ffset /60 degree commutation phasing. 120 degree phasing 60 degree phasing 1-3 Current scaling. When, this increases the sensitivity of the current sense thus reducing both peak and continuous current limit by 50%. 100% 50% 1-4 Continuous current reduction. Continuous / peak current Continuous / peak current limit ratio is 50% limit ratio is 25% 1-5 Reserved nhibit / Enable Ground / Connector pins 11, 12, 13 to inhibit motor outputs Ground / Connector pins 11, 12, 13 to enable motor outputs 1-7 Active Fault Level of P1-14. Active HGH Active LW 1-8 Ramped Command Enable Ramping Disable Ramping 1-9 Tachometer nput Scaling Switches. These switches adjust the 1-10 value of the allowed maximum tachometer input voltage. See Tachometer nput Scaling Table below. Tachometer nput Scaling Table DP Switches SW1-9 and SW1-10 are used to set the Maximum Tachometer nput Voltage value according to the following table. ±V SW1-9 SW Current Limit Adjustments These amplifiers feature separate peak and continuous current limit adjustments. The current limit adjustment Pot 2 adjusts both peak and continuous current limit at the same time. Pot 2 has 12 active turns and one inactive turn on each end and is approximately linear. Thus, to adjust the current limit turn the potentiometer counter-clockwise to zero, then turn clockwise to the appropriate value. n many applications it is sufficient to use only the DP-switches for current limit adjustments. SW1-3 reduces both peak and continuous current limit by 50% when. SW1-4 reduces only the continuous current limit by 50% when : SW-4 CTNUUS / PEAK CURRENT LMT RAT 50% 25% / Connector Pin 9 is the input to the internal current amplifier power stage. Since the output current is proportional to / Connector Pin 9, the adjusted current limit can easily be observed at this pin without connecting the motor. Note that a command signal must be applied to the reference inputs to obtain a reading on / Connector Pin 9. The maximum peak current value equals 7.24 V at this pin and the maximum continuous current value equals 3.62 V at this pin. f SW3=, peak rated amplifier current = 7.24 V. f SW3=, ½ peak rated amplifier current = 7.24 V. The actual output current can be monitored at / Connector Pin 8. Page 6 of 13

7 SW-2 Description n Setting ff 2-1 Mode Selection. See Mode Selection Table below for full description of mode switch settings. Current Mode Velocity Modes 2-2 Hall Velocity feedback. This connects the internally generated velocity signal from the Hall sensors. Hall sensor velocity feedback enabled. Hall sensor velocity feedback disabled. 2-3 Encoder Velocity feedback. This connects the internally generated velocity signal from the encoder. 2-4 Velocity Feedback Polarity Encoder velocity feedback enabled. Encoder velocity feedback disabled. Toggles the polarity of the velocity feedback signal (Encoder or Hall velocity mode only). 2-5 Duty Cycle feedback. This connects the internally generated velocity signal from the output stage. Duty cycle feedback enabled. Duty cycle feedback disabled. 2-6 Voltage Mode. Voltage feedback enabled. Voltage feedback disabled. 2-7 R Compensation Mode. R Comp enabled. R Comp disabled Velocity Loop ntegrator Capacitor Switches. These adjust the value of the integrator capacitor in the velocity mode. See Velocity Loop ntegrator Capacitance Table below. *mportant Note: Drive will not operate properly with more than one of these switches due to multiple feedback signals. Mode Selection Table perating modes can be selected by setting SW2 DP switches according to the following table. Mode SW2-1 SW2-2 SW2-3 SW2-4 SW2-5 SW2-6 SW2-7 CURRENT X X DUTY CYCLE X X VLTAGE X R CMP X HALL VELCTY X ENCDER VELCTY X X TACHMETER X X X = does not affect mode Velocity Loop ntegrator Capacitance Table Set the Velocity Loop ntegrator Capacitance value according to the following table. Decreasing the capacitance increases the integrator gain. µf SW2-8 SW2-9 SW Page 7 of 13

8 Current Loop Tuning Values SW3 DP switches add additional resistance and capacitance to the current loop tuning circuitry. SW3 switches 1-5 add additional parallel capacitance to the current loop integrator capacitor, and SW3 switches 6-10 add additional series resistance to the current loop gain resistor (see Block Diagram). Capacitance and resistance values are given in the tables below along with the appropriate DP switch settings. Switch SW3 Additional Current Loop ntegrator Capacitance (µf) (decreasing the capacitance increases the integrator gain) SHRT PEN SW3 Switch Additional Current Loop Gain Resistance (kω) (increasing the resistance increases the proportional gain) Switch (continued) Potentiometer Functions Potentiometer Description Turning CW Pot 1 Loop gain adjustment in open loop and velocity modes. Turn this pot fully CCW in current mode. ncreases loop gain Pot 2 Current limit. Adjusts both the continuous and peak current limit while maintaining the continuous/peak ratio set by the DP Switches. ncreases current limit Pot 3 Reference in gain. This potentiometer adjusts the ratio between input signal and output variables (voltage, current, and velocity). ncreases reference input gain Test/ffset. Used to adjust any imbalance in the input signal or in the Pot 4 drive. When SW1-1 (DP switch) is, the sensitivity of this pot is Zero speed setting is at the midpoint of this 14-turn greatly increased allowing it to be used as an on-board signal source pot. for testing purposes. Pot 5 Ramp Time. Sets the ramp time for the command input signal. ncreases ramp time (slower Accel or Decel) Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end. Ramping Command (Pot 5): The built-in ramp circuit allows the command input to be ramped linearly. This feature is activated by setting SW1-8 =. The ramp time can be set for up to 30 seconds in reaching the max command by adjusting Pot 5 fully clockwise. Ramping rates are linear with respect to time and apply to both directions of motion. For example, if the single-ended command input is only 2.5 Volts, the time to ramp to this voltage would be half the time to ramp to 5 Volts. Page 8 of 13

9 Through-hole Components Location RF1 Description R Compensation Scaling. Through-hole resistor that can be added to configure the amplifier for R Compensation mode. See section below on R Compensation Notes for more details. R Compensation Notes For applications that will use R Compensation mode, a resistor can be added to the location named in the table above. The combination of the added resistor and correct DP switch settings will configure the amplifier for R Compensation mode. While in R Compensation mode, the amplifier will adjust the duty cycle to compensate for changes in the output current. Consult the amplifier s functional block diagram and the manufacturer s website for more information. NTE: DAMAGE DE T THE DRVE WHLE PERFRMNG THESE MDFCATS WLL VD THE WARRANTY. Page 9 of 13

10 MECHANCAL NFRMAT Connector nformation Details ncluded with Drive Feedback Connector 15-pin, high-density, female D-sub TYC: Plug P/N ; Housing P/N ; Terminals P/N (loose) or (strip) No ENCDER B+ N 6 ENCDER B- N 7 ENCDER + N 8 ENCDER - N 9 PASS-THRUGH 10 5 ENCDER A- N 4 ENCDER A+ N 3 HALL 3 2 HALL 2 1 HALL 1 11 PASS-THRUGH 12 SGN GND 13 +5V UT 14 TACH N 15 PASS-THRUGH Connector nformation Details ncluded with Drive / Signal Connector 26-pin, high-density, female D-sub TYC: Plug P/N ; Housing P/N ; Terminals P/N (loose) or (strip) No AT VEL 10 NHBT / ENABLE 11 +NHBT / ENABLE 12 -NHBT / ENABLE 13 FAULT UT 14 +5V UT 15 SGN GND 16 PASS-THRUGH 17 PASS-THRUGH 18 9 CURRENT REFERENCE 8 CURRENT MTR 7 ENCDER VELCTY MTR 6 5 RESERVED -REF 4 +REF 3-10V UT 2 SGN GND 1 +10V ut 19 PASS-THRUGH 20 ENCDER A+ UT 21 ENCDER A- UT 22 ENCDER B+ UT 23 ENCDER B- UT 24 ENCDER + UT 25 ENCDER - UT 26 HALL VELCTY MTR Connector nformation Logic Power Connector 2-pin, 5.08 mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N ncluded with Drive Yes 2 LGC PWR 1 LGC GND Page 10 of 13

11 Connector nformation Fan Power Connector 2-port, 5.08 mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N ncluded with Drive Yes 2 FAN PWR 1 FAN GND Motor Power Connector Connector nformation 4-pin, mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N ncluded with Drive Yes 1 CHASSS 2 MT A 3 MT B 4 MT C DC Power Connector Connector nformation 4-pin, mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N ncluded with Drive Yes 1 DC- 2 DC+ 3 DC+ 4 BR AC Power Connector Connector nformation 4-pin, mm spaced, enclosed, friction lock header Details Phoenix Contact: P/N ncluded with Drive Yes 1 L1 2 L2 3 L3 4 CHASSS Page 11 of 13

12 MUNTNG DMENSS Page 12 of 13

13 PART NUMBERNG NFRMAT DigiFlex Performance Servo Drive B100A400AC B 100 A 400 AC - Drive Type B or BX: Brushless drive. BE: Encoder Velocity Mode Available BD: PWM Command BDC: PWM Command, Closed Current Loop S or SX: Commutated Sine Command Additional ptions* ANP: Analog Position Loop FBP: Flat Baseplate Peak Current Maximum peak current rating in Amps. Peak Voltage Peak voltage rating in Volts. f 2 numbers used, scaled 1:10. Power Supply : DC Power Supply AC: AC Power Supply FAC: AC Power Connecter Relocated to the Front solation ption** : ptical solation * ptions available for orders with sufficient volume. Contact ADVANCED Motion Controls for more information. ** solation comes standard on all AC supply drives and most DC supply drives 200V and above. Consult selection tables of the website or drive datasheet block diagram to see if isolation is included. DigiFlex Performance series of products are available in many configurations. Note that not all possible part number combinations are offered as standard drives. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for EMs with volume requests. ur Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quickturn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. Feel free to contact Applications Engineering for further information and details. Examples of Customized Products ptimized Footprint Tailored Project File Private Label Software Silkscreen Branding EM Specified Connectors ptimized Base Plate No uter Case ncreased Current Limits ncreased Current Resolution ncreased Voltage Range ncreased Temperature Range Conformal Coating Custom Control nterface Multi-Axis Configurations ntegrated System / Reduced Profile Size and Weight Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit to see which accessories will assist with your application design and implementation. Power Supplies Shunt Regulators Drive(s) Filter Cards To Motor All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. Page 13 of 13