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B40A40 Series
B40A40 SERIES BRUSHLESS SERVO AMPLIFIERS Model: B40A40
FEATURES: * * * * * * Surface-mount technology Small size, low cost, ease of use Optical isolation, see block diagram DIP switch selectable modes: current, open loop, external velocity, tach, Hall velocity and encoder velocity Four quadrant regenerative operation Agency Approvals:
BLOCK DIAGRAM:
ADVANCED MOTION CONTROLS 3629 Vista Mercado, Camarillo, CA 93012
Tel: (805) 389-1935, Fax: (805) 389-1165 C-59
B40A40 Series DESCRIPTION: B40A40 Series PWM servo amplifiers are designed to drive brushless DC motors at a high switching frequency. They are fully protected against over-voltage, under-voltage, over-current, over-heating and short-circuits. All models interface with digital controllers or can be used as stand-alone drives. They require only a single unregulated DC power supply. A single red/green LED indicates operating status. Loop gain, current limit, input gain and offset can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes when SW1 (DIP switch) is ON. SPECIFICATIONS: MODEL POWER STAGE SPECIFICATIONS DC SUPPLY VOLTAGE PEAK CURRENT (2 sec. max., internally limited) MAX. CONTINUOUS CURRENT (internally limited) MINIMUM LOAD INDUCTANCE* SWITCHING FREQUENCY HEATSINK (BASE) TEMPERATURE RANGE POWER DISSIPATION AT CONTINUOUS CURRENT OVER-VOLTAGE SHUT-DOWN (self reset) BANDWIDTH (load dependent) B40A40 60 - 400 V 40 A 20 A 600 H 20 kHz 15% 0 to +65 C, disables if > 65 C 400 W 420 V 2.5 kHz
MECHANICAL SPECIFICATIONS POWER CONNECTOR: P3 SIGNAL CONNECTOR: P1, P2 SIZE 234.7 x 159.4 x 63.8 mm 4.5 lb. WEIGHT 2.1 kg Screw terminals P1 is a 25 pin and P2 is a 15 pin low density female D-Sub Connector 9.24 x 6.28 x 2.51 inches
* Low inductance motors require external inductors.
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B40A40 Series PIN FUNCTIONS:
CONNECTOR PIN 1 2 3 4 5 6 NAME +10 V @ 3 mA OUT SIGNAL GND -10 V @ 3 mA OUT +REF IN -REF IN Velocity Input DESCRIPTION / NOTES For customer use Reference ground For Customer use Differential reference input, maximum 15 V, 40K input resistance Single Ended reference input, external velocity signal, maximum 15 V, 10K input resistance Hall-velocity mode: 1 V = 100 Hz Hall sensor frequency. Encoder velocity mode: 1V = 25 kHz encoder frequency. This signal is proportional to the actual current in the motor leads. SW3=OFF 1 V=2.75 A, SW3=ON 1V=5.5 A Monitors the input signal connected directly to the internal current amplifier.7.25 V = max peak current. See current limit adjustment information below. I/O O SGND O
I
I
7
VELOCITY MONITOR OUT
O
8
CURRENT MONITOR OUT
O
9 10
CURRENT REFERENCE OUT Reserved
O
11 P1 12 13 14
INHIBIT IN
This TTL level input signal turns off all power devices of the "H" bridge when pulled to ground. This inhibit will cause a fault condition and a red LED. For inverted inhibit inputs, see section "G".
I
Reserved Reserved FAULT OUT (LED red) TTL level output. Becomes high during output SC, over and under-voltage, inhibit, and during powerup reset. Fault condition indicated by red LED. For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. Reference ground Connected to P2-15. For customer use Connected to P2-10. For customer use O
15 16 17 18 19 20 21 22 23 24 25
+5 V @ 250 mA OUT SIGNAL GND Controller Power * Controller Signal * Reserved Encoder Channel A Encoder Channel A Encoder Channel B Encoder Channel B Index Index
O SGND I I
Differential encoder output from P2-4. O Differential encoder output from P2-5. Differential encoder output from P2-6. O Differential encoder output from P2-7. Differential encoder output from P2-8 (Not Required). Differential encoder output from P2-9 (Not Required).
O
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B40A40 Series
PIN FUNCTIONS: CONNECTOR PIN 1 2 3 4 5 6 7 8 P2 9 10 11 12 13 NAME HALL 1 HALL 2 HALL 3 Encoder Channel A Encoder Channel A Encoder Channel B Encoder Channel B Index + Index Controller signal * +V HALL 30 mA OUT GND +5V, 250mA OUT Connected to P1-18. For customer use. Power for HALL sensors, short circuit protected, +6 V @ +30 mA For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. Tachometer input, max. 60 VDC, 60K input resistance Connected to P1-17. For Customer Use. Motor phase A connection Motor phase B connection Motor phase C connection Power ground DC power input O O SGND O Differential encoder input I Differential encoder input I DESCRIPTION / NOTES Hall sensor inputs, logic levels, internal 2K pull-up. Maximum low level inputs is 1.5V, minimum high level inputs is 3.5 V I/O
I
Differential encoder input
I
14 15 1 2 P3 3 4 5
TACH Controller Power * Motor A Motor B Motor C POWER GND HIGH VOLTAGE
I O O O O PGND I
NOTES: All circuits on connectors P1 and P2 are optically isolated from all circuits on connector P3. * No Connection internal to amplifier. See block diagram.
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B40A40 Series SWITCH FUNCTIONS: SETTING SWITCH FUNCTION DESCRIPTION Test / Offset. Sensitivity of the "offset" pot. Used as an on-board reference signal in test mode. Current loop gain Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. Loop integrator. This capacitor normally ensures "error-free" operation in velocity mode by reducing the error signal (output of summing amplifier) to zero. MODE SETTING Velocity direction. Changes the polarity of the velocity monitor signal. Current reduction. Reduces continuous current limit by 50%. Integrator capacitor. Adjusts the value of the integrator capacitor in velocity mode. 60/120 degree commutation phasing setting Continuous / peak current limit ratio is 50% Increase 120 degree phasing Continuous / peak current limit ratio is 25% Decrease 60 degree phasing ON OFF
1 2 3
Test Decrease 100%
Offset Increase 50%
4
Shorts out the velocity/voltage loop integrator capacitor
Velocity/voltage loop integrator operating
5 6 7 8 9 10
See chart in the functional block diagram
POTENTIOMETER FUNCTIONS: POTENTIOMETER Pot 1 Pot 2 Pot 3 DESCRIPTION Loop gain adjustment in open loop & velocity modes. Turn this pot fully ccw in current mode. Current limit. It adjusts both continuous and peak current limit while maintaining selected ratio. Reference gain. It adjusts the ratio between input signal and output variables (voltage, current or velocity). Test / Offset. Used to adjust any imbalance in the input signal or in the amplifier. When SW1 (DIP switch) is OFF, the sensitivity of this pot is greatly increased thus it can be used as an on-board signal source for testing purposes. See section "G". TURNING CW Increases loop gain Increases current limit Increases reference input gain
Pot 4
N/A
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B40A40 Series TEST POINTS FOR POTENTIOMETERS: See section "G".
OPERATING MODE SELECTION: These modes can be selected by the DIP switches according to the chart in the functional block diagram. * * * * * Current mode Open loop mode Tachometer mode Hall velocity mode Encoder velocity mode
See section "G" for more information. SET-UP: See section "G" for engineering and installation notes. CURRENT LIMIT ADJUSTMENTS: These amplifiers feature separate peak and continuous current limit adjustments. Pot 2, the current limit potentiometer, adjusts both peak and continuous current limit at the same time. It has 12 active turns plus 1 inactive turn at 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. In many applications it is sufficient to use only the DIP switches for current limit adjustments. SW3 reduces both peak and continuous current limit by 50% when OFF. SW8 reduces only the continuous current limit by 50% when OFF: SW8 ON OFF CONTINUOUS / PEAK CURRENT LIMIT RATIO 50% 25%
P1-9 is the input to the internal current amplifier stage. Since the output current is proportional to P1-9, 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 P1-9. The maximum peak current value equals 7.25 V at this pin and the maximum continuous current value equals 3.63 V at this pin. If SW3=ON, peak rated amplifier current = 7.25 V. If SW3=OFF, 1/2peak rated amplifier current =7.25 V. Example: using the B40A40 with SW3=ON, 40A=7.25V and with SW3=OFF, 20A=7.25V. The actual current can be monitored at pin P1-8.
ORDERING INFORMATION: Models: B40A40X X indicates current revision letter.
TYPICAL SYSTEM WIRING: See section "G".
MOUNTING DIMENSIONS: See page F-15.
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