Home

BA-SINEDRIVE

Contents

1. e wanz 250 5 cio oS O000000000000 in ira 83 af 000000000000 my Z 5 x O lt a Lu ri Q a Q gt lt x 5 SE a z Zis Da a co a vovov 3 XO g 0000 Oa A ge 25 O O of Lu we Z Z D LZ s Bee al gt 3 E a taot Mo Q Lo A 0000000000000 a as 000000000000 lt 4 lt 4 Metal Panel Preferred mounting for better heat dissipation Figure 5 21 Preferred Mounting of BAS Amplifiers 10 20 30 50 5 6 2 Mounting Procedures for the BAS 75 100 To ensure proper heat dissipation Aerotech recommends the following procedures 1 Use the mounting procedure shown in Figure 5 22 The wider part of the amp should be mounted to the heat sink Heat sink should be at least 2 feet x0 25 inch thick minimum The heat sink should be free of paint or any other thermal barrier The heat sink must be flat to allow good thermal conductivity between the heat sink and the amplifier If possible add a thermal conductivity enhancer i e thermal grease between the heat sink and the amplifier Adding an external fan already included in the BAS 100 will remove a considerable amount of heat from the heat sink and allow the amplifier to operate at a much cooler temperature 5 22 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details AUXILIARY PWRINPUT EE PWR INPUT HI Lo G 1 A li iT gt MTR B EXT SHUNT
2. eeceesceceerceesceceseeeeeecenreeeeeees 1 3 1 5 Hardware Overview and Function cescesceesseceeeeeeseeceeneeenaeeeeneees 1 6 1 5 1 Motor and AC Power Connections ceceeeeeeeseeceeeeeeneeees 1 7 15 1 1 BAS 10 20 30 mirip e nesep o 1 7 15 1 2 BAS 50 75 100 miini sneseno 1 8 1 5 2 Fusing and Inrush Limiting seseseeseeeeeeeeeseereererrsrreresrreresen 1 9 1 5 2 1 BAS 10 20 30 iieri sisisi rens 1 9 15 22 BASSOFT5 TOO n eten naas 1 10 1 5 3 20 80 Volt Option BAS 10 20 30 seses 1 11 L34 COM Port cocci seine ei ini pe tee teats ere a 1 12 1 5 5 LED Status Indicators sis sicscedsicesscssosssacesseeviessoeteressveetsvesas 1 12 1 6 Safety Procedures and Warnings 0 cecescesecesecssecseeeeeeseeeeeeeeeees 1 13 CHAPTER 2 CONFIGURATION AND COMMUNICATION uo 2 1 2 1 Introd nisn dos kaa siv a kob e sete ap kek tats E Aree once been 2 1 2 2 BAS Control Board Jumper Selections 000 0 eee eee csecseeeneeeees 2 1 2 3 BAS Communications Modes eescessssceecceceseceeneeceeeeeeeecseeeeaters 2 2 2 4 Meinl COMMANAS egesi eiie e R N E OR 2 3 24 1 C Change Parameter enirere ei e oE 2 3 2 4 2 D Display Tracking Information ccc eeeceeneeeeeeeeenees 2 4 2 5 E Display Error Message cece eseesseeseeeecesseesecesecesecssecnseenaeaee 2 6 212 BAS Faults svc ei weed nes Svea ston ent NRE 2 6 2 5 1 1 Invalid Hall Sequence r rrrreeerr
3. Connected Figure 1 3 BAS MMI Main Screen The BAS MMI interface is a graphical interface that allows the user to quickly view all the parameters available on the SineDrive and make any adjustments that are required The parameters on the system are divided up by type Select the button on the left for the type of parameters that you wish to view edit Also available on this sub menu is a diagnostic utility and a setup utility for airing in configuring the unit The Online Help file selectable from the Help menu contains more information on these utilities To view the maximum and minimum value for any parameter place the mouse pointer over the name of the parameter and the name will become highlighted Click and hold the left mouse button to see the parameter range Releasing the mouse button will hide the range i 2 Input command offset fo Input Offset 13 Phas Max 500000 offset Minm 500000 Figure 1 4 Parameter Screen 1 4 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction To view more information about a parameter such as the purpose of a parameter or the units associated with a parameter click on the right mouse button while the parameter name is highlighted Ta Parameter Info x is the number of echanical revolution uld be 1 for line Figure 1 5 Parameter Information Version 1 5 Aerotech Inc 1 5 Introduction BA SineDrive User s Manual
4. 1 5 Hardware Overview and Function The BA SineDrive consists of two power connections motor power and input power two LED indicator lamps and three D style connectors Refer to Figure 1 6 and Figure 1 7 for locations AC Power Connections LED Status Indicators COM Port P2 O Port P1 Effects Port P3 Figure 1 6 BA SineDrive Hardware 10 20 30 AC Power Motor Connections O Port P1 Figure 1 7 BA SineDrive Hardware 50 75 100 1 6 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction 1 5 1 Motor and AC Power Connections 1 5 1 1 BAS 10 20 30 For the BAS10 20 and 30 AC power is applied to the BAS through the AC receptacle located on the front of the unit The power cord is similar to the type used with personal computers The motor connection is made through the terminal strip located on the front of the BAS This connector contains the motor connections along with the earth ground connection Motor Connection AC Power 110VAC or 220VAC Figure 1 8 Motor and AC Power Connections 10 20 30 Models Version 1 5 Aerotech Inc 1 7 Introduction BA SineDrive User s Manual 1 5 1 2 BAS 50 75 100 AC power is applied to the BAS through the terminal strip on the front of the unit The motor connections and earth ground connections are also made through the terminal strip located on the front of the BAS Auxiliary Power Inp
5. AC1 AC2 115 230 VAC AMPLIFIER O 5 A B O c e e LIG A It is not recommended that a single supply connection be used for the BAS75 and BAS100 amplifiers EARTH GROUND Figure 5 7 Isolation Transformer Connection BAS50 75 100 eliminates torque disturbance Version 1 5 Aerotech Inc 5 7 Technical Details BA SineDrive User s Manual 5 2 3 COM Port The COM port is a standard 9 pin D style connector located on the front of the BAS refer to Figure 5 1 It consists of two signal lines transmit TXD and receive RXD a ground shield and a 5V power supply line used to power the Aerotech Hand held Terminal HHT Table 5 1 contains the connector pinouts The BAS is configured as Data Terminal Equipment DTE therefore a NULL MODEM cable is required to connect to the PC This swaps pins 2 and 3 for proper communication Table 5 1 COM Port Pinouts Pins Function 1 Shield 2 Receive RXD 3 Transmit TXD 4 6 7 8 NC 5 Ground GND 9 5 V The 5 Volt connection on COM port is for the hand held terminal and is a non standard connection The baud rate is 9 600 no parity one stop bit 5 2 4 LED Status Indicators The BAS contains two LED s located on the front of the unit that indicate the fault status of the unit refer to Figure 5 1 One of the LED s indicates if power is applied to the unit the second indicates the status of the a
6. DANGER eG HIGH VOLTAGE gt INEDRIVE active Le ki en li BAS100 BAS75 ENABLE O v DRIVE COMPONENTS DIVISION 2 P3 ENC O AEROTECH INC PITTSBURGH PA USA PN VIS ROD4 BODAR tPA Y Ana 600 babe FOOYHOAGOOd ba Q Metal Panel Preferred mounting for better heat dissipation Figure 5 22 Preferred Mounting of BAS Amplifiers 75 100 vVvv Version 1 5 Aerotech Inc 5 23 Technical Details BA SineDrive User s Manual 5 24 Aerotech Inc Version 1 5 BA SineDrive User s Manual Troubleshooting CHAPTER 6 TROUBLESHOOTING In This Section e Amplifier Related Problems eeererree 6 1 6 1 Amplifier Related Problems This section covers symptoms probable causes and solutions related to the BAS amplifier operation Table 6 1 lists the most common symptoms of irregular operation and the possible causes and solutions for these faults Before performing the tests described in Table 6 1 be aware that lethal voltages exist on the amplifier s PC board and at the input and output power connections A qualified service technician or electrician should perform these tests DANGER Table 6 1 Amplifier Faults Causes and Solutions Symptom Possible Cause and Solution Receive a BAS not connected 1 The BAS is not on Turn on the BAS and click the 9 button error when the MMI software If this does not work exit
7. n se 5 15 Figure 5 16 Motor Phase Voltage Observation Scheme eee eeeeeeeeeeeeees 5 17 Figure 5 17 Encoder Phase Voltage Observation Scheme eeeeeeeseeeseeeeee 5 17 Figure 5 18 BAS Amplifier Dimensions 10 20 30 0 eee eeeeeeeeeeeeesecesecneees 5 19 Figure 5 19 BAS Amplifier Dimensions 50 75 100 00 cece eeeeeseceseceeeeeeeeeeees 5 20 Figure 5 20 BAS Amp Top View Preferred Mounting 10 20 30 50 5 21 Figure 5 21 Preferred Mounting of BAS Amplifiers 10 20 30 50 ee 5 22 Figure 5 22 Preferred Mounting of BAS Amplifiers 75 100 eee 5 23 VvV V Version 1 5 Aerotech Inc vii List of Figures BA SineDrive User s Manual Vili Aerotech Inc Version 1 5 BA SineDrive User s Manual LIST OF TABLES Table 1 1 COM Port Pmouts 3 lt 02 bace c88 AG Saves vii cau eb UA knees 1 12 Table 2 1 Power Board Jumper Selections 00 0 0 ee eeeecceeceesceseceecesecsseeaeenes 2 1 Table 2 2 Control Board Jumper Selections 0 0 eee ceeceecesecesecesecnseeneeeneeeaes 2 1 Table 2 3 Bit Patterns sss so k eee eA a on do enben detire a Niu see tendons teas 2 5 Table 3 1 Settings for Proportional Velocity Gain PRM 1 sesser 3 2 Table 3 2 Settings for Integral Velocity Gain PRM 2 woo eeeee eects eeeeee 3 2 Table 3 3 Settings for Electronic Tach PRM23 0 eee eceeseesseeeeceseceseenseceeeaee 3 2 Table 3 4 Settings for Encoder Resolution PRM 4 0 0 eee eeeeeeeeeeeeceseeee
8. 3 2 7 PRM 7 Initialization Current INIT CURRENT 3 5 3 2 8 PRM 8 Velocity Loop Update Rate UPDATE 3 6 3 2 9 PRM 9 Low Pass Filter Enable FILTER vvrrreerroree 3 6 3 2 10 PRM 10 Filter Cutoff CUT FREQ vvrrrrevrrororerosoonn 3 7 3 2 11 PRM 11 Commutation Phase Offset PHASE OFF 3 7 3 2 12 PRM 12 Input Command Offset CMD OFF 3 8 3 2 13 PRM 13 14 Current Offset Adjustment IA OFFSET IB OFFSET 06 eae ee siyen sea Yok new sede yd eok 3 8 3 2 14 PRM 15 Servo Peak Current Limit CURR LIMIT 3 9 3 2 15 PRM 16 Servo RMS Limit RMS LIMIT eeevvrrrrereres 3 9 3 2 16 PRM 17 Servo RMS Current Timeout RMS TIME 3 10 3 2 17 PRM 18 Servo Velocity Trap VELERRLMT 3 10 3 2 18 PRM 19 Integral Clamp INT CLAMP ceeeeeeeeeeeee 3 11 3 2 19 PRM 20 Operating Mode MODE eee eeeeeeee 3 11 3 2 20 PRM 21 Thermistor Polarity THERM POL 3 12 3 2 21 PRM 22 Enable Polarity ENABLEPOL 3 13 3 2 22 PRM 23 Fault Output Polarity FAULT POL 3 13 3 2 23 PRM 24 Encoder Polarity Enc Mult eeeeeeeeeeeoee 3 14 MODE OF OPERATION AND TUNING ccccccssceeseesteeeeees 4 1 Tint dC OM e ra dan aaa e nin kra kode De anl oan tise 4 1 Velocity and Current Mode Li 2Lireeeeooeoorooeooenoonnoonaosnnosaaoosooonn 4 2 4 2 1 Current
9. When an error occurs during operation an error message will be generated Errors can occur from velocity error faults amplifier faults or any other external fault To display these error messages the error message selection should be chosen from the menu Refer to Figure 2 6 ERROR INVALID HALL SEQUENCE ANY KEY TO CONTINUE F1 ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAI ONLY FO ABORT MOTION BAT BAI BAS DISPLAY WINDOW Figure 2 6 Display Error Message Screen 2 5 1 BAS Faults The BAS continually monitors different aspects of the amp motor encoder control every Ims for fault conditions The possible fault conditions are listed below 2 5 1 1 Invalid Hall Sequence There are two invalid hall states that will cause the BAS to fault They are the 000 and 111 states The 111 state can occur if the encoder is not plugged into the BAS encoder port When initializing without halls the BAS will ignore this fault 2 5 1 2 RMS Current Error PRM 16 and 17 will set the RMS fault threshold The BAS uses averaging to monitor the current command during operation If the current command stays above the threshold too long the amplifier will fault 2 5 1 3 Velocity Error PRM 18 sets the max allowable velocity error before a fault occurs 2 6 Aerotech Inc Version 1 5 BA SineDrive User s Manual Configuration and Communication 2 5 1 4 Encoder Fault This fault will occur if an encoder is not prese
10. ieee eeeeeeeeeeeeeeteeneees 3 13 Table 3 23 Settings for Fault Output Polarity PRM 23 u ieeeveeeeeroereorononans 3 13 Table 3 24 Settings for Encoder Polarity PRM 24 ooo eee eseeeeeereeeeeeeeees 3 14 Table 5 1 COM Port PMOUts soc ve k ene taa rai syon ye S dos tee R eke 5 8 Table 5 2 I O Connector Pinouts P1 ceccccceesscecseseeceesecceceessececseseeeesseaeenens 5 9 Table 5 3 Pinouts for the Encoder Limits Hall Effects Port eee 5 13 Table 5 4 Electrical Specifications i cs csccssisissesosseuseesgevenesceesseesssevasestessseysacesees 5 18 Table 6 1 Amplifier Faults Causes and Solutions ceesceseeeseeceeeeeenseeeeee 6 1 VvV V Version 1 5 Aerotech Inc List of Tables ix List of Tables BA SineDrive User s Manual x Aerotech Inc Version 1 5 BA SineDrive User s Manual Regulatory Information DECLARATION OF CONFORMITY Manufacturer s Name and Address Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 2897 Declares that the product Product Name BA Intellidrive BA Sinedrive Conforms to the following product specifications EMC EN 55011 Class B Emissions EN 50082 1 Immunity EN61000 4 2 EN61000 4 3 EN61000 4 4 EN61000 4 11 ENS50141 LVD IEC 204 1 and complies with EMC directive 89 336 EEC Pittsburgh PA David F Kincel we ERE October 8 1998 Quality Assurance Manager Robert Novotnak hist gt Engineer Verifying Compliance General notes conce
11. 1 5 BA SineDrive User s Manual Index RMS Fault Threshold 2 6 RS232 Interface 1 2 S Safety Procedures 1 13 Servo Loop Parameter 3 1 Servo Peak Current Limit 3 9 Servo RMS Current Timeout 3 10 Servo RMS Limit 3 9 Servo Update Rate 3 6 Servo Velocity Trap 3 10 Shielding Techniques 5 2 5 5 SIN signal 5 9 SIN N signal 5 9 Software 1 3 Interface 1 3 Space Bar 2 7 Switching Rate 5 5 T Technical details 5 1 Thermistor Input Signal 5 10 Thermistor Polarity 3 12 Torque Command 1 2 Tracking 2 5 Version 1 5 Tracking Screen 2 2 Transfer Parameters 2 7 Troubleshooting 6 1 T Transfer Parameters 2 7 Tuning 4 3 U Upload Parameters 2 7 User Selectable Jumper Control Board 2 1 Power Board 2 1 y Velocity Command 1 2 Velocity Error 2 6 Velocity Mode 4 2 Viewing the maximum and minimum parameters 1 4 Volt Options 1 11 W Warnings 1 13 Warranty Policy A 1 Wiring Techniques 5 2 5 5 Aerotech Inc v Index Aerotech Inc BA SineDrive User s Manual Version 1 5 BA SineDrive User s Manual Revision History REVISION HISTORY In This Section OOREVISIONSAL A eee eee R 1 Revisions The following section provides the user with general information regarding the latest changes to this manual Extensive changes if made may not be itemized instead the section or chapter will be listed with extensive changes in the corresponding General
12. 1 5 BA SineDrive User s Manual Technical Details 5 6 1 Mounting Procedures for the BAS 10 20 30 50 To ensure proper heat dissipation Aerotech recommends the following procedures 1 Use the mounting procedure shown in Figure 5 21 The wider part of the amp should be mounted to the heat sink 2 Heat sink should be at least 2 feet x 0 25 inch thick minimum 3 The heat sink should be free of paint or any other thermal barrier 4 The heat sink must be flat to allow good thermal conductivity between the heat sink and the amplifier 5 If possible add a thermal conductivity enhancer i e thermal grease between the heat sink and the amplifier 6 Adding an external fan will remove a considerable amount of heat from the heat sink and allow the amplifier to operate at a much cooler temperature lt 2 ft A 0 35 1 T T selec LA rR e gt eS q 1 ft 1 Si Q oO d D gt E 8 III S A L 7 00 JAL AB Vv L 7 35 aa Heat Sink Figure 5 20 BAS Amp Top View Preferred Mounting 10 20 30 50 Version 1 5 Aerotech Inc 5 21 Technical Details BA SineDrive User s Manual BS It is advisable that the amplifier be mounted lying flat on a metal panel not less than two square feet for better heat dissipation Refer to Figure 5 21
13. 2 1 Wiring Grounding and Shielding Techniques a To reduce electrical noise in the BAS Series amplifiers the user should observe the motor and input power wiring techniques explained in the following sections ih 5 2 2 2 Minimizing EMI Interference The BAS Series are high efficiency PWM amplifiers operating at a 20K Hz switching rate The switching time between positive and negative rails on each of the motor leads is less than 50 nano seconds for a 320 VDC bus This switching rate can generate Electromagnetic Interference EMI into the MHz band To minimize this EMI it is recommended that the motor leads be twisted together with the motor cable grounding wire and surrounded with a foil shield Refer to Figure 5 5 In addition to the EMI effects electro static capacitive coupling to the motor frame is very high requiring the frame to be grounded in order to eliminate a shock hazard Additional electro static coupling exists between the three twisted motor leads and the foil shield of the motor cable This coupling forces high frequency currents to flow through the returning earth ground of the motor cable To minimize this problem and maintain low levels of EMI radiation perform the following 1 Use shielded cable to carry the motor current and tie the shield to earth ground Refer to Figure 5 5 2 Place one toriod ferrite around the three motor leads two leads for brush motors The toriod should have seven tu
14. 5 5 Enable Polarity 3 13 Encoder Fault 2 7 Encoder Interface 5 13 Encoder Phase Voltage Observation Scheme 5 17 Encoder Polarity 3 14 Encoder Resolution 3 3 Encoder Limits Hall Effects Port 5 13 Error Message AMP Fault 2 7 Error Messages 2 6 Fault Conditions 2 6 Fault Output 5 11 Fault Output Polarity 3 13 Faults Encoder not present 2 7 How to clear 2 7 Max allowable velocity error 2 6 RMS current error 2 6 Temperature too high 2 7 Thermistor fault 2 7 Two invalid hall states 2 6 Field Service Policy A 1 Filter Cutoff 3 7 Fusing BAS 10 20 30 1 9 BAS 50 75 100 1 10 G Grounding Techniques 5 2 5 5 H Hall Effect Input Circuit 5 14 Hall Effect Interface 5 14 Hall Effects Available 3 4 Hardware function 1 6 5 1 Hardware overview 1 6 5 1 Help 1 4 I T O Connector Pinouts 5 9 T O Port 5 9 Initialization Current 3 5 Input Command Offset 3 8 Input Power 1 10 Input Signal 1 2 Input Input Signals 5 10 Inrush Limiting BAS 10 20 30 1 9 Aerotech Inc iii Index BA SineDrive User s Manual BAS 50 75 100 1 10 Integral Clamp 3 11 Integral Velocity Gain 3 2 Invalid Hall States 2 6 Invalid Signals 2 7 Isolation transformer 5 4 Isolation Transformer 5 7 JP2 2 1 Jumper Configuration 2 1 Selections 2 1 L LED indicator 1 6 LED Indicator 5 1 LED status indicators 1 12 LED Status Indicators 5 8 Limits 5 13 Line Filter Connection 5 3 5 6 Line
15. Information cell Table R 1 Revisions Revision Section s Affected General Information 1 5 5 2 2 Motor and AC power connection information added for the BAS 50 75 100 VV V Version 1 5 Aerotech Inc R 1 Revision History BA SineDrive User s Manual Aerotech Inc Version 1 5 READER S COMMENTS AEROTECH BA SineDrive User s Manual P N EDU164 August 2001 Please answer the questions below and add any suggestions for improving this document Is the information Adequate to the subject Well organized Clearly presented Well illustrated Would you like to see more illustrations Would you like to see more text How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Your name Your title Company name Address Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech AEROTECH INC Technical Writing Department 101 Zeta Drive Pittsburgh PA 15238 2897 U S A Fax number 412 967 6870 AEROTECH
16. Interference 5 3 5 6 Low Pass Filter 3 6 M Mechanical Drawings 5 19 Menu Commands 2 3 MMI 1 3 1 4 Motor Connections 5 2 BAS 50 75 100 1 10 Motor Phase Voltage Observation Scheme 5 17 Motor Phasing 5 14 5 15 Motor Rotation 5 15 Mounting Procedures BAS 10 20 30 50 5 21 BAS 75 100 5 22 N Next menu 2 7 Noise Back Propagation 5 3 5 6 O Online Help 1 4 Operating Mode 3 11 Opto Isolated Inputs 5 11 Opto Isolated Outputs 5 11 Output Short Circuit 2 7 Over temperature 2 7 Over Temperature Circuitry 5 10 P1 5 9 P3 5 9 P5 5 12 Parameter Range 1 4 Parameters 3 1 Purpose of 1 5 Restore Reset 5 10 Transfer 2 7 Units of 1 5 Viewing the maximum and minimum 1 4 Parameters Screen 2 2 Phase Offset 3 7 Phasing 3 7 PID Control Loop 3 1 Power connections 1 6 Power Connections 5 1 5 2 5 5 BAS 10 20 30 1 7 BAS 50 75 100 1 8 Precautions 1 13 Previous menu 2 7 PRM 1 3 2 4 2 10 3 7 11 3 7 4 2 12 3 8 4 2 13 3 8 14 3 8 15 3 9 16 2 6 3 9 17 2 6 3 10 18 2 6 3 10 19 3 11 2 3 2 4 2 20 3 11 4 2 21 2 7 3 12 22 3 13 4 2 23 3 13 24 3 14 3 3 2 4 2 4 3 3 4 2 gt gt NA AD vou 4 4 3 5 3 4 3 5 8 3 6 9 3 6 4 2 Product Overview 1 1 Proportional Velocity Gain 3 2 Pulse Width Modulation 1 1 gt R Reset 2 7 Restore Reset Signals 5 10 RMS Current 2 7 iv Aerotech Inc Version
17. Pin Function 1 Shield 13 NC 2 NC 14 COS 3 Encoder 5 15 COS N 4 NC 16 Limit 5 5 Hall Effect B 17 SIN 6 Marker N 18 SIN N 7 Marker 19 Tach 8 Tach 20 Limit Com 9 NC 21 Encoder Com 10 Hall Effect A 22 Home Limit N 11 Hall Effect C 23 25 NC 12 CW Limit 24 CCW Limit 5 4 1 Encoder Interface The encoder interface requires square wave signals from a line driver differential output ene me ER Motor Mounting Motor Mounting ki Plate Front View Plate Front View i encoder Figure 5 11 illustrates the encoder phasing with relation to motor rotation Additionally as part of each encoder interface there are inputs for marker signals that are received by a differential input comparator circuit These signals are standard on incremental encoders The theoretical max encoder input frequency is 2 5 MHz The minimum edge separation is 1 10 MHz CW Rotation Motor Shaft Gew Rotation Positive Direction Negative Direction COS COS N SIN ai SIN N C je MKR MKR N Figure 5 11 CW Motor Rotation Viewed from the Mounting Flange End Version 1 5 Aerotech Inc 5 13 Technical Details BA SineDrive User s Manual The encoder signals are terminated with 180 ohm resisters refer to Figure 5 12 Consequently the encoder must be able to drive the BAS and external controller encoder interface SIN COS m SI
18. The outline dimensions for the BAS amplifiers are shown in Figure 5 18 and Figure 5 19 25 4 1 00 Typ 127 0 5 00 31 8 1 25 6 4 25 Typ Typ A B Cc All AC POWER S MEDRIVE ACTIVE O AEROTECH 177 8 7 00 V Typ 169 4 6 67 ENABLE O a COMPONENTS DIVISION 186 7 7 35 P3 ENC 6 200000000000 2990000000000 900000000000 poabodJanSsIcnA AEROTECH INC PITTSBURGH PA USA Q 4 4 17 a 4 8 19 Typ ae eu e Typ si 132 6 5 22 73 8 2 91 Typ 12 7 50 Dimensions Millimeters Inches Typ Figure 5 18 BAS Amplifier Dimensions 10 20 30 Version 1 5 Aerotech Inc 5 19 Technical Details BA SineDrive User s Manual 7 4 28 168 1 6 62 j 117 4 r 62 163 5 6 44 TA 9 4 37 n il 2100000000L 2 3 09 5 5 22 Typ 181 2 7 13 BAS100 128 6 5 06 BAS75 49 6 1 95 77 7 3 06 20 0 79 95 3 3 75 BAS50 BAS75 33 3 1 31 92 7 3 65 2 5 10 38 0 1 49 206 8 8 14 11 7 46 10 7 42 17 5 69 64 8 2 55 BA 217 9 8 58 l SINEDRIVE f active A ENABLE E 182 9 7 20 213 4 8 40 24 1 95 50 8 2 00 152 4 6 00 Typ Typ Typ 28 6 1 12 BAS100 85 9 8 38 Dimensions Millimeters Inches 1 12 Typ Figure 5 19 BAS Amplifier Dimensions 50 75 100 5 20 Aerotech Inc Version
19. and restart the BAS loads 2 The BAS is not connected to the COM port Check to be sure the proper COM port is selected in the MMI software and the BAS is connected to it 3 There is a conflict with the current COM port If there is a conflict with the selected COM port the software automatically switches to a COM port it can open Try moving the BAS connection to another COM port and restart the MMI software 4 The communications parameters do not match between the MMI interface and the BAS because either the MMI software was just installed or the BAS s firmware was upgraded Enter the MMI interface by clicking YES to close the COM port Select communications parameters to match the BAS settings from the menu and press the reset button Then select Connect from the Communications menu 5 The BAS is not in the proper mode Local vs Remote mode To insure the BAS is in remote mode open the COM_BAI DOS software and press the space bar If the text appears the BAS is in the wrong mode 6 No COM port can be found both COMI and COM2 are in use Close the BAS MMI and find the conflict on the port the BAS is attached to Receive an Error Loading from 1 There is problem with the system registry Run REG95 BAT or File error when attempting to REGNT BAT file that are included in the installation For more open the parameters screen information refer to the README TXT file Version 1 5 Aerotech Inc 6 1 Troubl
20. common apply power to the amplifier If the motor spins uncontrollably remove power and switch the polarity of the input If an encoder is being used switch the sine and cosine input signals Verify complement signals sin amp sin N cos amp cos N are of correct phasing Again apply power to the amplifier If the motor begins to oscillate reduce Kp and KI until oscillation stops The Kp and Ks gains can be adjusted to provide maximum stiffness on the motor shaft The PRM 12 is used to cancel any bias in the internal or external control circuit that would cause the motor to rotate when the input command signal is zero Version 1 5 Aerotech Inc 4 3 Modes of Operation and Tuning BA SineDrive User s Manual 4 4 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details CHAPTER 5 TECHNICAL DETAILS In This Section O TNOU ONA sere eect ce ee ee RE RE DE AN a aka ai 5 1 e Hardware Overview and Function cc ccccceesceeeeeee 5 1 Miho UOPe ee ee 5 9 e Encoder Limits Hall Effects Port vvrrrreeorrrronsonsoon 5 13 e BAS Amplifier Dimensions 2 0 0 0 cece ceeeeeeeeeeeeeeeeee 5 19 5 1 Introduction This chapter contains detailed technical information regarding the inputs and outputs of the BA SineDrive 5 2 Hardware Overview and Function The BA SineDrive consists of two power connections motor power and input power two LED indicator lamps and three D style
21. detecting a motor over temperature condition If over temperature occurs the BAS aborts motion and shuts down the power stage This is a latching condition meaning that power must be cycled to clear the fault Figure 5 8 shows the circuitry used to detect the over temperature While the temperature is low so is the resistance of the thermistor Consequently the input to the inverter is pulled low and its output is high As the temperature increases so does the thermistor resistance Once the resistance of the thermistor increases beyond 1 5K Ohms the input to the inverter will pull high and generate a fault in the controller 5V 5 V Logic Interface To Thermal Sensor 74HCTO4A AUF Figure 5 8 Over Temperature Circuitry 5 10 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details 5 3 5 External Enable Input The external enable is an opto isolated input Figure5 9 shows the electrical characteristics of this input A A 5 3 1 2K JP2 PY 10K OHM 1 390 OHM 6 Wes Input Common mm V Any Opto lsolated Input Opto Coupler PS2501 4 BA SINE DRIVE Figure 5 9 Electrical Characteristics of Opto Isolated Input To use an external power supply that is greater than 9 volts a resistor must be added to input feed Place the resistor in series with each input to limit the current to a safe 20mA 5 3 6 Fault Output The BAS has a fa
22. in Table 5 4 Table 5 4 Electrical Specifications Model Units BAS10 BAS20 BAS30 BAS50 BAS75 BAS100 Output Voltage voc 40 to 320 Peak Output Current A peak 10 20 30 50 75 100 Continuous Output Current A peak 5 10 15 25 37 50 Peak Power Output Watts 2 720 5 440 8160 13 600 20 130 28 800 Continuous Power Output Watts 1 360 2 720 4 080 6800 10080 14400 Power Amplifier Bandwidth kHz 2 PWM Switching Frequency kHz 20 Minimum Load Inductance mH 8 160 VDC 1 mH 320 VDC Operating Temperature deg C 0 to 50 Storage Temperature deg C 30 to 85 Weight kg ib 1 1 2 5 3 9 8 5 56023 65a4 Maximum Shunt Regulator Dissipation Brushless Operation Power Input Commutation Encoder Input Frequency Indicators Depends on AC input voltage 40 Optional 40 Optional 40 Torque current Velocity Single Phase AC line input ine i 28 230 VAC 50 60 Hz VAC 50 60 Hz 1 3 Phase 28 230 Sinusoidal from Encoder 100 10A Ext 20 MHz maximum input frequency after quadrature RS 422 differential line driver Drive enable LED Power On LED 40 80 VDC bus requires external transformer 110 VAC auxiliary input for control input power 5 18 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details 5 6 BAS Amplifier Dimensions
23. install the BAS Windows Software Interface 1 Insert the BAS software CD into the CD ROM drive of the PC 2 From Windows 95 98 NT select the start button then click Run and type X Setup exe where X is the drive letter corresponding to the CD ROM drive After the software has been installed the program can be executed by double clicking the BASMMI icon In order for the MMI to communicate the BAS be in remote mode To enter remote mode run the com_bai exe software in a DOS shell and press CTRL A ey Version 1 5 Aerotech Inc 1 3 Introduction BA SineDrive User s Manual BA Sinedrive version 2 12 File Communications Operation Mode Help N L Li va MME BA Sinedrive Velcm 0 Countsisemele Firmware Version Current 0 of Peak Current Errors Clear View m System Parameters System 4 Encoder Resolution 8000 14 Phase B current command boo e offset 15 Current Limit 11 Commutation Phase offset Boo e P TOSS Ui sgl LUG 12 Input command offset Booo 17 RMS Timeout Diagnostics 13 Phase A current command Booo offset 24 Encoder Scale Factor Setup Help 500000 Input Offset 500000 Hold cursor over a field for a brief explanation of a parameter Right click on the parameter name just to the left of the field for more In Depth information Left Click on parameter name for Y alue Ranges Save to BAS Reset
24. jump during initialization This is normal WARNING Requires a reset CTRL D before taking effect 5 Table 3 7 Settings for Initialization Current PRM 7 PRM 7 Settings Default Value 20 Maximum Value 100 Minimum Value 0 Type Long 32 bit Units of Peak The motor should not be in a limit e Version 1 5 Aerotech Inc 3 5 Parameters BA SineDrive User s Manual 3 2 8 PRM 8 Velocity Loop Update Rate UPDATE This parameter determines the velocity loop update time The default value of 3 corresponds to a velocity loop update time of Sms Refer to Table 3 8 for parameter settings To compute the velocity loop update time use the following formula Velocity loop update time PRM 8 6000 Requires a reset CTRL D before taking effect Table 3 8 Settings for Velocity Update Rate PRM 8 PRM 8 Settings Default Value 3 Maximum Value 20 Minimum Value 1 Type Long 32 bit Units 3 2 9 PRM 9 Low Pass Filter Enable FILTER A low pass filter can be inserted after sampling the torque vel command by setting this parameter to 1 The cutoff frequency is given in PRM 10 This can be used to smooth out converter noise on the input command Refer to Table 3 9 for parameter settings T Requires a reset CTRL D before taking effect Table 3 9 Settings for Low Pass Filter PRM 9 PRM 9 Settings Default Value 0 filter is not ena
25. numbers or letters 2 5 5 Space Bar Pressing the space bar cycles through the available commands on the top level menu 2 5 6 CTRL D Pressing CTRL D issues a reset to the BAS This is needed to clear any fault s VVV Version 1 5 Aerotech Inc 2 7 Configuration and Communication BA SineDrive User s Manual 2 8 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters CHAPTER 3 PARAMETERS In This Section e Introduction OPP ATAINICTCLS o OO OO ko esse 3 1 Introduction This chapter describes the various parameters used on the BAS All parameters are entered as numbers 3 2 Parameters The servo loop parameters dictate the performance of the BAS s operation A block diagram of the BAS s velocity loop can been seen in Figure 3 1 External Velocity Command PRM 20 2 External Current Command Low Pass Filter PRM 9 PRM 10 Sine Wave Commutation PRM 4 PRM 5 PRM 3 VSCALE Velocity Feedback from Encoder Figure 3 1 PI Control Loop The text in parentheses following the parameter names in the section headings are the abbreviation for that parameter as seen on the display ao Version 1 5 Aerotech Inc 3 1 Parameters 3 2 1 BA SineDrive User s Manual PRM 1 Proportional Velocity Gain KP This parameter provides proportional gain adjustment to the velocity error mode of the PI Control loop refer to Table 3 1 Table 3
26. the power pins of the encoder refer to Figure 5 17 4 Connect the second channel of the oscilloscope to Hall effect A on the encoder 5 Once the oscilloscope is connected with one probe monitoring a motor phase and the other monitoring a Hall effect signal rotate the motor by hand using the motor shaft The motor will generate a voltage upon rotation 6 Observe the phase relationship of the motor phase to the Hall effect signal It is necessary for the voltage generated by the motor phase A to be in phase with L signal used as Hall effect A refer to Figure 5 14 7 Move the probe on the Hall effect line to the other two Hall effect lines observing their phase relationship to the motor voltage 8 Repeat this process for the other two motor phases 5 16 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details Using this procedure connect the Hall effect signals with the appropriate motor phases as shown in Figure 5 7 TO MOTOR PHASE A TO MOTOR PHASE B PSUEDO NEUTRAL NAN TO MOTOR PHASE C Figure 5 16 Motor Phase Voltage Observation Scheme 5V Probe Figure 5 17 Encoder Phase Voltage Observation Scheme Hall Effect A B and C encoder connector Version 1 5 Aerotech Inc 5 17 Technical Details 5 5 BA SineDrive User s Servo Amplifier Specifications Manual The electrical and controller specifications for all BAS drive models are listed
27. velocity mode the user typically needs to send the encoder signals to the BAS and the external controller To minimize the wiring the encoder signals on P3 are passed directly to P1 21 22 23 24 4 2 1 Current Mode To operate the BAS in current mode the user must first change the operating mode to current command This can be done by changing PRM 20 to 1 For this change to take effect a reset CTRL D must be sent to the BAS When operating in current mode the BAS relies on an external controller to close the position and velocity loops The BAS uses this command and with the encoder will sinusoidally commutate a brushless motor 4 2 2 Velocity Mode To operate the BAS in velocity mode the user must first change the operating mode to velocity command This can be done by changing PRM 20 to 2 For this change to take effect a reset CTRL D must be sent to the BAS When operating in velocity mode the BAS relies on an external controller to close the position loop The BAS utilizing a proportional gain PRM 1 and an integral gain PRM 2 closes the velocity loop digitally and sinusoidally commutates a brushless motor PRM 3 can be used as an electronic tach to scale the velocity Offsets in the velocity loop can be removed by modifying PRM 12 4 2 Aerotech Inc Version 1 5 BA SineDrive User s Manual Mode of Operation and Tuning 4 3 Tuning Starting with a zero input command signal P1 17 P1 18 tied to sig
28. will not 1 The external enable line is disabling the amplifier If an external enable line is not enable being used check to be sure that the external enable polarity is set to low PRM 22 0 2 The thermistor is disabling the amplifier Check to be sure the correct polarity is being used for the thermistor PRM 21 3 There is a hardware problem on the amplifier Reset the BAS and observe if the Enable LED blinks and or the stage jumps before the amplifier disables If it does the problem is likely phasing or tuning If it does not either the thermistor or the external enable line is pulled or there is problem with the BAS VV V 6 2 Aerotech Inc Version 1 5 Warranty and Field Service BA SineDrive User s Manual APPENDIX A WARRANTY AND FIELD SERVICE In This Section OP aser Products essere e tote en A 1 o Return Procedure m a n A 1 e Returned Product Warranty Determination A 2 e Returned Product Non warranty Determination A 2 Rush Service neea e e e oestrus A 2 e On site Warranty Repaif esseeesseseeesrseeerrsrrereeerees A 2 e On site Non warranty Repair sesseeeeeseeesrereereeeeeee A 2 Aerotech Inc warrants its products to be free from defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products that are retu
29. 1 PRM 1 Settings for Proportional Velocity Gain PRM 1 Settings Default Value 750000 Maximum Value 2147483647 Minimum Value 0 Type Long 32 bit Units 3 2 2 PRM 2 Integral Velocity Gain KI This parameter provides integral gain adjustment to the velocity error mode of the PI Control loop refer to Table 3 2 Table 3 2 PRM 2 Settings for Integral Velocity Gain PRM 2 Settings Default Value 35000 Maximum Value 2147483647 Minimum Value 0 Type Long 32 bit Units 3 2 3 PRM 3 Electronic Tach VSCALE This parameter scales the velocity from the encoder It is primarily used as a tach gain for the velocity derived from the encoder Refer to Table 3 3 for parameter settings Table 3 3 PRM 3 Default Value Maximum Value Minimum Value Units Settings for Electronic Tach PRM 3 A negative value can be used to change the polarity of the velocity Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters Vscale can be used to define the maximum speed the motor will move with a 10V input It can be calculated as follows Zz ae X rev 1sec y counts sec 6000 PRM 8 rev Where X rev sec and counts rev can be replaced by m s for linear motors Vscale an 3 2 4 PRM 4 Encoder Resolution ENCODER The encoder resolution is only needed for commutation For rotary motors thi
30. 100 Maximum Value 100 Minimum Value 0 Type Long 32 bit Units Percent 20 Requires a reset CTRL D before taking effect ao 3 2 15 PRM 16 Servo RMS Limit RMS LIMIT This parameter sets the RMS current limit that the PI loop can output before a fault occurs The value is expressed in of the amplifier s RMS current capability For example if the amplifier has an RMS current rating of 10 Amps and PRM 16 is 50 then the controller will generate a fault if the RMS current exceeds 5 Amps for longer than the time given in PRM 17 Refer to Table 3 15 for parameter settings Table 3 15 Settings for Servo RMS Limit PRM 16 PRM 16 Settings Default Value 20 Maximum Value 100 Minimum Value 0 Type Long 32 bit Units Percent 90 Requires a reset CTRL D before taking effect ao Version 1 5 Aerotech Inc 3 9 Parameters BA SineDrive User s Manual 3 2 16 PRM 17 Servo RMS Current Timeout RMS TIME This parameter determines how long the current can remain above the RMS threshold given in PRM 16 before a fault is generated Refer to Table 3 16 for parameter settings Table 3 16 Settings for Servo RMS Current Timeout PRM 17 PRM 17 Settings Default Value 2 Maximum Value 10 Minimum Value 0 Type Long 32 bit Units Seconds ZI Requires a reset CTRL D before taking effect 3 2 17 PRM 18 Servo Velocity
31. BA SINEDRIVE USER S MANUAL P N EDU164 V1 5 LA AEROTECH Ww AEROTECH Inc 101 Zeta Drive e Pittsburgh PA 15238 2897 e USA Phone 412 963 7470 e Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotech com If you should have any questions about the BA SineDrive or comments regarding the documentation please refer to Aerotech online at http www aerotech com For your convenience a product registration form is available at our web site Our web site is continually updated with new product information updated manuals free downloadable software firmware upgrades and special pricing on selected products The BA SineDrive and BAS software are products of Aerotech Inc Windows 95 NT are products of Microsoft Corporation The BA SineDrive User s Manual Revision History Version 1 0 July 17 1998 Version 1 1 October 22 1998 Version 1 2 September 19 2000 Version 1 3 October 6 2000 Version 1 4 November 20 2000 Version 1 5 August 15 2001 Aerotech Inc 2001 BA SineDrive User s Manual TABLE OF CONTENTS CHAPTER 1 INTRODUCTION 0 000 ceecceeecneseeceseeeeesecaeesecnetecnaeeeesaeeaeeaes 1 1 1 1 PLODUCt OVERVIEW via sou oe sen eya ae taa a a a E E ER 1 1 1 2 Velocity Torque Amplifier 0Li Lierterveeoreroeoroeooeoosoooonooenoonnoonnoonnoe 1 2 1 3 BAS DOS SOILWAPE bio vain b seks tisi vid reaos a S A AEAN 1 3 1 4 BAS Windows Software Interface
32. Mode 2 0026 av it eyes aeiesn in lied Win ite ceed 4 2 4 22 Velocity MOG is sees sec tbs sticecoetestesstuzeze counties ATAA 4 2 TUDIN Te re rera a re loi afin aze ea pa ies e Aana 4 3 TECHNICAL DETAILS 1 0 0 ccccccccccccssecessceesseceseeeeseeceseeeesseensees 5 1 THthO MUCH OM 22252 ooo ei ka oak a s e ke fon visa Anti e owe diesen 5 1 Hardware Overview and Function ccccsscseceessecesseececeesneeeeesaeees 5 1 5 2 1 Motor and AC Power Connections BAS 10 20 30 5 2 5 2 1 1 Wiring Grounding and Shielding TOChmiques i cscee sisi veisessaduscestavviovecescns en as bod syasot 5 2 5 2 1 2 Minimizing EMI Interference and CE Compliance ss s 52 ccs sceetevasces teh sssdeil ss pe ebeeseeteaviess 5 2 5 2 1 3 Minimizing 50 60 HZ Line Interference 5 3 5 2 2 Motor and AC Power Connections BAS 50 75 100 5 5 5 2 2 1 Wiring Grounding and Shielding TOCHNIQUES f oo io ko saaa dond rea ian 5 5 5 2 2 2 Minimizing EMI Interference ee 5 5 5 2 2 3 Minimizing 50 60 HZ Line Interference 5 6 X23 COM Port 3 2 een eit ena eee 5 8 5 2 4 LED Status Indicators 0 eee ee eeeeeeeeeeeeeeeeeeeeeseensees 5 8 The MO POTG menire dya tides edvecen AU ooo Ria tan ane 5 9 5 3 1 SIN SIN N COS COS N Signals 5 9 5 3 2 Restore Reset Signal eee eceeceeeceseeeeeeeeeeseenseeeaes 5 10 5 3 3 Input Input Command INPUT ossessione 5 10 5 3 4 Thermistor Input Sig
33. N N COS N SN75157 Figure 5 12 Encoder Input Circuit 5 4 2 Hall Effect Interface The Hall effect switches form a digital representation of the motor phasing that the microprocessor uses to commutate the motor This digital representation comprises three 5 volt signals that form a digital six step pattern The controller receives these signals with a circuit that is electrically identical to the limit input circuit Refer to Figure 5 13 for Hall effect input circuitry 10 K x3 S1 P3 10K ANN HALL A O1UF sk 10K HALL B AM 01UF T HALL C AW O1UF V Figure 5 13 Hall Effect Input Circuit Aerotech brushless rotary motors are shipped from the factory with the correct motor phase to Hall effect device relationship established This is essential for proper motor commutation The parameter that affects this relationship is PRM 11 and is set at O Figure 5 14 and Figure 5 15 illustrates the proper Hall effect and motor phasing for both CW and CCW motor rotation viewed looking into the mounting flange of the motor 5 14 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details During CW motor rotation each Hall effect signal is at a logic low state when its corresponding motor phase is at a positive voltage During CCW rotation each Hall effect signal is at a logic high state when its corresponding motor phase is at a positive voltage Hall Effect A Hal
34. Screen eee cseeeeeeeeeeeceeseeeeesecssecsaeensessaeeaee 1 4 Figure 1 4 Parameter Screen ies kaa yan se oke take aye vin esess ote sousi tet seston 1 4 Figure 1 5 Parameter INfOrm tiON s seire tesi eresie ries E sies 1 5 Figure 1 6 BA SineDrive Hardware 10 20 30 ccsccccsseseceesseeecssneeeessseeeenens 1 6 Figure 1 7 BA SineDrive Hardware 50 75 100 ccccsssseceseseececsesteeeeenseeeees 1 6 Figure 1 8 Motor and AC Power Connections 10 20 30 Modeks 1 7 Figure 1 9 Motor and AC Power Connections 50 75 100 Models 1 8 Figure 1 10 Fuse and Inrush Limiting 10 20 30 MOdE S veeeveeeveeonosenes 1 9 Figure 1 11 AC Input Fusing 50 75 100 Models 00i22irroeroooneronernaoresonnonn 1 10 Figure 1 12 20 80V Option ieman r e cna EES aries 1 11 Figure 2 1 Tracking SCHON lake s kosa aa od ave enb ki sores eko aide kib ea seyion 2 2 Figure 2 2 Parameter Sereen ee via sel ote es e oors eiei onon vie ie route hanks 2 2 Figure 2 3 The Change Parameter Screen eee eeeceeceeecesecesecesecnaeeseeeneeenes 2 3 Figure 2 4 Changing a Parameter in the Change Parameter SCreen 2 4 Figure 2 5 Display Tracking Screen cece eee ee ceeeceeecesecesecesecnsecaeeeeeneeens 2 4 Figure 2 6 Display Error Message Screen ecceeeeeeeeeeeseeescesecesecssecnseenaeeaee 2 6 Figure 3 1 PI Control Loop vsecisces sayo anye do abe sieht sayo enpo dbs E s
35. Trap VEL ERR LMT This parameter defines the maximum allowable velocity error before a fault occurs The absolute value of the velocity error is compared against PRM 18 If it exceeds PRM 18 a fault occurs Setting this parameter to zero disables the velocity error check If the velocity error exceeds this value the amplifier will be disabled and it issues a fault Refer Table 3 17 for parameter settings Table 3 17 Settings for Servo Velocity Trap PRM 18 Settings 0 65535 0 Long G2 biv Counts Samples Eg Requires a reset CTRL D before taking effect 3 10 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters 3 2 18 PRM 19 Integral Clamp INT CLAMP This parameter clamps the maximum value of the integrator term in the PI loop This prevents the PI controller from saturating in the presence of large velocity errors Refer to Table 3 18 for parameter settings Table 3 18 Settings for Integral Clamp PRM 19 PRM 19 Settings Default Value 5000 Maximum Value 65535 Minimum Value 0 Type Long 32 bit Units Counts Samples Requires a reset CTRL D before taking effect mon 3 2 19 PRM 20 Operating Mode MODE The BAS has two operating modes refer to Table 3 19 Table 3 19 Operating Modes PRM 20 Operating Mode PRM 20 Default value 1 Current command 1 Velocity command 2 The input is applied to pins 17
36. and 18 on connector P1 Refer to Table 3 20 for parameter settings Requires a reset CTRL D before taking effect 5 Version 1 5 Aerotech Inc 3 11 i i F Parameters BA SineDrive User s Manual Table 3 20 Settings for Operating Mode PRM 20 PRM 20 Settings Default Value 1 Maximum Value 2 Minimum Value 1 Type Long 32 bit Units 3 2 20 PRM 21 Thermistor Polarity THERM POL This parameter sets the polarity of the thermistor input The thermistor input can be used to detect an over temperature condition in a motor A typical motor thermistor is a positive temperature coefficient device that is as the temperature of the device increases so does the resistance of the device The thermistor input on the BAS assumes this type of device is used in the motor Under normal operating conditions the resistance of the thermistor is low i e 100 ohms The BAS will see this as a low signal As the thermistor resistance increases i e 10K ohms the internal pullup on the BAS will dominate and the BAS will see this as a high signal The BAS will then disable the power stage If the thermistor is not present i e infinite resistance the BAS will see this as an over temperature condition and generate a fault Consequently this parameter should be set to 1 if a thermistor is not present Refer to Table 3 21 for parameter settings Table 3 21 Settings for Thermistor Pol
37. and either mailing or faxing it to Aerotech Throughout this manual the following conventions are used The terms BA SineDrive and BAS are used interchangeably throughout this manual e The text lt ENTER gt is used to indicate that the Enter Return key on the keyboard is to be pressed e Hexadecimal numbers are listed using a preceding Ox for example 0x300 Ox12F Ox01EA etc to distinguish them from decimal numbers e Graphic icons or keywords may appear in the outer margins to provide visual references of key features components operations or notes e This manual uses the symbol V V V to indicate the end of a chapter Although every effort has been made to ensure consistency subtle differences may exist between the illustrations in this manual and the component and or software screens that they represent XIV Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction CHAPTER 1 INTRODUCTION In This Section SIPFOAUCHOVEAVIEW cer terete A a en 1 1 e Velocity Torque Amplifier eereeeeeeeseeereoasossoooon 1 2 0 BAS DOS So e n 1 3 e Hardware Overview and Function cccccceeceees 1 6 e Safety Procedures and Warnin8S eeeereeoosoooe 1 13 1 1 Product Overview The BA SineDrive BAS is a sine wave commutation amplifier Figure 1 1 The BAS incorporates a digital control board that allows velocity loop gains and parameters to be set via PC RS 232 A simple DOS bas
38. are electrically connected to the same pins on P3 These can be considered outputs 5 3 1 SIN SIN N COS COS N Signals These signals represent the encoder signals A A B B from the encoder port The encoder feedback is required in either torque or velocity mode in order to perform sinusoidal commutation in the BAS The same encoder signals can be split to connect to the user s position controller to close the position loop To minimize this effort the encoder signals on P3 are connected to PI on pins 21 to 24 see Table 5 2 Version 1 5 Aerotech Inc Technical Details e 5 9 Technical Details BA SineDrive User s Manual 5 3 2 Restore Reset Signal This signal can be used to restore the parameters to their default settings during power up To restore the parameters tie this signal to signal common P1 20 to P1 15 and turn on power to the unit The user will be prompted for a course of action to take After power up this signal can be used to reset the BAS To reset the drive the reset line must be pulsed for approximately 100 ms If the reset line is held low for too long the drive will see this as a restore parameter 5 3 3 Input Input Command INPUT The command input is a signal that represents a 10V current command or a 10V velocity command from an external controller The input impedance is at least 20K ohms 5 3 4 Thermistor Input Signal A thermistor can be connected to the BAS as a means of
39. arity PRM 21 PRM 21 Settings Default Value 1 Maximum Value 1 Minimum Value 0 Type Long 32 bit Units 3 12 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters 3 2 21 PRM 22 Enable Polarity ENABLE POL This parameter defines the logic value of the external enable signal for the power stage The external enable is found on the P1 5 Refer to Table 3 22 for parameter settings Table 3 22 Settings for Enable Polarity PRM 22 PRM 22 Settings Default Value 0 Maximum Value 1 Minimum Value 0 Type Long 32 bit Units 3 2 22 PRM 23 Fault Output Polarity FAULT POL This parameter defines the level of the fault output signal when a fault occurs The external fault output signal is found on the opto isolated pin P1 10 Refer to Table 3 23 for settings Table 3 23 Settings for Fault Output Polarity PRM 23 PRM 23 Settings Default Value 0 active low Maximum Value 1 active high Minimum Value 0 active low Type Long 32 bit Units Version 1 5 Aerotech Inc 3 13 Parameters BA SineDrive User s Manual 3 2 23 PRM 24 Encoder Polarity Enc Mult This parameter allows the user to change the polarity of the encoder Table 3 24 Settings for Encoder Polarity PRM 24 PRM 24 Settings Default Value 1 Maximum Value 1 Minimum Value 1 Type Long 32 bit Units VVV 3 14 Aerotech Inc Versio
40. bled Maximum Value 1 Minimum Value 0 Type Long 32 bit Units 3 6 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters 3 2 10 PRM 10 Filter Cutoff CUT FREQ This parameter defines the cutoff frequency for the low pass filter The low pass filter filters the current command from the PI loop Refer to Table 3 10 for parameter settings Table 3 10 Settings for Filter Cutoff PRM 10 Settings 500 0 200000 0 Float Hz 3 2 11 PRM 11 Commutation Phase Offset PHASE OFF This parameter allows the user to shift the commutation table by the value in PRM 11 This parameter can be used if phase offsets occur in the current commands i e if the current commands are out of phase with the back emf of the motor A phase shift can occur if the hall signals are not aligned properly Refer to Table 3 11 for parameter settings This parameter can also be used to shift the commutation table for different Hall effect schemes Requires a reset CTRL D before taking effect mon Table 3 11 Settings for Phase Offset PRM 11 PRM 11 Settings Default Value 0 359 359 Long 32 bit Degree Aerotech motors have a phase offset of 0 Other vendors typically set it to 30 Refer to Section 5 4 2 for details on phasing Version 1 5 Aerotech Inc 3 7 Parameters BA SineDrive User s Manual 3 2 12 PRM 12 Input Command Offset CMD OFF This parameter a
41. ch service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 USA V VV A 2 Aerotech Inc Version 1 5 BA SineDrive User s Manual Index Symbols 5V Too Low 2 7 A Abort 2 7 Amplifier Faults 6 1 Amplifier Related Problems 6 1 Analog I O 5 9 B BAS Software 1 3 Interface 1 3 Bias Supply Too Low 2 7 Bit Patterns 2 5 Brushless DC Motor 2 1 C Capacitive Coupling 5 2 5 5 5 6 C Change Parameter 2 3 Change Parameter 2 3 COM Port 1 12 5 8 Communications Mode 2 2 Commutation Card 1 2 Connector 1 6 5 1 COS signal 5 9 COS N signal 5 9 CTRL D 2 7 Current Command 1 2 Current mode 4 2 Current Mode 4 2 Current Offset Adjustment 3 8 D DC Bus Over Voltage 2 7 D Display Tracking 2 4 Digital I O 5 9 Dimensions BAS 10 20 30 5 19 BAS 50 75 100 5 20 Display Tracking 2 4 Download Parameters 2 7 E E Display Error Messages 2 6 Electrical Cycles 3 4 Electrical Specifications 5 18 Electronic Tach 3 2 EMI 5 6 Version 1 5 EMI Interference 5 2
42. connectors Refer to Figure 5 1 for locations BAS 50 75 100 BAS100 Shown Auxiliary Power BAS 10 20 30 AC Power AC Power Motor Connections Motor Connections LED Status l Indicators 3 LED Status Indicators COM Port P2 WO Port Pi Encoder Limits Hall a Effects Port o P3 Encoder Limits Hall WO Port Effects Port P1 P3 COM Port P2 Figure 5 1 BA SineDrive Hardware Version 1 5 Aerotech Inc 5 1 Technical Details BA SineDrive User s Manual 5 2 1 Motor and AC Power Connections BAS 10 20 30 For the BAS10 20 and 30 AC power is applied to the BAS through the AC receptacle located on the front of the unit The power cord is similar to the type used with personal computers The motor connection is made through the terminal strip located on the front of the BAS This connector contains the motor connections along with the earth ground connection Motor Connection ad LE 5 2 1 1 Wiring Grounding and Shielding Techniques To reduce electrical noise in the BAS Series amplifiers the user should observe the motor and input power wiring techniques explained in the following sections This is suitable for use on circuits capable of delivering not more than 5000A 240V 5 2 1 2 Minimizing EMI Interference and CE Compliance The BAS amps are high efficiency PWM amplifiers operating at a 20 kHz switching rate The switching time between positive and negative rails on each of the
43. ed or newer Windows based terminal program supplied with the unit is used to communicate The BAS 10 20 30 50 75 100 are switching Pulse Width Modulation PWM amplifiers The amplifiers consist of an amplifier control board and internal power supply Figure 1 1 BA SineDrive Amplifiers 10 20 30 50 75 100 Version 1 5 Aerotech Inc 1 1 Introduction BA SineDrive User s Manual 1 2 Velocity Torque Amplifier The BAS reads in a 10 volt signal and commutates a brushless motor with a sine wave current command Sine wave commutation is done via an encoder quadrature input and provides the smoothest possible motion for a brushless motor The input signal can be either a velocity command or a torque current command If the input signal is a current command a two phase current command is sent directly to the amplifier If the input signal is a velocity command the BAS closes the velocity loop digitally using the encoder two controller gains and the velocity command The output from the internal control board is a two phase current command to the amplifier The operating parameters are changed through the RS 232 interface This interface is menu driven and interfaces with either a hand held terminal or DOS emulation software All parameters are stored in flash memory After the initial setup the unit will boot in the user defined configuration Figure 1 2 shows a typical configuration using the BAS HT o
44. ees cee ans 3 1 Figure 5 1 BA SineDrive Hardware 0Li2iiereeoooeeooonooenososonooosoooonooonoonoonnoonne 5 1 Figure 5 2 Wiring to Minimize EMI and Capacitive Coupling eee 5 3 Figure 5 3 Back Propagation Line Filter Connection 0 0 eee eee eeeeeeeeeeeeeees 5 3 Figure 5 4 Isolation Transformer Connection eliminates torque disturbance ke vibe pwete Hiei Maile es di yen 5 4 Figure 5 5 Wiring to Minimize EMI and Capacitive Coupling BASSOAISAL 00 bebi co sacs popo keoe ava ches ea hts Obese ace oh 5 6 Figure 5 6 Back Propagation Line Filter Connection BAS50 75 100 5 6 Figure 5 7 Isolation Transformer Connection BAS50 75 100 eliminates torque disturbanc lllleveeeveeooenaoraoenoseaoseooseoosoooeoonnoonnoonnoonnon 5 7 Figure 5 8 Over Temperature CirCUitIY 0 l 0Lilriirrreeenerorereereeeooeoooaoonnoonnooanoonnoon 5 10 Figure 5 9 Electrical Characteristics of Opto Isolated INput eeeereeeee 5 11 Figure 5 10 Electrical Characteristics of Opto Isolated Output ee 5 11 Figure 5 11 CW Motor Rotation Viewed from the Mounting Flange End 5 13 Figure 5 12 Encoder Input Circuit os c ccchsctscn cts sesteivess aoscesoeteecaates cheessnestbasees ciees 5 14 Figure 5 13 Hall Effect Input Cire uit swa eee eye seyon ui does eben 5 14 Figure 5 14 Hall Effect Motor Phasing eee eecescesecesecesecsseceeeeeeneeeeeeenees 5 15 Figure 5 15 Motor Rotation From Mounting Flange End
45. enaes 3 3 Table 3 5 Settings for Electrical Cycles Mechanical Revolution PRM S3 3 4 Table 3 6 Settings for Hall Effects Available PRM 6 0 ccc eeeeeeeeeeeeeeee 3 4 Table 3 7 Settings for Initialization Current PRM 7 00 eee eeeeeeeeeeeeeeeeeees 3 5 Table 3 8 Settings for Velocity Update Rate PRM 8 00 ee ceeeeeeneeereeeeeene 3 6 Table 3 9 Settings for Low Pass Filter PRM 9 000 eee esse cseesecnsecnseceeeaees 3 6 Table 3 10 Settings for Filter Cutoff PRM 10 oo ceeecesecneecnseceeeneeeneeees 3 7 Table 3 11 Settings for Phase Offset PRM 11 oo eee eeeeeeeeeeeeeeeeeseenseenaes 3 7 Table 3 12 Settings for Input Command Offset PRM 12 eee eeeeeeeeteeeees 3 8 Table 3 13 Settings for Position Mode PRM 13 PRM214 ooo eeeeeeeeneee 3 8 Table 3 14 Settings for Servo Peak Current Limit PRM 15 oo eee 3 9 Table 3 15 Settings for Servo RMS Limit PRM 16 000 0 ceeecetecneeeneeeaee 3 9 Table 3 16 Settings for Servo RMS Current Timeout PRM 17 seese 3 10 Table 3 17 Settings for Servo Velocity Trap PRM 18 000 ee eeeeeeeeeeeees 3 10 Table 3 18 Settings for Integral Clamp PRM 19 oo cee eeeeeeeeeeeeeeeeeeneeees 3 11 Table 3 19 Operating Modes PRM 20 0 eee cece cseecseeeneeeeeeeeeeeeeeeseesreneenaees 3 11 Table 3 20 Settings for Operating Mode PRM 20 0 0 eee ceeeeeeeeeeeeeeeeeeeees 3 12 Table 3 21 Settings for Thermistor Polarity PRM 21 oo eee eeeeeeeeeeeeeee 3 12 Table 3 22 Settings for Enable Polarity PRM 22 oo
46. ent a 50 60 Hz torque disturbance may be present in the position loop To eliminate this problem an isolation transformer can be used to block the 50 60 Hz from being seen by the motor frame Refer to Figure 5 4 for connection of this transformer 10A slow blow BAS10 20A slow blow BAS20 30A slow blow BAS30 J Use 60 degree C copper conductors only 115 230 VAC E C 50 60 Hz Torque BAS to 5 7 in lb AMPLIFIER LO HI FRAME GND A B c Q O Grounding Screw swe dvWuBBB Earth Ground This configuration is especially important if the BAS amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e g 115 VAC or 230 VAC input power Figure 5 4 Isolation Transformer Connection eliminates torque disturbance 5 4 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details 5 2 2 Motor and AC Power Connections BAS 50 75 100 The three phase motor terminal connections are made at connections A B and C This area is designated as such on the amplifier wey AC2 AC1 Input power to the BAS series amplifier is made at the AC1 AC2 and AC3 terminals le with earth ground connected to ground Single or three phase power can be made at these connections The BAS 50 can be operated on three or single phase AC power For single phase operation connect the AC power to AC1 and AC3 gt MOTOR B o 5 2
47. eoenoonee 2 6 2 5 1 2 RMS Current Error cee eeececeeeceeneeceneeeeneeees 2 6 2 5 1 3 Velocity EfTOP tic s sseseetesveessetse sees seeiis 2 6 2 5 1 4 Encoder Fault kierr nirien in 2 7 2 5 1 5 Thermistor Fault cece eies 2 7 2 5 1 6 RMS Current Error eececeeeceeneeceereeeneeees 2 7 2 5 2 Fl Abort Entry Up One Menu Level eee 2 7 2 5 3 F2 F3 Previous Next Menu ceeeeeesceeneeceeeceeneeceeeeenees 2 7 2 5 4 T Transfer Parameters ccescesscecsseceeceeceeeeeeeeecseeeeneees 2 7 2 5 3 Space Bat vive tite deka Geis tease ewes 2 7 25 65 CTREAD E E E EE 2 7 CHAPTER 3 PARAMETERS eeeeeeseereererrseresrerrsresserrereersteesrererrerserseseeee 3 1 3 1 INtFOUAUCHUON ka ke ke eke kaa ee ane sove aaa tees a pase EO ab Deba E E Yi on PAY pa 3 1 3 2 Parameters manone rn ide oes ea pa sy ko piano ae reso ni eee Ge ae kes eee 3 1 3 2 1 PRM 1 Proportional Velocity Gain KP eee 3 2 3 2 2 PRM 2 Integral Velocity Gain KI 3 2 3 2 3 PRM 3 Electronic Tach VSCALE eee eeeeee cree 3 2 3 2 4 PRM 4 Encoder Resolution ENCODER eeeevrrrrerroe 3 3 3 2 5 PRM 5 Electrical Cycles Mechanical Revolution POLE PAIRS ko kato ayen eee eco neil ees 3 4 3 2 6 PRM 6 Hall Effects Available HALLS o oo 3 4 Version 1 5 Aerotech Inc Table of Contents iii Table of Contents CHAPTER 4 4 1 4 2 43 CHAPTER 5 5 1 5 2 5 3 5 4 iv BA SineDrive User s Manual
48. eshooting BA SineDrive User s Manual Table 6 1 Symptom Amplifier Faults Causes and Solutions Continued Possible Cause and Solution Nothing appears in the window when starting the COM_BAS exe or when using the Hand 1 The BAS is sitting idle waiting for a keystroke Press the space bar and observe if anything appears If it does the unit is fine if it does not it may be in remote mode 2 The BAS is in remote mode Press CNTRL A and wait for text to appear If it held Terminal HT does proceed to use the unit normally 3 The BAS is not communicating correctly due to the firmware being damaged Try reinstalling the firmware using the UPGRADE EXE software included with both the COM_BAS exe and MMI software packages If this does not work the unit needs to be bootstrapped For more information contact Aerotech Receive RMS current 1 The gains are set too high Try turning down the values Kp and Ki error every time trying to 2 There are offsets in the D A converters Adjusting parameters 13 and 14 can help move the motor null out these offsets however it is a precarious process For additional help contact Aerotech When I connect the 1 Problem with the serial cable Make sure that a null modem cable is being used serial cable to the unit and the cable is intact Ensure the cable is wired properly See Section 1 5 4 for the PC freezes correct pinouts The amplifier
49. ge rectifier and out through the HI and LO input AC line connections Back propagation of noise into the AC lines can be minimized using a line filter An example of such a filter and proper connection to the BAS amplifier is shown in Figure 5 3 10A slow blow BAS10 20A slow blow BAS20 BAS Torgus 30A slow blow BAS30 AMPLIFIER to 5 7 inlb Use 60 degree C copper conductors only L TO Schaffner FN2070 10 06 L Aa HI includes common mode 50 60 Hz choke and ferrite FRAME GND Q A O PN UFM B Q c O e Q O Grounding Screw mn Earth Ground This configuration is especially important if the BAS Amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e g 115VAC or 230 VAC input power Figure 5 3 Back Propagation Line Filter Connection Version 1 5 Aerotech Inc 5 3 Technical Details BA SineDrive User s Manual Second another problem that potentially exists with off line connections is 50 60 Hz electrostatic coupling between the frame of the AC motor and the HI LO AC input power Since LO is referenced to earth ground back at the source the DC bus of the amplifier swings at 50 60 Hz with respect to the motor frame The path of current caused by this coupling between the motor frame and the amplifier stage passes through the current feedback sensing devices of the amplifier Depending on the magnitude of this curr
50. he AC lines can be minimized using a line filter An example of such a filter and proper connection to the BAS amplifier is shown in Figure 5 3 25A slow blow BAS50 35A slow blow BAS75 50A slow blow BAS100 AC1 amp ii BAS AC2 Q ko AC3 RFI FILTER AMPLIFIER amp Al Q a C amp EARTH GROUND Figure 5 6 Back Propagation Line Filter Connection BAS50 75 100 5 6 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details Another problem that potentially exists with off line connections is 50 60 Hz electrostatic coupling between the frame of the AC motor and the AC1 AC2 and AC3 AC input power If a single phase supply is used where one side of the phase is referenced to ground the DC bus of the amplifier swings at 50 60 Hz with respect to the motor frame The path of current caused by this coupling between the motor frame and the amplifier stage passes through the current feedback sensing devices of the amplifier Depending on the magnitude of this current a 50 60 Hz torque disturbance may be present in the position loop To eliminate this problem an isolation transformer can be used to block the 50 60 Hz from being seen by the motor frame Refer to Figure 5 7 for connection of this transformer 25A slow blow BAS50 35A slow blow BAS75 50A slow blow BAS100
51. ical system and no harm to personnel will result if the motor begins to spin WARNING Before performing the following steps ensure that the motor is completely disconnected from the amplifier and the associated mechanical system WARNING To minimize the possibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person is exposed to the circuitry To minimize the possibility of bodily injury make certain that all electrical power switches all switches external to the amplifier are in the off position prior to making any mechanical adjustments gt Version 1 5 Aerotech Inc 1 13 Introduction BA SineDrive User s Manual 1 14 Aerotech Inc Version 1 5 BA SineDrive User s Manual Configuration and Communication CHAPTER 2 CONFIGURATION AND COMMUNICATION In This Section OMe Miro L et eee 2 1 e BAS Control Board Jumper Selections 0 0 i 2irerereroeoroeroneroeroooosononn 2 1 e BAS Communications Modes Oe RME COMANA pe n a n a n ae Fe oo TOE en on 2 1 Introduction This chapter covers the jumper configurations when used with a brushless DC motor 2 2 BAS Control Board Jumper Selections The only user selectable jumper on the BAS Amplifier board is JP2 The jumper selects between shunt and no shunt regulator Remove power from unit before changing the jumper p p DANGER The user selectable jumper on the power board i
52. introduction to the hardware and software architecture of the BA SineDrive CHAPTER 2 CONFIGURATION AND COMMUNICATION This chapter covers the jumper configurations when used with a brush or brushless DC motor This chapter also covers the methods used to send commands to the BAS CHAPTER 3 PARAMETERS This chapter describes the various parameters used on the BAS CHAPTER 4 MODE OF OPERATION This chapter contains all information regarding the BAS s modes of operation CHAPTER 5 TECHNICAL DETAILS This chapter contains all detailed technical information regarding the BA SineDrive CHAPTER 6 TROUBLESHOOTING This chapter covers symptoms probable causes and solutions related to the BA SineDrive APPENDIX A WARRANTY AND FIELD SERVICE Appendix A contains the warranty and field service policy for Aerotech products INDEX The index contains a page number reference of topics discussed in this manual Locator page references in the index contain the chapter number or appendix letter followed by the page number of the reference REVISION HISTORY This section lists the changes made for the current revision Version 1 5 Aerotech Inc xiii Preface BA SineDrive User s Manual CUSTOMER SURVEY FORM A customer survey form is included at the end of this manual for the reader s comments and suggestions about this manual Readers are encouraged to critique the manual and offer their feedback by completing the form
53. l Effect A Hall Effect B Hall Effect B Hall Effect C Hall Effect C Motor Phase A LAT ON Motor Phase A LAT TN Motor Phase B En ora Motor Phase B kb Motor Phase C n TN Motor Phase C EN CW Motor Rotation CCW Motor Rotation Figure 5 14 Hall Effect Motor Phasing Motor Mounting Motor Mounting Plate Front View Plate Front View CW Rotation Motor Shaft Cew Rotation Positive Direction Negative Direction Figure 5 15 Motor Rotation From Mounting Flange End The waveforms created by the motor phasing can be observed using a wye resistor network a dual trace oscilloscope and performing the following steps The following procedure is only necessary if the user has to replace a defective encoder or is using a non Aerotech motor mo Motor voltage is monitored without power applied to the motor Before performing the following steps remove all connections to the motor except e the wye resistor network Remove all mechanical connections to the motor shaft Version 1 5 Aerotech Inc 5 15 Technical Details BA SineDrive User s Manual 1 Connect the ends of three resistors to motor terminals A B C Refer to Figure 5 16 2 Use one channel of the oscilloscope to monitor motor terminal A with respect to the Wye neutral the point where all resistors are connected together refer to Figure 5 16 3 Connect a 5V power supply to
54. llows the user to correct for offsets in the external analog circuitry when operating in velocity mode Refer to Table 3 12 for parameter settings Table 3 12 Settings for Input Command Offset PRM 12 PRM 12 Settings Default Value 0 Maximum Value 50000 Minimum Value 50000 Type Long 32 bit Units 3 2 13 PRM 13 14 Current Offset Adjustment IA OFFSET IB OFFSET This parameter can be used to null out an offset in the current commands PRM 13 is for phase A and PRM 14 is for phase B This value is added before the current commands are sent to the DAC Refer to Table 3 13 for parameter settings Table 3 13 Settings for Position Mode PRM 13 PRM 14 PRM 13 PRM 14 Settings Default Value 0 Maximum Value 2048 Minimum Value 2048 Type Long 32 bit Units 3 8 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters 3 2 14 PRM 15 Servo Peak Current Limit CURR LIMIT This parameter controls the maximum allowable current that the PI loop can output The value is expressed in of the amplifier s peak current output For example if the amplifier can output a peak current of 20 Amps and PRM 15 is 50 then the peak current from the PI loop will be 10 Amps Refer to Table 3 14 for parameter settings Table 3 14 Settings for Servo Peak Current Limit PRM 15 PRM 15 Settings Default Value
55. motor has Hall effects available PRM 6 1 the controller uses the halls to initialize the commutation table If the hall signals are not available or are not recognized by the controller the user should set this value to 0 If this value is 0 the controller attempts to initialize the motor by energizing the phases to a known rotor position and then commutate via the encoder from this known value The peak current used to energize the phases is given in PRM 7 Refer to Table 3 6 for parameter PRM 6 settings VE Requires a reset CTRL D before taking effect If the user uses this method to initialize the motor on a linear stage ensure that the stage is not near a hardware limit Table 3 6 Settings for Hall Effects Available PRM 6 PRM 6 Settings Default Value 1 Halls available Maximum Value 1 Type Long 32 bit Units Minimum Value 0 This method will not work on vertical stages 3 4 Aerotech Inc Version 1 5 BA SineDrive User s Manual Parameters 3 2 7 PRM 7 Initialization Current INIT CURRENT This parameter defines the peak current sent to the motor during an initialization This only applies to brushless motors without hall signals PRM 6 0 The value of this parameter is in percent Refer to Table 3 7 for parameter settings Care must be taken to ensure that the peak current applied to the motor does not exceed the motor s ratings IMPORTANT Motor may
56. motor leads is less than 50 nano seconds for a 320 VDC bus This switching rate can generate Electromagnetic Interference EMI into the MHz band To minimize this EMI it is recommended that the motor leads be twisted together with the motor cable grounding wire and surrounded with a foil shield Refer to Figure 5 2 In addition to the EMI effects electrostatic capacitive coupling to the motor frame is very high requiring the frame to be grounded in order to eliminate a shock hazard Additional electrostatic coupling exists between the three twisted motor leads and the foil shield of the motor cable This coupling forces high frequency currents to flow through the returning earth ground of the motor cable To minimize this problem and maintain low levels of EMI radiation perform the following 1 Use shielded cable to carry the motor current and tie the shield to earth ground Refer to Figure 5 2 2 Place one toriod ferrite around the three motor leads two leads for brush motors The toriod should have 10 turns for 16 AWG wire or 7 turns for 14 AWG wire This helps reduce the harmonics generated by the 20 KHz switching waveform Use a Ferroxcube 500T600 3C81 core or equal Refer to Figure 5 2 3 Use a cable with sufficient insulation This will reduce the capacitive coupling between the leads which in turn reduces the current generated in the shield wire 4 Provide strong earth ground connections to the amplifier additional heat
57. mplifier A green light indicates the amplifier is in the ready state and the motor is enabled while a red light indicates a fault or the power stage is disabled 5 8 Aerotech Inc Version 1 5 BA SineDrive User s Manual 5 3 The TO Port The I O port is a 25 pin D style connector that contains all of the general purpose I O functions These include e 2 dedicated digital I O signals External Enable Amp Fault e and 1 dedicated analog input INPUT for the command The digital I O are opto isolated inputs and outputs One of the two dedicated I O signals enables disables the power stage externally and the second indicates the fault status in the amplifier The analog I O port can accept a 10 volt differential input This signal can represent a current or velocity command from another controller The pinouts for the 25 pin connector are shown in Table 5 2 To preserve signal integrity and reduce noise a well shielded cable must be used to send the current and velocity commands to the BAS Table 5 2 T O Connector Pinouts P1 Pin Function Pin Function 1 Shield 17 Input 2 CW Limit 18 Input 3 CCW Limit 19 Thermistor 4 Home Limit 20 Restore Reset 5 External Enable 21 SIN 6 Input Common 22 SIN N 7 MRKR N 23 COS 8 MRKR 24 COS N 9 Output Common 10 Fault Out 15 25 Ground 16 5V CW CCW MRKR MRKR N SIN SIN N COS and COS N
58. n 1 5 BA SineDrive User s Manual Mode of Operation and Tuning CHAPTER 4 MODE OF OPERATION AND TUNING In This Section o FIMMOGUCHIONE tt n et tee e KA E veve pe annee 4 1 e Velocity and Current IMO E noaoono 4 2 OS UMN Deere e tre eet eee er ee ee TE ae 4 3 4 1 Introduction This chapter contains all information regarding the BAS s modes of operation Version 1 5 Aerotech Inc 4 1 Modes of Operation and Tuning BA SineDrive User s Manual 4 2 Velocity and Current Mode These two modes require an external command 10 volt signal on P1 17 and P1 18 With either mode the BAS samples the external command and sinusoidally commutates a brushless motor If velocity mode is selected the user can close the velocity loop digitally on the BAS Commutation of a brushless motor requires the user to enter the encoder resolution PRM 4 and the number of pole pairs PRM 5 A commutation shift can also be added by changing PRM 11 A digital low pass filter can also be added to remove noise due to the PI controller or any contamination during the A D conversion To enable the filter change PRM 9 to a 1 The filter cutoff can be found in PRM 10 The user can also enable and disable the amplifier through the external enable line P1 5 The polarity of this signal can be selected through PRM 22 A fault output is also available on P1 10 Both the external enable and the fault output are opto isolated When operating in current or
59. nal eee eeeeeeeceeeeeseeeeenaes 5 10 5 3 5 External Enable Input eee eeceeecesecnseceecnseenaes 5 11 3 3 6 Fault Outputs sc ea tinge akin dccuineieeginatin aes 5 11 Encoder Limits Hall Effects POIt 0 0 0 00irrereeoeooreoonooenoonnoonnoonnosane 5 13 DAN Fncoder Intertace sacs boat seen diverse Rian ieee 5 13 Aerotech Inc Version 1 5 BA SineDrive User s Manual Table of Contents 5 4 2 Hall Effect Interfaces sssini sri esiet cede ii iksses yi osrin eseni 5 14 5 5 Servo Amplifier Specifications eeessseeseresesreerrsrrerrsrrrreserrereresreee 5 18 5 6 BAS Amplifier Dimensions eee ee eeeecesecese cess cneeeeeeneeeeeeeeees 5 19 5 6 1 Mounting Procedures for the BAS 10 20 30 S0 5 21 5 6 2 Mounting Procedures for the BAS 75 100 eee 5 22 CHAPTER 6 TROUBLESHOOTING W0 cece cneeeecneeeeceeeeeeeaeeaeeseeneeees 6 1 6 1 Amplifier Related Problems 00 0 0 ceeeeceeceeceesceeseesecesecesecnsecnaeeaes 6 1 APPENDIX A WARRANTY AND FIELD SERVICE A 1 INDEX REVISION HISTORY VVV Version 1 5 Aerotech Inc Table of Contents vi Aerotech Inc BA SineDrive User s Manual Version 1 5 BA SineDrive User s Manual List of Figures LIST OF FIGURES Figure 1 1 BA SineDrive Amplifiers 10 20 30 S0 75 IQO u uierrerrovooonosenes 1 1 Figure 1 2 INustration of Configuration iirevereereeeoorooeooenoonaoonaoonaoonaooosonn 1 2 Figure 1 3 BAS MMI Main
60. nt or if the BAS receives invalid signals during operation 2 5 1 5 Thermistor Fault The thermistor can be used to monitor the motor If the motor temperature is too high the BAS will detect this condition and generate a fault Since many motors do not have thermistors PRM 21 can be used to disable this fault condition 2 5 1 6 RMS Current Error The above mentioned faults are all monitored by the software In addition there is hardware on the BAS that also monitors the faults of the power stage These faults are listed below Whenever the error message is AMP FAULT one of the following has occurred note that the source of this fault cannot be easily determined Over temperature Bias supply too low 5V too low RMS current this is also monitored by the software and cannot be changed Output short circuit DC bus over voltage if this occurs a shunt board may be required 2 5 2 F1 Abort Entry Up One Menu Level Pressing FI aborts the current menu operation or moves up one level in the menu 2 5 3 F2 F3 Previous Next Menu This command allows the user to change the displayed parameters The parameter screens are circular i e if the user continually presses F3 or F2 they will eventually return to the starting screen 2 5 4 T Transfer Parameters Pressing T permits the user to upload or download parameters to their PC The user is queried to enter the file File names follow the 8 3 convention and can contain
61. ower the Aerotech Hand held Terminal HHT Table 1 1 contains the connector pinouts The BAS is configured as Data Terminal Equipment DTE therefore a NULL MODEM cable is required to connect to the PC This swaps pins 2 and 3 for proper communication Table 1 1 COM Port Pinouts Pins Function 1 Shield 2 Receive RXD 3 Transmit TXD 4 6 7 8 NC 5 Ground GND 9 5 V L The baud rate is 9600 with no parity one stop bit ZI The 5 Volt connection on COM port is for the hand held terminal and is a non standard connection 1 5 5 LED Status Indicators The BAS contains two LED s located on the front of the unit that indicate the fault status of the unit refer to Figure 1 6 One of the LED s indicates if power is applied to the unit the second indicates the status of the amplifier A green light indicates the amplifier is in the ready state and the motor is enabled while a red light indicates a fault or the power stage is disabled 1 12 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction 1 6 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment To minimize the possibility of electrical shock and bodily injury ensure that the motor is decoupled from the mechan
62. per and lower bounds These bounds are provided in Chapter 3 Parameters If the user enters a number for a parameter which is out of the allowable range an error message appears See the example in Figure 2 4 below 1 KP 4000000 2 KI 65000 3 VSCALE 7 0000 ENTER gt _ FI ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAI ONLY FS ABORT MOTION BAT BAI BAS DISPLAY WINDOW Figure 2 4 Changing a Parameter in the Change Parameter Screen 2 4 2 D Display Tracking Information After pressing the D key the user will see the following screen in Figure 2 5 F1 ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAT ONLY FS ABORT MOTION BAT BAI BAS DISPLAY WINDOW Figure 2 5 Display Tracking Screen 2 4 Aerotech Inc Version 1 5 BA SineDrive User s Manual Configuration and Communication This screen shows the real time tracking display of the BAS The velocity velocity error status and velocity command are shown Status shows the current status of the BAS The bit patterns are shown in Table 2 3 Table 2 3 Bit Patterns Bit Function bit 0 Reserved bit 1 Reserved bit 2 Reserved bit 3 Reserved bit 4 Fault bit 5 Reserved bit 6 Reserved bit 7 Reserved See Section 2 5 for types of errors 5 Version 1 5 Aerotech Inc 2 5 Configuration and Communication BA SineDrive User s Manual 2 5 E Display Error Message
63. power Earth ground should be connected to the earth ground connection on the unit Motor connections are made through the A B and C connections on the front of the unit BAS SERIES FUSING m acae _ Ac Aac2 _ Input act FUSES Figure 1 11 AC Input Fusing 50 75 100 Models 1 10 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction 1 5 3 20 80 Volt Option BAS 10 20 30 If a BAS 10 20 30 80 amplifier was purchased a separate AC input has been included on the side of the amplifier The internal power supply of the BAS amplifier requires a minimum of 80VAC input to operate properly Figure 1 12 shows the connection to the separate AC power board The connection is made to the AC input board with a three terminal connector Aerotech Part ECK00213 G 115 240 VAC EN A L ON L ANA LN ANANA 115VAC HI CONTROL OR LO AG 230VAC FRAME AMPLIFIER 14VAC s HI ne 56VAC AG FRAME DEPENDING ON MODEL Figure 1 12 20 80V Option Version 1 5 Aerotech Inc 1 11 Introduction BA SineDrive User s Manual 1 5 4 COM Port The COM port is a standard 9 pin D style connector located on the front of the BAS refer to Figure 1 6 It consists of two signal lines transmit TXD and receive RXD a ground shield and a 5V power supply line used to p
64. product s being returned as is at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerote
65. r DOS Emulation program trom PG using a menu driven interface Figure 1 2 Illustration of Configuration 1 2 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction 1 3 BAS DOS Software The BAS DOS software package is stored on a 1 44MB floppy disk labeled BAS Software Package The software includes a HT terminal emulator com bai exe and the source files The purpose of the com bai exe is to setup the BAS In order for the com bai exe to function correctly in DOS the ansi sys driver must be added to the config sys file DEVICE c dos ansi sys These programs can also run in a DOS shell under Windows 95 NT Again in order for the com_bai exe file to run correctly the ansi sys driver must be loaded The following examples illustrate how to load ansi sys in Windows 95 NT For Windows 95 add the following line to the config sys file device c win95 command ansi sys For Windows NT add the following line to the config nt file in the winnt system32 directory device SystemRoot system32 ansi sys Restart the PC after making these changes The BAS must be in local mode to operate with the com_bai software Pressing CTRL A will toggle between remote and local mode 1 4 BAS Windows Software Interface Included in the standard software package is the BAS Windows Software Interface This windows program is intended to take the place of the COM BALEXE program for users of Windows 95 98 NT To
66. rned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier by the buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval An
67. rning the test setup This product was tested at Compliance Labs Middlefield OH on October 8 1998 The brushless amplifier was tested with a brushless servo motor To ensure that the product passes the conducted emissions tests a line filter and common mode choke must be connected to the main inputs The filter is a Schaffner FN 2070 10 06 and the common mode choke is a Renco Electronics RL 1329 1200 Ferrite must be added to each line of the main inputs but not earth ground In order for the product to conform to the radiated emission standards the motor cable must be shielded and the shield must be tied to the earth ground Ferrite must also be added in common mode to the motor cable but not around the shield Finally a metal 25 pin connector with a metal backshell must be used when making a connection to the 25 pin receptacle on the amplifier The shield of the feedback cable must be tied to the metal backshell Failure to follow the described procedures may cause the amplifier motor to exceed emission limits vVVvv Version 1 5 Aerotech Inc xi Regulatory Information xii Aerotech Inc BA SineDrive User s Manual Version 1 5 BA SineDrive User s Manual Preface PREFACE This section gives you an overview of topics covered in each of the sections of this manual as well as conventions used in this manual This manual contains information on the following topics CHAPTER 1 INTRODUCTION This chapter contains an
68. rns for 10 AWG wire This helps reduce the harmonics generated by the 20 KHz switching waveform 3 Use a cable with sufficient insulation This will reduce the capacitive coupling between the leads which in turn reduces the current generated in the shield wire 4 Provide strong earth ground connections to the amplifier additional heat sink and the motor Offering electrical noise a low impedance path to earth ground not only reduces radiated emissions but also improves system performance 5 If possible do not route motor cables near cables carrying logic signals and use shielded cable to carry logic signals Version 1 5 Aerotech Inc 5 5 Technical Details BA SineDrive User s Manual One toroid ferrite around three motor leads two leads for brush motors AC1 SHIELD Ac2 18 TWISTED TOGETHER BAS AC3 AMPLIFIER Q L A O L 7 B MOTOR c IO Ih CASE GND EARTH GROUND Figure 5 5 Wiring to Minimize EMI and Capacitive Coupling BAS50 75 100 5 2 2 3 Minimizing 50 60 HZ Line Interference Operating the BAS series amplifiers from an off line source of 115 VAC or 230 VAC creates some additional problems First there is a potential problem of EMI generated from the switching power stage of the BAS amplifier propagating through the bridge rectifier and out through the AC1 AC2 and AC3 input AC line connections Back propagation of noise into t
69. s shown in Table 2 1 Table 2 1 Power Board Jumper Selections Eo JP2 Jumper Position Mode 1 2 No shunt JP2 2 3 Shunt board installed BAS Power Board The only user selectable jumper on the control board is JP2 It selects the input common resistance Refer to Table 2 2 E Table 2 2 Control Board Jumper Selections bi Jumper Position Mode 1 2 5V Opto input ou 2 3 24V a a BAS Control Board Version 1 5 Aerotech Inc 2 1 Configuration and Communication BA SineDrive User s Manual 2 3 BAS Communications Modes Using either the hand held terminal HT or the DOS emulation program the first screen the user will see is shown in Figure 2 1 This is the tracking screen com_bai This program can be used with BA Intellidrive BAT or BAS FI ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAT ONLY FS ABORT MOTION BAT BAI BAS DISPLAY WINDOW Figure 2 1 Tracking Screen Pressing any key will take the user to the parameters screen This screen is shown in Figure 2 2 1 KP 1500000 2 KI 30000 3 VSCALE 2 0000 F3 NEXT F2 PREY FI ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAT ONLY F9 ABORT MOTION BAT BAI BAS DISPLAY WINDOW Figure 2 2 Parameter Screen 2 2 Aerotech Inc Version 1 5 BA SineDrive User s Manual Configuration and Communication 2 4 Menu Commands The BAS uses cer
70. s value represents the line count of the encoder times 4 For example if the resolution of the encoder is 1000 1000 lines revolution the user would enter 4000 for this parameter The multiplication by four is done in hardware on the controller For linear motors this number represents the number of counts for one electrical cycle For example if a linear motor has an electrical cycle of 2 4 inches and the encoder resolution is lum then the user would enter 2 6 ese zane 9 counts im J e0980 counts in m 1000mm Refer to Table 3 4 for parameter settings Requires a reset CTRL D before taking effect 5 Table 3 4 Settings for Encoder Resolution PRM 4 PRM 4 Settings 4000 2147483647 300 Long 32 bit Count Version 1 5 Aerotech Inc 3 3 Parameters BA SineDrive User s Manual 3 2 5 PRM S5 Electrical Cycles Mechanical Revolution POLE PAIRS This parameter is the number of electrical cycles of the motor mechanical revolution for brushless motors Also known as the number of pole pairs For linear motors this PRM 5 should be one Refer to Table 3 5 for parameter settings ZI Requires a reset CTRL D before taking effect Table 3 5 Settings for Electrical Cycles Mechanical Revolution PRM 5 PRM 5 Settings Default Value 4 Maximum Value 20 Minimum Value 1 Type Long 32 bit Units 3 2 6 PRM 6 Hall Effects Available HALLS If the
71. sink and the motor Offering electrical noise a low impedance path to earth ground not only reduces radiated emissions but also improves system performance 5 If possible do not route motor cables near cable carrying logic signals and use shielded cable to carry logic signals In order to reduce conducted emissions an external filter should be added to the BAS Aerotech can provide a filter box PN UFM that will minimize line emissions for CE 10A 20A and 30A models only 5 2 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details One toroid ferrite around the three motor leads two for brush motors There should be 10 turns for 16 AWG wire and 7 turns for 14 AWG wire Use a Ferroxcube 500T600 3C81 core or equal BAS AMPLIFIER eiS LO Twisted Together HI 3 Q A Q B Q c Q N Grounding y Screw Case GND Earth Ground This configuration is especially important if the BAS Amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e g 115 VAC or 230 VAC input power Figure 5 2 Wiring to Minimize EMI and Capacitive Coupling 5 2 1 3 Minimizing 50 60 HZ Line Interference Operating the BAS series amplifiers from an off line source of 115 VAC or 230 VAC creates some additional problems First there is a potential problem of EMI generated from the switching power stage of the BAS amplifier propagating through the brid
72. tain menu commands that allow the user to perform specific functions The first two parameters the user sees are the velocity loop gains The fourth row shows menu driven commands C D E and T The letter commands can be entered while in the parameters screen Pressing the letter immediately prompts the user for the next action These are described below 1 C Change a parameter 2 D Display tracking information 3 E Error Messages 4 T Transfer Parameters 5 CTRL D Reset the BAS FI Abort entry return to previous menu F2 F3 Previous or Next menu space cycles through menu commands 2 4 1 C Change Parameter This command allows the user to change a parameter displayed on the screen refer to Figure 2 3 After pressing C the user is prompted for the parameter they want to change To change the parameter type in the number press lt ENTER gt and the parameter is changed and saved to the flash memory Some parameters may not take effect until issuing a reset These parameters are discussed in Chapter 3 Parameters Pressing the FI key aborts changing the parameter 1 KP 1500000 2 KI 30000 3 VSCALE 2 0000 ENTER gt F1 ABORT COMMAND F2 PREVIOUS SCREEN F3 NEXT SCREEN F4 JOG BAI ONLY F9 ABORT MOTION BAT BAL BAS DISPLAY WINDOW Figure 2 3 The Change Parameter Screen Version 1 5 Aerotech Inc 2 3 Configuration and Communication BA SineDrive User s Manual All parameters have up
73. ult output that is opto isolated The electrical characteristics of this output are shown in the Figure 5 10 A V BA SineDrive A 2 Rext 510 OHM P1 10 Fault Output VA Output Common To signal common of external circuit Opto Coupler PS2501 4 V Figure 5 10 Electrical Characteristics of Opto Isolated Output Version 1 5 Aerotech Inc 5 11 Technical Details BA SineDrive User s Manual BS BF All digital outputs must operate from the same power supply since they all reference the same OUTPUT COMMON P5 9 The following formula calculates the added pull up resistor value for the external circuitry Rext gt External Power Supply Voltage Voutput common 4 02 The maximum external power supply voltage is 80 volts EXAMPLE Using a 24VDC external supply find Roxt 24V 0 0 4 Rou 0 02 1180 ohms The fault output signal is also an opto isolated output 5 12 Aerotech Inc Version 1 5 BA SineDrive User s Manual Technical Details 5 4 Encoder Limits Hall Effects Port The 25 pin D style connector contains all of the necessary feedback inputs to complete a servo loop The Hall effect switch inputs are recommended for AC brushless motor commutation but not required The pinouts for the connector is shown in Table 5 3 Table 5 3 Pinouts for the Encoder Limits Hall Effects Port Pin Function
74. ut AC1 AC2 AC3 Ground Motor Connector A Motor Connector B Motor Connector C Ground Figure 1 9 Motor and AC Power Connections 50 75 100 Models 1 8 Aerotech Inc Version 1 5 BA SineDrive User s Manual Introduction 1 5 2 Fusing and Inrush Limiting 1 5 2 1 BAS 10 20 30 The BAS 10 20 30 do not contain a fuse or any inrush limiting internally These can be added externally to the AC input as shown in Figure 1 10 RECOMMENDED MODELS BAS SERIES RODAN SURGE GIARD SG100 20A RMS THERMISTOR AND FUSING KEYSTONE CL 10 12A RMS AMETHERM SL32IRO30 30A RMS RECOMMENDED FUSE VALUES BAS10 10ASB BAS20 a 20ASB BAS30 A C piy SIEL l t Lo BLU npu HI BRN ko FUSE op DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFFICIENT THERMISTORS CAN BE USED FOR THIS PURPOSE THERMISTOR IS TO BE PLACED IN THE AC HI LINE ONLY ONE THERMISTOR NEEDED FOR ONE AMP ALTERNATELY 2 THERMISTORS CAN BE USED IN AC HI 8 LO FOR MULTIPLE AMPS IN PARALLEL Figure 1 10 Fuse and Inrush Limiting 10 20 30 Models Version 1 5 Aerotech Inc 1 9 Introduction BA SineDrive User s Manual 1 5 2 2 BAS 50 75 100 The BAS 50 75 100 contain inrush limiting internally Fusing can be added if needed externally refer to Figure 1 11 The BAS 50 requires 2 phase input power while the BAS 75 100 require 3 phase input
75. y returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If upon Aerotech s examination a warranted defect exists then the product s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an air freight return the product s will be shipped collect Warranty repairs do not extend the original warranty period Laser Products Return Procedure Returned Product Warranty Determination Version 1 5 Aerotech Inc A 1 BA SineDrive User s Manual Warranty and Field Service Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination the buyer shall be notified of the repair cost At such time the buyer must issue a valid purchase order to cover the cost of the repair and freight or authorize the product s to be shipped back as is at the buyer s expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the

Download Pdf Manuals

Related Search

BA SINEDRIVE ba sinedrive basin drive in mt pleasant basin drive in basin drive inn basin drive hair basin drive films basin drive in movie basin drive in mount pleasant

Related Contents

  Philips Clock Radio AJ3500  TM-S1000 User`s Manual - Epson America, Inc.  10-Gbps Ethernet MAC MegaCore Function User Guide  4200 MTM practice - Norscan Instruments Ltd.  2012-02-08 Report-No.: 968/M 338.00/12 Page 1 of 28 Automation  GEAppliances.com  Manuale utente Shima  Mode d`emploi Witeo CD DOC00825-G - Ingenico Healthcare/e-ID  Cuisinart 2-Slice User's Manual  

Copyright © All rights reserved. Failed to retrieve file