User Manual BR2303NI-A01-DC080
Contents
1. BR2303NI AO1 DCOS80 Plug n Play Servo System with analog drive brushed motor and cables Continuous 3 1 Ib in 4700 rpm ADVANCED 74 MOTION CONTROLS Thank you for purchasing this QuickStart package QuickStart makes easy to set up Advanced Motion Controls drives to get your system running quickly The drive and motor have been matched with each other the cables are custom made for this system and an interface board simplifies integration with your controller Remember if you need us we are here for you Our goal is to get you up and running as quickly as possible If at any point you have question a team of applications engineers and our customer service staff are just a phone call away We are available weekdays from 8am to 5pm Pacific Time at 805 389 1935 We can also be contacted via email through our website www a m c com go to Contact Us 4 steps to success Getting Started 5 Minute Integrate Going into What s included with QuickStart QuickStart into Production QuickStart and what Lets spin the motor your System Transitioning from to expect Get your machine prototype to working production This manual has been laid out in four sections to guide you through the process of setting up and integrating your QuickStart system By following each step in succession you will first be introduced to QuickStart then hook up the system for a simple bench test an2. SWITCH FUNCTION DESCRIPTION It is recommended to leave SW2 in OFF SE T porran Current loop 2 Sp loop integrator position integrator operating capacitor This capacitor normally ensures error free Shorts out the outer operation by reducing the error signal output of velocity voltage loop summing amplifier to zero integrator capacitor Offset test Controls sensitivity of the offset 4 pot Used as an on board reference signal in Test Offset test mode POTENTIOMETER FUNCTIONS Velocity Voltage integrator operating POTENTIOMETER DESCRIPTION TURNING CW CW Pot 1 Loop gain adjustment in voltage amp velocity modes Turn this pot Increases loop fully ccw in current mode gain Current limit It adjusts both continuous and peak current limit by Increases current ns 2 ER Dee NEE EN their ratio 50 96 limit Reference gain It adjusts the ratio between input signal and Pot 3 reference input output variables voltage current or velocity gain Offset test Used to adjust any imbalance in the input signal or in the amplifier When SW4 DIP switch is ON 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 Pot 4 N A A 8 25 Series TEST POINTS FOR POTENTIOMETERS See section G SET UP See section for engineering and installation notes OPERATING MODE SELECTION
3. idler shaft that is supported by pillow block bearings or similar Then the load can be coupled to the idler shaft without risking damage to the motor bearings 11 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ar ck 5 3b Configuration Integrate QuickStart into your System Configuration 12A8 Capabilities Mode Category Mode Name Torque Current Velocity Estimation Voltage Voltage Mode does not use direct feedback to close the velocity loop therefore it can t be considered a true velocity mode This mode produces velocity that is roughly proportional to the input command but is not as precise as using a Tachometer or Encoder The correct mode is determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Advanced Motion Controls Analog Servo Drives are configured using Switches and Potentiometers There is no software to download or configure The basic setup of these servo drives is straight forward and user friendly These instructions will walk you through the steps necessary to configure your drive to your system gt Configure the drive mode e Torqu
4. the velocity and position loops The correct mode is determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Once the command signal and mode have been selected connect the controller to the signals as indicated in the above tables The proper gains and command settings must also be configured This will be explained later in the configuration section Drive I nhibit recommended The inhibit line is used to turn off power to the motor while the drive is still powered on Sometimes this is necessary if power to the motor needs to be removed quickly or if the user needs to manually move the load in a freewheeling condition If your controller has an inhibit function then we highly recommend that you use it Inhibit Connection Controller SIB Inhibit C3 11 Inhibit Note The inhibit input is configured to disable the drive when pulled low active low Drive Mounting Mounting Dimensions can be found in the drive datasheet in the Appendix The drive can be mounted flat against the base plate or along the spine Mounting the drive flat on the base plate against a large thermally conductive surface for cooling will provide the most natural heat dissipation for the drive A met
5. current value equals 7 25 V at this pin and the maximum continuous current value equals 3 63 V at this pin The actual current can be monitored at pin P1 8 The continuous current can be reduced without affecting the peak current limit by connecting an external current limiting resistor R Imt between P1 10 and P1 2 See table below TYPICAL SYSTEM WIRING See section G A 9 25 Series ORDERING INFORMATION Models 12A8X 25A8X 20A14X and 20A20X X indicates the current revision letter MOUNTING DIMENSIONS See page F 7 A 10 Mounting Dimensions uud 03A0 ddY_NOIS3L WW NI SAV E J NE SNOISNAWIO 3LON WS TEE d i S3IY3S VSICA ON 9Ad 8 5O3H2 531435 VGIH 41435 2 vel Ee o 5318435 SNOISNAWIC DNTLNADIA M NETT N 21466 92 ONADUBD 290331 2110 5086 500 Xxx SUSISNIANV 5 DU XX STONLNOI NDLLOIN S33NN2GTTUL TIINVAIV an 96 22 80 d 80681660 9 0110 0 v tT 62620605 8S 22c1128 v OZ LITIE p SE EIETO yb 2101 0 X2 2 OTITr 0 da 120 9109 6 061861 8 9 186 2 F 7 Quick Start Motor MBR2303NI BRUSHLESS SERVO MOTOR FEATURES 2 25 Inch Size 23 Motor Continuous Torques up to 50 oz in Speeds up to 4700 rpm Voltage Rating up to 60 Vdc 10 Lb Radial Load 1 2 from Front Face SPECIFI
6. ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds Available Signal Ground Locations on the SIB Controller SIB C3 2 SGND C3 7 Tach GND Signal Ground Command Signal Command signal and mode selection are dictated by the capabilities of your controller and the desired operation of your system Analog 10V command signals are suited for torque and velocity modes 10V Command Signal Single Ended Available Drive Modes Torque Mode ee Velocity Mode 10V Command Signal Differential Available Drive Modes C3 4 Ref Torque Mode C3 5 Ref Velocity Mode More Information on Mode Selection Drive modes can be separated into three basic categories Torque Velocity and Position The name of the mode describes what servo loops are being closed in the drive They don t describe the end result of the operation For example a drive in Torque mode can still be 9 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com CN 3 a Wiring 2 Integrate QuickStart into your System in a positioning application if the external controller closes the position loop In fact most high performance positioning systems use a drive in torque mode with the controller closing
7. nhibit Line Test optional Follow this step only if you installed the inhibit switch described in the wiring section on page 6 This is to verify that the optional inhibit switch is functioning and the drive is initially powered up in a disabled state 1 Disconnect the motor power by unplugging the white connector on CBL P01 10 Unplugging this connection allows you to power up the system without the possibility of spinning the motor 2 Apply power to the drive Toggle the inhibit switch and verify that you can cause the LED color to change from Red to Green Set the switch so the LED is Red 3 Remove power from the drive and reconnect the white connector on CBL P01 10 Power Up Apply power to the drive If an inhibit switch has been installed enable the drive by toggling the inhibit switch so the LED turns Green 2 The motor should turn at a smooth controlled speed 3 If the motor turns then the system has been hooked up correctly Remove power and continue to the next section If not then go to Troubleshooting 4 To stop the motor from turning turn the Test Offset switch SW4 to the OFF position Then use the offset pot Pot 4 to set the speed to zero Troubleshooting LED not lit Verify that power has been applied to the drive Motor doesn t have holding torque Verify that the LED is Green Verify all cables are connected LED doesn t turn Green If an Inhibit Switch has been installed toggle the Inhibi
8. the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Now turn the pot in the CW direction the number of turns indicated in the Mode Selection Table Gain Setting The gain of the drive amps out volts in can be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot to the full clockwise position results in a gain of roughly 75 A V Turning the pot counter clockwise reduces the gain down to a minimum of zero 13 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ar ck W 3b Configuration Velocity Mode I ntegrate QuickStart into your System Velocity Mode Configuration Velocity mode controls the motor such that the motor velocity is proportional to the input command The gain can be expressed as output velocity input command Common units are rpm V and counts per second V Since velocity mode in this system doesn t use direct feedback performance isn t as accurate as a true velocity mode Voltage Mode This mode does not use any feedback to determine velocity Velocity is estimated by measuring the voltage across the motor terminals Since motor voltage is proportional to the speed the velocity can be controlled The Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuratio
9. 165 5 25 Series DESCRIPTION The 25 Series PWM servo amplifiers are designed to drive brush type DC motors at high switching frequency A single red green LED indicates operating status All models are fully protected against over voltage over current over heating and short circuits across motor ground and power leads All models interface with digital controllers or can be used as a stand alone drive They require only a single unregulated DC power supply 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 SWA DIP switch is ON SPECIFICATIONS MODELS POWER STAGE SPECIFICATIONS 128 25 20A14 DC SUPPLY VOLTAGE 20 80V 20 80V 40 140V 40 190 V PEAK CURRENT 2 sec Max internally limited MAXIMUM CONTINUOUS CURRENT internally limited MINIMUM LOAD INDUCTANCE HEATSINK BASE TEMPERATURE RANGE POWER DISSIPATION AT CONTINUOUS CURRENT 24 W 100 W OVER VOLTAGE SHUT DOWN self reset 86 V 195 V BANDWIDTH dependen MECHANICAL SPECIFICATIONS 5 09 x 2 98 x 0 99 inches SE 129 3 x 75 8 x 25 1 mm 10 oz WEIGHT 0 28 kg Low inductance motors pancake and basket wound require external inductors A 6 25 Series PIN FUNCTIONS CONNECTOR DESCRIPTION NOTES 5V OUT EN SIGNAL GND Internal DC to DC converter outputs regulated voltages of G
10. CATIONS CONTINUOUS TORQUE Nm oz in PEAK TORQUE SPEED RATED VOLTAGE RPM 4700 RATED VOLTAGE o CONTINUOUS CURRENT PEAK CURRENT TORQUE CONSTANT VOLTAGE CONSTANT RESISTANCE INDUCTNACE INERTIA WEIGHT 2 195 THRU 4 HOLES MOTOR BRUSH TABS 2 EQ SPACED AS SHOWN ON A 187 x 020 wi 18 LEADWIRES 2 625 FRONT FLANGE 4 40 UNC 2B x 20 DEEP MIN 2 EQ SPACED AS SHOWN ON A 1 812 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Quick Start Cable CBL D01 DRIVE CABLE WIRING SPECIFICATIONS CABLE CBL D01 E Wiring Scheme Function Wire Color Single Wire SGND black Single Wire TACH IN black white Single Wire red Single Wire Current Monitor red black Single Wire Variable blue Single Wire Variable blue white Single Wire Variable purple Single Wire Variable urple white qmm Wire TEE 2 SEH P N 22 01 3167 Housing Terminals Single Wire Variable orange white P N 748677 2 P N 08 50 0114 Single Wire Variable brown Terminals Single Wire Variable brown white P N 748333 4 REF OUT yellow REF OUT yellow black REF IN green REF IN green white Shield Shield NOTE For cables with only twisted pairs single wires can be paired with other single or unused wires Creating a twisted pair from these two wires is recommended for brushless applications B 26 Pin AMP D SUB Plug A 16 Pin Molex C
11. ND 5 V 3 mA for customer use Short circuit protected 5V OUT REF IN Differential analog input maximum 15 V 50K input REF IN resistance TACH IN Maximum 60 VDC 60K input resistance TACH GND CURRENT This signal is proportional to the actual current in the MONITOR OUT motor leads Scaling is 2A V for 12A8 and 4 A V for 25A8 20A14 and 20A20 Command signal to the internal current loop The CURRENT maximum peak current rating of the amplifier always REFERENCE OUT equals 7 25V at this pin See current limit adjustment information below CONTINUOUS Can be used to reduce the factory preset maximum CURRENT LIMIT continuous current limit Disables the amplifier for the direction only This INHIBIT inhibit will not cause a FAULT condition or a red LED Disables the amplifier for the direction only This INHIBIT inhibit will not cause a FAULT condition or a red LED TTL compatible output It becomes high during output FAULT OUT short circuit over voltage over heating inhibit and during red LED power on reset Fault condition indicated by a red LED Not connected M erm enaner This TTL level input signal turns off all four power devices of the H bridge drive when pulled to ground This inhibit INHIBIT will cause a FAULT condition and a red LED For inverted inhibit inputs see section G A 7 25 Series SWITCH FUNCTIONS
12. These modes can be selected by the DIP switches according to the chart in the functional block diagram Current Mode Voltage Mode IR Compensation Mode Tachometer Mode APPLICATION NOTES For IR compensation mode a resistor must be added to location R8 See the functional block diagram above and section G for more information The combination of the resistor addition and the switches set for voltage mode will configure the amplifier for IR compensation mode See section G for more information See section G for more information on analog position loop mode CURRENT LIMIT ADJUSTMENTS These amplifiers feature separate peak and continuous current limit adjustments The current limit adjusting Pot 2 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 fully counter clockwise then turn clockwise to the appropriate value If the desired limit is for example 10 amperes and the servo amplifier peak current is 20 amperes turn the potentiometer 7 turns clockwise from the fully counter clockwise position Pin 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 Note that a command signal must be applied to the reference inputs to obtain a reading on P1 9 The maximum peak
13. al back plane in a cabinet on the machine often makes a good surface Drives mounted on the spine can be mounted next to each other Maintain a minimum separation of 1 inch between drives to provide adequate convection cooling Note Additional cooling may be necessary to dissipate the heat generated by the drive depending on ambient temperatures duty cycle and natural ventilation Motor Mounting Mounting Dimensions can be found in the motor datasheet in the Appendix The mounting surface must be stiff enough so it does not deflect when radial loads are applied to the motor shaft The mounting surface should also have good thermal conductivity especially if peak performance is demanded of the motor 10 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com A kSta e a ar Wiring 7 Integrate QuickStart into your System SIB Mounting Mounting Dimensions can be found in the SIB datasheet in the Appendix The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix Contact If using the mounting holes standoffs must be used to keep the bottom of the SIB from shorting with the mounting surface Cable Routing Cable Datasheets can be found in the Appendix QuickStart cables come with excellent shielding and make proper grounding easy This makes proper cable routing less critical however proper routing
14. and 11 on the Interface Board This switch disables power to the motor until you are ready Opening the switch Enables the drive closing the switch Disables the drive Cautions Unexpected motion To avoid the motor from jumping unexpectedly and causing damage the motor should be secured either with clamps or bolted down using its mounting holes ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 5 Minute QuickStart BR2303NI A01 DC080 User Power Cables and Connections 20 80VDC USER SUPPLIED CONTROLLER 12A8 Stand PC Based Controller PLC Controller USER INTERFACE e Do not ground both this wire and the motor case Grounding both will cause a ground loop Choose one or the other CBL D01 N CBL P01 10 System Interface Board SIB SE Ground Bring all ground connections to a central point or common plane that has solid contact with Earth ground Caution The motor will move on initial power up See the manual to remove offset Note Actual cables are longer than they appear in these images MBR2303NI ADVANCED 74 MOTION CONTROLS 7 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 21 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 o 5 Minute QuickStart I
15. d N m w O N m gt H Ui m So 2 ER co a m N E 5 o 72 2 N User Access m SGND Encoder 5V Encoder Encoder Channel A Encoder Channel A Encoder Channel B N Hd N N N w N Encoder Channel Encoder Channel 1 Encoder Channel 1 N Ui N ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com
16. d then integrate QuickStart into your machine and finally transition into the production stage A ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 ey 2 Getting Started BR2303NI A01 DC080 What to Expect What QuickStart QuickStart is a system offering including a drive a motor all necessary cables and an interface board with screw terminal connections all in one box ready for fast delivery What purpose does QuickStart serve QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and provide a positive first experience Why is Advanced Motion Controls offering a QuickStart package We realize that many OEMs today are faced with trying to get their machinery to market using the fastest possible methods Our solution is to provide a means by which motion control can be quickly proven How does QuickStart benefit potential customers QuickStart is designed to make system prototyping easier to include Advanced Motion Controls servo drives The attraction to OEM s is a savings of time money and the personnel needed to move from conception to production Upon receipt everything will plug in and operate within 5 minutes All systems are initially configured in velocity or voltage mode to turn the motor shaft at 30 20 rpm This is an indication that when put together it works out of
17. e Mode page 13 e Velocity Mode page 14 o Voltage 12 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ar ck W 3b Configuration Torque Mode I ntegrate QuickStart into your System Torque Mode Configuration The terms Torque Mode and Current Mode are synonymous They can be interchanged and you may see either of these terms throughout this document and other motion control documents The Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuration Mode Selection Table Torque Mode SW1 Off SW2 Off Switches SW3 On SV A Off Loop Gain Full CCW Pots Pot2 Current Limit 8 4 turns Pot3 Reference Gain Full CW Pot4 Offset Set for no torque Current Limit with these settings 3 7A continuous 7 4A peak Potentiometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turn the pot CCW until
18. er Manual Brochure with CD ROM Additional Requirements Item Notes Power Supply Requirements e Output voltage between 20 80VDC e Current output of 6A continuous e Isolation transformer between the AC input and DC output Selected AMC Power supplies 1 choice PS16L60 PS16L72 PS16L80 274 choice PS300W48 PS300W72 PS16L40 Note Power Supplies with voltages lower than 60VDC will be speed limited Speed Supply Voltage 7 4 11 1000 Since this package does not come with feedback an Feedback additional encoder or tachometer must be installed for precise position or velocity control Controller 10V command signal 4 d ADVANCED MOTION CONTROLS Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 o 5 Minute QuickStart Let s spin the motor This quick setup procedure will get the motor moving in a short amount of time without the need for a controller The drive has been pre configured in voltage mode with a slight offset This will turn the motor at a slow steady speed on power up to demonstrate operation Once the system is shown to be operational the next section Integrating QuickStart into your System will guide you through the process of integrating the system into your application Wiring On page 7 you will find the cables and connections sheet Use this as a reference when followin
19. g the steps in this section Drive Connect cable CBL DO1 to the P1 connector on the drive Connect the other end to the C2 connector on the system interface board SIB Motor Connect the white connector on the motor to the corresponding connector on cable CBL 01 10 Connect the red and black wires to the P2 connector on the drive Black Motor P2 1 Red Motor P2 2 System Power With the power supply turned OFF connect the main power supply to the drive REVERSING THE POLARITY WILL DESTROY THE DRIVE High Voltage goes to P2 5 and ground goes to P2 4 Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case Motor Ground The green wire coming from motor power cable is the motor chassis ground If the motor is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 y 5 Minute QuickStart Inhibit Switch optional for this section An inhibit switch not included can be connected between pins 9
20. good starting point However once the drive is in the system the loop gain will need to be adjusted to match the system dynamics To adjust the Loop Gain e Turn the Loop Gain pot to the full counterclockwise position e Enable the drive e Turn the Loop Gain pot clockwise e When the system begins to make a loud buzzing noise turn the pot in the counterclockwise direction until the buzzing stops e Turn the pot one more turn in the counter clockwise position Reference Gain Pot 3 The gain of the drive velocity out volts in can be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot clockwise increases the gain while turning the pot counter clockwise decreases the gain 15 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 4 ar ck 5 Going into Production Prototype to Production Once you have completed your proof of concept you will be ready to design for production If you decide that the QuickStart drive and motor are perfect for you then you re in luck Both are popular off the shelf items that are readily available Drives can be ordered directly from us and we can put you in touch with the appropriate motor supplier If your servo system requires a drive that better fits your application such as e Additional features e Different power range e Smaller size e Different form factor such as plug
21. in style drives e Network connectivity Then our applications engineers can help optimize your system by selecting the best drive for your needs You will also be in contact with a local representative to help you with the selection of motors and other system components such as cables gear boxes slides bearings and more Feedback Your feedback is important to us Your comments can make QuickStart better and help us improve our processes technical support customer support and product offering Please go to www m c com feedback html 16 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 5 o Appendix Appendix A System Specifications B Drive Motor D Cables E System Interface Board ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com A ckStan A 17 System Specifications System Specifications Torque peak 6 88 Ib in 0 777 Torque continuous 3 13 Ib in 0 35 Nm Velocity Maximum 4700 Supply Voltage 20 80VDC Encoder Resolution NA this package does not come with an encoder BR2303NI A01 D C080 Speed Torque Curve 8 7 B Se 2 4 F3 2 1 0 1000 2000 3000 Speed rpm o ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarill
22. n Mode Selection Table Voltage Mode SW1 On SW2 Off Switches SW3 Off SW4 Off 1 Loop Gain 11 turns Pots Pot2 Current Limit 8 4 turns Pot3 Reference Gain Full CW Pot4 Offset Set for no torque Current Limit with these settings 3 7A continuous 7 4A peak Potentiometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turn the pot CCW until the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Now turn the pot in the CW direction the number of turns indicated in the Mode Selection Table Continued 14 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ar ck W 3b Configuration Velocity Mode I ntegrate QuickStart into your System Loop Gain Pot 1 In Velocity Mode the loop gain increases the responsiveness of the system The loop gain settings in the mode selection table are a
23. o CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 25 Series SERIES 25A SERVO AMPLIFIERS Models 12A8 25 8 20A14 20A20 Miniature Series E FEATURES ADVANCED amun MOTION CONTROLS Surface mount technology cer mesos Small size low cost ease of use EC 52222 e switch selectable current voltage SERVO E LC 1 ret velocity analog position loop 2277 e Four quadrant regenerative operation e Agency Approvals us CE BLOCK DIAGRAM C m VOL 5 25A SERIES FUNCTIONAL BLOCK DIAGRAM CURRENT REFERENCE VELOCITY INTEGRATOR CS OUTPUT CURRENT LOOP MMBT2222 GAIN INTEGRATOR R30 C10 nc DN REF IN GAIN HIGH VOLTAGE POWER GROUND CONTROL MOSFET LOGIC DRIVE Fe SENSE VOLTAGE SENSE ALL 45 GROUNDS ARE INTERNALLY CONNECTED CURRENT MONITOR MODE SELECTION TABLE LED GREEN NORMAL OPERATION LED RED FAULT CURRENT MODE OFF orF on RECOMMENDED SETTING FOR CURRENT MODE FULLY POT3 FULLY CH AMPLIFIERS ARE SHIPPED IN CURRENT MODE WITH MAXIMUM CURRENT SETTINGS IR COMPENSATION OM OFF OFF FOR OTHER SWITCH FUNCTIONS SEE SWITCH DESCRIPTION OPTIONAL USER INSTALLED THROUGH HOLE COMPONENT SW2 SHOULD BE OFF FOR MOST APPLICATIONS 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1
24. onnector Twisted Pair Twisted Pair DIAGRAM Connector A Connector B Ha Single Wires Single Wires Twisted Pairs Twisted Pairs l Grounding Shell LI II I Il 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Quick Start Cable CBL P01 10 POWER CABLE WIRING SPECIFICATIONS CABLE CBL P01 10 E E Wiring Scheme Function Wire Color A 4 Pin Molex Single Wire Connector Terminals Single Wire P N 39 01 3043 Single Wire P N 39 00 0081 Shield DIAGRAM Connector A Single Wires Flying Leads 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 System Interface Board SI B gt Jr 123 45 6 7 8 9 1011412 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Dimensions 72mm x 72mm C1 Connector 15 pin to motor C2 Connector 26 pin to drive C3 Connector 26 pin user interface C3 Pin Functions Pin Function ES mA C1 15 Pin Dsub SGND 1 Shell NI HD Female MEA ss NI 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Ref In Ref In Tach In Tach Gnd Curr Mon Out Curr Ref Out Cont Curr Lim Inhibit Inhibit Inhibit Fault Out NC NC ps Joo gt Hd H
25. practices should still be followed Route cables to minimize length and minimize exposure to noise sources The motor power wires are a major source of noise and the motor feedback wires are susceptible to receiving noise This is why it is never a good practice to route the motor power wires close to the motor feedback wires even if they are shielded Although both of these cables originate at the amplifier and terminate at the motor try to find separate paths that maintain distance between the two A rule of thumb for the minimum distance between these wires is 1cm for every 1m of cable length Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case Motor Ground The green wire coming from motor power cable grounds the motor chassis If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other Load Coupling A non rigid coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads or misalignment If you feel that the radial load on the motor is excessive you may want to consider connecting the motor to an
26. t switch Motor doesn t turn but has holding Turn Pot 4 Test Offset in either direction This will torque change the amount of offset in the drive Contact Factory f you can t get the motor turning within a few minutes please call and ask for technical support 805 389 1935 We want to get you up and running quickly ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ER 3a Wiring 2 Integrate QuickStart into your System The following instructions are a continuation of the 5 Minute QuickStart This section explains controller wiring drive configuration drive mounting motor mounting SIB mounting and load coupling Signal Ground Almost all signals between the drive and the controller are referenced to signal ground Without this reference the drive and the controller would not be able to transmit signals to each other To ensure that the signals between the drive and the controller are referenced to the same potential the signal grounds on the controller and the drive must be connected together This is especially important for e Single ended command signals e Inhibit line e Other inputs and outputs You will need to identify the signal ground on your controller and connect it to the signal ground on the drive For your convenience the Signal Ground is accessible at two locations on the SIB However to avoid
27. the box No pots to tweak or software to configure Are the motors in the QuickStart program available for individual resale Quite simply not from Advanced Motion Controls The motors in these packages are meant to represent what is commonly available from many different manufacturers Your local Advanced Motion Controls representative can handle requests for motor model information for additional purchases How is QuickStart pricing important to me Careful selection of systems incorporate popular Advanced Motion Control s drives in order to maximize exposure and minimize costs What other considerations should you know about QuickStart Although it will be hard to find easy to configure systems like these at lower prices anywhere QuickStart isn t intended for multiple pre packaged system selling Initial exposure to Advanced Motion Controls drives is the key Each project will be followed up by our Sales department to determine overall progress and assist in determining the next step ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 Getting Started Package Contents m A O Brushed Servo Drive 12 8 O Brushed 34 Motor MBR2303NI O Screw Terminal Board SIB System Interface Board O Motor Power Cable 10 foot CBL P01 10 O Drive Cable 1 5 foot CBL DO1 Quick Connect Sheet L1 Documentation Us
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