User`s Manual BLU Series
Contents
1. Si board Limit COWLIMT I Sensor 21 If the sensor output goes low at the limit select the option closed in the soft ware If the output is open or high voltage choose open Other sensors have sourcing outputs That means that current can flow out of the sensor output but not into it In that case wire the sensor this way BLU Servo Si Board If the sensor output goes high at the limit choose the program option closed if the output is low at the limit select open 22 Interfacing to a Motion Controller In some applications servo control is provided by a motion controller and the drive simply obeys a velocity or torque command This command signal can be digital PWM and direction or analog 10V In most cases the encoder signals from the motor must feed back to the controller The BLU D and BLU S servo drives are well Suited for such applications To set up a BLU servo for this type of application you must make a cable to connect the motion controller to the BLU servo s DB 25 1 0 connector Diagrams are shown below for both digital PWM and analog 10V signals You ll also need to use our Quick Tuner software to set the drive for torque or velocity mode to set the scaling and offset and to configure the motor 12 24 VDC Power Supply O Motion Controller Connecting a Motion Controller with PWM Output 232. BLU100 Si screw terminal connector digital inputs digital outputs analog input Two Color LED Status RJ11 connector screw terminal e RS 232 port connector e motor power supply screw terminal EDs connector e status RS 485 port HD 15 connector DB 25 connector digital inputs motor feedback digital outputs Always use the blue amp white Applied Motion screwdriver to tighten e analog input the screw terminal connectors Larger screwdrivers may remove the e encoder out tput plastic dimples that prevent the screws from falling out BLU200 Si 7 Connecting to the PC using RS 232 Locate your computer within 6 feet of the BLU servo drive e Your drive was shipped with a black adapter plug It has a telephone style jack at one end and a larger 9 pin connector at the other Plug the large end into the COM1 serial port of your PC Secure the adapter with the screws on the sides If the COM1 port on your PC is already used by something else you may use the COM2 port for the drive On some PCs COM will have a 25 pin connector that does not fit the black adapter plug If this is the case and you must use COM2 you will have to purchase a 25 to 9 pin serial adapter at your local computer store e Your drive was also shipped with a 7 foot telephone line cord Plug one end into the adapter you just attached to your PC and the other end into the RS 232 jack on your drive If you need to
3. 001 Shell Kit AMP P N 748678 1 32 23 Alarm Codes 10 2 02 In the event of an error the green LED on the main board will flash one or two times il followed by a series of red flashes The pattern repeats until the alarm is cleared Code Error 1 red 1 green position error exceeds fault limit 2 red 1 green ccw limit 2 red 2 green cw limit 3 red 1 green drive internal temperature exceeds 85 C 3 red 2 green motor over temperature 4 red 1 green power supply voltage is more than 55 VDC 4 red 2 green power supply voltage is less than 18 VDC 5 red 1 green over current short circuit 6 red 1 green bad commutation Hall signal 6 red 2 green bad encoder signal 7 red 1 green serial communication error Connector Diagrams GND X1 STEP PWM X1 STEP PWM X2 DIR X2 DIR X COMMON X3 Servo Enable lt gt X4 Alarm Reset S2 M 3a X6 CCW Limit 5 X7 CW Limit Analog IN Analog IN Front View encoder B 3 8 GND Hall 1 9 LI 2 encoder A encoder B 4 7 5VDC 200mA Hall 1 10 1 encoder A RS 485 422 encoder 7 5 A 6 acoder Ze PD A A Ts T 85966 m motor RTD 15 11 Hall 2 Hall 3 14 12 Hall 2 Hall 3 13 Applied Motion Products Inc 404 Westridge Drive Watsonville CA 95076 Tel 831 761 6555 800 525 1609 Fax 831 761 6544 www appliedmotionproducts com
4. 12 24 VDC Power Supply Motion Controller Connecting a Motion Controller with Analog 10V Output Connecting to the Si Analog Input The analog input of the BLU Si can be used to control the motor speed when that axis is programmed for oscillator mode The speed may also be fixed and the analog input ignored and left unconnected 5 volt DC is provided for powering potentiometers A 1000 to 10000 ohm potenti ometer is recommended and should be connected as shown below A 0 to 5 volt analog signal may also be used Usually this signal comes from a PLC a PC with data aquisition card or a motion controller Connections are shown below The 5V terminal is an output Do not connect it to a power supply 0 5 C MI speed signal signal return V Connecting an Analog Inputto an Connecting an Analog Input to a Active Signal Potentiometer 24 Programmable Outputs inside BLU Servo The BLU S and BLU D drives feature three _ m digital outputs Comm lt Brake controls an electric brake relay ALARM automatically releasing and engaging as the 16 drive requires 15 1 Alarm closes when a drive fault or alarm INPOSN e condition occurs The red and green LEDs La will flash an error code A gR LI LA In Position indicates that the drive has gg inside BLU achieved a desired goal such a target posi La
5. amp BLU200 D 30 5 55 5 19 gt lt 080 nt gl OLS SSSSSSSISSSSSSISSSSSSSS BLU200 Si 31 Technical Specifications Amplifier Digital Inputs Analog Inputs Outputs Encoder Output Physical Mating Connectors Sine commutation MOSFET 17 kHz PWM 18 53 VDC input BLU100 motor current 4 5A continuous 13 5A peak BLU200 motor current 9A continuous 13 5A peak Step PWM amp Direction differential optically isolated 5V logic 330 ohms internal resistance 0 5 usec minimum pulse width 2 usec minimum set up time for direction signal All other digital inputs optically isolated 12 24V logic 2200 ohms Maximum current 10 mA BLU S and BLU D 10VDC 12 bit ADC BLU Si 0 to 5 VDC 1K 10K recommended impedance 10 bit ADC Photodarlington 100 mA 30 VDC max Voltage drop 1 2V max at 100 mA 26031 line driver BLU100 S D 0 85 x 2 75 x 4 6 inches overall 3 1 oz 87 g BLU100 Si 1 50 x 2 75 x 4 6 inches overall 5 0 oz 140 g BLU200 1 48 x 5 35 x 2 90 inches overall 10 oz 280 g Ambient temperature range 0 to 70 C Motor power supply Mating connector included PCD P N ELVP06100 RS 485 Mating connector included PCD P N ELVP05100 1 0 DB 25 male Mating connector included AMP P N 747912 2 Shell Kit AMP P N748678 3 Motor feedback HD 15 male Norcomp P N 180 015 102
6. b tbc dp 1 Connecting Limit Switches to the BLU Drives sssssssseeenetenennn 1 Wiring a Mechanical Limit Switch sssssseeeetntennnneennes 20 Wiring a Limit SEnSOr narren ettet treten 20 Wiring Mechanical er rv ret 21 WINING Limit SONS Of ucciso retener e penetrar i Er natekenen 21 Interfacing to a Motion Controllers nnn are t tmr ta m tnn e rn Doct 23 Connecting to the SIM Analog Input cio rre e nerd ter 24 Programmable teer re e e nem be estu entre RR 25 SINKING QUEUE 2t vereen tees ct teer d s ree 25 SOUMCING OUTPUT ccc Fette rota teo ied rtr ER t iaa d 26 Driving a Relay annen erensen ettet nnne nnt tertii 26 epe Ot p a UO OD tad el rri M UR 26 Choosing a Power SUDDIV cio icono tr rom bonn die nnm f Rn 27 VO MAG 27 OTA 27 Recommended MOTOIS iusto e Da b b 28 Other People s MOTOTS nbn ane 28 Mounting l6 DEIN GE aene ett meten etre n Ee nh uten iei e tit 29 BEUTOD Dv and 29 BH OENE 29 MODES M 29 Mechanical DUINE ert trecenti ded 30 TEGNMIGAISS PEEN CANON Ss asten 32 Alarm C OUES oc iia dee a E ER e beenen 34 Gonnector 34 BLU D and BLU S Input co Introduction Thank you for selecting an Applied Motion Products motor control We hope our dedication to performance quality and
7. locate your drive farther from the PC you can replace the 7 foot phone cord with a longer one Do not exceed 50 feet Never connect a BLU servo drive to a telephone circuit It uses the same connectors and cords as telephones and modems but the volt ages are not compatible ground to PC ground RX to PC TX TX to PC RX No connection Pin Assignments of PC RS232 Port RJ11 connector 8 Connecting to a host using RS 485 RS 485 allows you to connect more than one drive to a single host PC PLC or other computer It also allows the communication cable to be long more than 1000 feet But the device to which you connect must have an RS 485 port Pin diagram and wiring are shown below We recommend the use of Category 5 cable It is widely used for computer networks it is inexpensive easy to get and certified for quality and data integrity Our RS485 implementation is a multi drop network with separate transmit and receive wires One pair of wires must connect the host computer s transmit signals to each drive s and RX terminals Another pair connects the TX and TX drive terminals to the host computer s receive signals A logic ground terminal is provided on each drive and can be used to keep all drives at the same ground potential This terminal connects internally to the DC power supply return V so if all the drives on the RS485 network are powered from the same supply it is not necessary to connect the logic grou
8. supply If you are using relays or mechanical switches you will need 12 24 V ea GaGa ae power supply This also applies if you are connecting the inputs to the program mable outputs of another Si product from Applied Motion What is COM is an electronics term for an electrical connection to a common voltage Sometimes common means the same thing as ground but not always In the case of the BLU Servo if you are using sourcing PNP input signals then you will want to connect COM to ground power supply CCom gt If you are using sinking NPN signals CN 220 Var then COM must connect to power supply ARA 2200 IN2 Note If current is flowing into or out of an CRE NW input the logic state of that input is low or ws 220 closed If no current is flowing or the input is AN not connected the logic state is high or open Na gt STU NW The diagrams on the following pages show CHI SM qeu how to connect the inputs to various com a xd monly used devices CCWJOG m 17 co co EN ike 12 24 i VDG switch or relay BLU Servo Power closed logic low Supply C2 lt XXI M Connecting an Input to the Si 1 Motion Output motion signal to in position Si 1 will trigger servo drive at end of each move Connecting an Si drive to the BLU servo Whe
9. 3 4 85 2 07 1 73 A100 103 4 70 24 42 4 27 0 78 0 53 A100 104 4 00 48 42 6 76 1 73 1 33 A200 104 6 68 48 200 5 77 0 73 0 25 Note to connect these motors to a BLU servo drive an extension cable is required They are available in lengths of 4 10 and 20 feet Please contact your distributor or call the factory to order Other People s Motors If you want to use a motor other than those recommended here it must be a three phase motor with 120 commutation timing The motor must also have an incre mental encoder index signal is not required with no fewer than 100 lines and no greater than 12 500 lines The halls and encoder must operate from 5VDC 200 mA max supplied by the BLU drive The hall signals may be single ended or differential We strongly recommend that the encoder have differential line driver outputs but single ended may be acceptable if you use a shielded cable The BLU servo drives feature sine commutation which makes motors run more 28 smoothly than trapezoidal drives f you choose a low cost motor with internal hall effect devices instead of a quality motor with precision commutation tracks on the encoder disk your performance may suffer Mounting the Drive BLU100 D and BLU100 S These compact low cost drives consist of a single printed circuit board with a mounting hole in each corner We include four plastic spacers with the drive These spacers snap into the holes in the BLU100 drive and can be secure
10. LEDs connector e status RS 485 port HD 15 connector BE connector motor feedback e digital inputs e digital outputs Always use the blue amp white Applied Motion screwdriver to tighten analog input the screw terminal connectors Larger screwdrivers may remove the e encoder output plastic dimples that prevent the screws from falling out BLU100 S and BLU100 D RJ11 connector screw terminal e RS 232 port connector e motor e power supply screw terminal LEDs connector e status RS 485 port HD 15 connector DB 25 connector e motor feedback digital inputs e digital outputs Always use the blue amp white Applied Motion screwdriver to tighten e analog input the screw terminal connectors Larger screwdrivers may remove the e encoder output plastic dimples that prevent the screws from falling out BLU200 S and BLU200 D 6 screw terminal connector digital inputs digital outputs analog input Two Color LED RJ11 connector Status e RS 232 port screw terminal connector motor power supply screw terminal LEDs Connector e status 19 485 port HD 15 connector DB 25 connector motor feedback e digital inputs e digital outputs Always use the blue amp white Applied Motion screwdriver to tighten analog input the screw terminal connectors Larger screwdrivers may remove the encoder output plastic dimples that prevent the screws from falling out
11. User s Manual BLU Series Digital Servo Drives N N N 2 E r1 a ki NEN ours ours 00 2 GU AD INSINZG INI BLU100 D BLU100 S BLU100 Si Applied BLU200 D BLU200 S BLU200 Si motors e drives controls 2 Contents rio TT ER en Block DiMera ater bekenen dn Gett Connectin Con Connectin Connecting the Motor cccccccccccsscsssesssessesssssssssesssssssssvssssssssssusssessssassessessesssssssssnsassssseesecsseeseeesearesseeseees 1 INQ SLANG cr ats iar atelier UELUT ing tothe PC using resette renee necting to a host using RS 485 sesiyasida aiian iE E i Getting an 5485 adaptor for your PC 1 g the POWEN SUPPLY se ces pee reri eter ne eR e ERG 1 c Connecting act ereen dinatie 1 BLU SI NPU cci rona E ER er e red ER le UR c ERE n te iu d ERR 1 Connector PIED Diagrams sne nennen esti cive Dead 1 High Speed Digital Inputs insna eterne 1 Using High Speed Inputs with 12 24 Volt Signals sssssssnne 1 Connecting to PLC with Sourcing PNP Outputs wc cessessesecsecssesssessesssesseesesresseeseaes 1 Connecting to PLC with Sinking NPN Outputs ens 1 Using Mechanical Switches at 24 Volts ssssssssseeennenennn 1 Other Digital trece nnt sin rmt eom eme rere encima 1 Single Ended INDUS ss scott ete ne foa e b tea d f nib en d bib toas 1 Whiat iS CON sostiene tlbi tot hee ru Re eto P
12. X tion OUT2 N i SN Jar The BLU Si adds four additional program mable outputs 073 Y M v The outputs can be used to drive LEDs relays and the inputs of other electronic devices like Made y PLCs and counters On the Si outputs the collector and emitter terminals of a a each transistor are available at the connector This allows you to configure each output for current sourcing or sinking The BRAKE ALARM and INPOSN outputs can only sink current The COM terminal must be tied to power supply Diagrams of each type of connection follow Do not connect the outputs to more than 30VDC The current through each output terminal must not exceed 100 mA Sinking Output 25 12 24 VDC Power Supply 5 24 VDC Power Supply 1N4935 suppression diode Driving a Relay Encoder Outputs If you are using the BLU Servo in torque or velocity mode with a servo controller you may need to feed the encoder signals back to the controller The DB 25 1 0 connector includes encoder output signals for this purpose Make sure the three jumpers are set as shown below Encoder Outputs Front View Choosing a Power Supply When choosing a power supply there are many things to consider If you are manufacturing equipment that will be sold to others you probably want a supply with all the safety agency approvals If size and wieght
13. X4 Alarm Reset 3 YCOMMON Ss Ze Y3 ALARM X6 CCW Limit 5 55 Y2 INPOSN X7 CW Limit gt amp YI BRAKE Analog IN Analog IN Front View DB 25 Connector Available on all drives 13 Input Single Ended Differential SES Outputs Inputs Inputs Si Input Output Connector BLU Si only High Speed Digital Inputs 12 7 7 inside BLU Servo 1 The BLU S and BLU D drives include two dx high speed inputs called STEP PWM and DIR They accept 5 volt single ended 10 380 differential signals to 2 MHz Normally ANN 9 220pF these inputs connect to an external controller that provides step amp direction or PWMM amp lt direction command signals You can also connect a master encoder to the high speed inputs for following applications Indexer with Sourcing Outputs Indexer with Sinking Outputs Connecting to Indexer with Sinking Outputs includes Applied Motion Si 1 Indexer 14 Indexer with Differential Outputs Connecting to Indexer with Differential Outputs Many High Speed Indexers have Differential Outputs Wiring for Encoder Following Using High Speed Inputs with 12 24 Volt Signals Most PLCs don t use 5 volt logic You can connect signal levels as high as 24 volts to the STEP and DIR inputs if you add external dropping resistors as shown below e For 12 volt logic ad
14. all 1 9 2 encoder A encoder B 4 7 5VDC 200mA Hall 1 10 1 encoder A encoder 7 5 6 encoder 7 eoooee motor 15 11 Hall 2 Hall 3 14 12 Hall 2 Hall 3 13 Pin Assignments facing drive 142 Connecting Input Signals The BLU servo drives have four types of inputs e high speed digital inputs for steps amp direction or PWM commands 5 volt logic e digital inputs for other signals 12 24 volt logic analog input for torque and speed commands 10V e analog input for Si programs BLU Si only 0 to 5 volts BLU D and BLU S Inputs These drives include seven digital inputs and one analog input The inputs are programmable on the BLU S drive CW amp CCW Limit can be used to inhibit motion in a given direction forcing the motor and load to travel within mechanical limits PWM amp DIR digital signal commanding torque or velocity or position on BLU S Servo Enable servo is active when closed Motor is disabled turns freely when open Alarm Reset Close this signal momentarily to reset a drive fault alarm Analog In analog torque or velocity command signal BLU Si Inputs The BLU Si adds eight programmable inputs on screw terminal connectors Connector Pin Diagrams At GND X1 STEP PWM A E 25 B ee b X2 DIR Z X COMMON GND X3 Servo Enable lt gt m 5V OUT 200 mA MAX
15. are an issue get a switching supply And you must decide what size of power supply in terms of voltage and current is needed for your application Voltage PWM drives like the BLU Servo work by switching the voltage to the motor terminals on and off while monitoring current to achieve a precise level of phase current Depending on how fast you want to run the motor you may not need a power supply equal to the rated voltage of the motor To get a rough estimate of how much voltage you need multiply the voltage constant of the motor Ke by the maximum speed required for your application For example if you want to operate the A100 103 000 at 4000 rpm you ll need V Ke rpm 4 04V krpm 4 krpm 16 volts To produce any real torque at that speed add 50 for a total of 24 V Always check the no load voltage of the power supply before using it with the drive to be sure that it does not exceed 52 VDC Current The maximum supply current you could ever need is two times the motor current However you will generally need a lot less than that depending on the motor type voltage speed and load conditions That s because the BLU servo uses a Switching amplifier converting a high voltage and low current into lower voltage and higher current The more the power supply voltage exceeds the motor voltage the less current you ll need from the power supply A motor running from a 48 volt supply can be expected to draw only half the supply cu
16. d 820 ohm 1 4 watt resistors e For 24 volt logic use 2200 ohm 1 4 watt resistors The maximum voltage that can be applied to an input terminal is 24 volts DC Never apply AC voltage to an input terminal 15 PLC Sourcing Outputs Connecting to PLC with Sourcing PNP Outputs Most PLC s use 24 volt logic Sinking Outputs Connecting to PLC with Sinking NPN Outputs Most PLC s use 24 volt logic direction switch 24VDC o o V Power _ 2200 Supply VERSU 2200 oO AN Using Mechanical Switches at 24 Volts 16 Other Digital Inputs As we mentioned in the previous section the high speed STEP PWM and DIR inputs are configured for five volt logic All other digital inputs are designed for operation between 12 and 24 volts DC This includes five inputs on the main board and the eight digital inputs on the Si board Single Ended Inputs Coon The BLU servos include single ended optically isolated input circuits that can be used with GRVOEN sourcing or sinking signals 12 to 24 volts 6 This allows connection to PLCs sensors relays and mechanical switches Because the CNED input circuits are isolated they require a source of power If you are connecting to a CUD PLC you should be able to get power from the NW 2200 AV 17 NWN 2200 AV MN 2200 17 AAA 2200 NN 2200 AV 17 PLC power
17. d to a panel with 6 32 self tapping screws The hole pattern and drive outline are shown on page 28 BLU100 Si This drive has two pc boards fixed together Plastic mounting feet which accept 4 40 screws are built in The hole pattern and drive outline are shown on page 28 BLU200 all models These drives can be mounted on the narrow 1 48 x 5 35 side or the wide 2 75 x 5 35 side Either way you ll need two 6 screws to secure the drive using the 0 17 mouting slots The hole pattern and drive outline are shown on page 28 Never use your drive in a space where there is no air flow or where other devices cause the surrounding air to be more than 70 C Never put the drive where it can get wet or where metal particles can get on it Always provide air flow around the drive The BLU100 can only elimi nate excess heat by convection so make sure it has air flow above and below the circuit board 29 Mechanical Outlines 4 0 156 lt 4 60 gt recommended lt gt 0 6 0150 spacing max 0 25 2 75 245 0 150 BLU100 S amp BLU100 D 025 125 lt 460 1 0 150 1 MOUNTING HOLES Ax 4 40 BLU100 Si A A 5 35 5 19 gt lt 080 l BLU200 S
18. economy will make your motion control project successful If there s anything we can do to improve our products or help you use them better please call or fax We d like to hear from you Our phone number is 800 525 1609 or you can reach us by fax at 831 761 6544 You can also email support applied motion com Features e Digital servo motor driver in compact package Operates from 24 to 48 volt DC power supply e Operates in torque velocity or position mode e Accepts analog signals digital signals and RS 232 485 serial commands e Motor current to 13 5 amps peak 4 5 amps continuous 9A cont with BLU200 e Seven optically isolated digital inputs 15 inputs on Si e Three optically isolated digital outputs 7 outputs on Si e 10 volt analog input for speed and torque control Block Diagram 24 48 VDC Internal PY X1 STEP PWM Logic X2 DIR Supply MOSFET X3 SVEN Optical PWM motor X4 ALMRST Isolation Power x5 Amplifier X6 CCWLMT i X7 CWLMT encoder ANALOG Line ANALOG DSP Drivers ENCODER OUT to PC 8 232 Optical Y1 BRAKE Isolation v2 INPOSN to RS 485 host R 485 4 Getting Started This manual describes the use of six different drive models What you need to know and what you must have depends on the drive model For all models you must have the following e 424 48 volt DC powe
19. ensor Some systems use active limit sensors that produce a voltage output rather than a switch or relay closure These devices must be wired differently than switches If your sensor has an open collector output or a sinking output wire it like this DC Power Supply output Limit Sensor If the sensor output goes low at the limit select the option closed in the soft ware If the output is open or high voltage choose open Other sensors have sourcing outputs That means that current can flow out of the sensor output but not into it In that case wire the sensor this way Power Proximity Supply Sensor oe 20 BLU Si For a BLU Si the limits must be wired to the screw terminals on the Si board inside BLU Servo CW LIMIT WA 200 v i CW LIMIT CCW LIMIT AAN 200 von i CCW LIMIT A Wiring a Mechanical Limit Switch You can use normally open or normally closed limit switches Either way wire them as shown here l BLU l Servo 1 5 24 VDC SUPPLY Wiring a Limit Sensor Some systems use active limit sensors that produce a voltage output rather than a switch or relay closure These devices must be wired differently than switches If your sensor has an open collector output or a sinking output wire it like this 1 BLU Servo
20. f in doubt buy an RC050 for your first installation If the regen LED on the RC050 never flashes you don t need the clamp Connect the motor power supply terminal to the driver terminal labeled VDC Connect power supply to the drive terminal labeled GND Use 18 or 20 gauge wire Be careful not to reverse the wires Reverse connection will destroy your driver void your warranty and generally wreck your day 11 Connecting the Motor Never connect or disconnect the motor while the power is on Applied Motion motor To connect an Applied Motion servo motor to your BLU Servo you ll need a set of mating cables called the BLUENC and the BLMTR Connect the small motor connector to one end of the BLMTR cable The other end of the BLMTR has lead wires that connect to the drive s screw terminal connector as follows red wire white wire black wire green wire Connect the large motor connector to one end of the BLUENC cable The other end of the BLUENC plugs into the BLU servo Non Applied Motion motor Connect the motor leads to the screw terminal connector as follows A motor phase A or U B motor phase B S or V motor phase T or W ground wire The encoder connections use a HD 15 connector which you must connect to your encoder as shown below See back page for mating connector information encoder B 3 8 GND H
21. n output closes input goes low Connecting an NPN Type Proximity Sensor to an input When prox sensor activates input goes low 18 Connecting a PNP Type Proximity Sensor to a an input When prox sensor activates input goes low Connecting Limit Switches to the BLU Drives The CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors These inputs are differential which allows you to use signals that are sinking NPN sourcing PNP or differential line driver By connecting switches or sensors that are triggered by the motion of the motor or load you can force the motor to operate within certain limits This is useful if a program or operator error could cause damage to your system by traveling too far The limit inputs are optically isolated This allows you to choose a voltage for your limit circuits of 12 to 24 volts DC This also allows you to have long wires on limit sensors that may be far from the drive with less risk of intoducing noise to the drive electronics The schematic diagram of the limit switch input circuit is shown below BLU S and BLU D Drives For a BLU S or BLU D drive connect the limit sensors to the DB 25 connector COM MN meme 19 Wiring a Mechanical Limit Switch You can use normally open or normally closed limit switches Either way wire them as shown here 1 1 l Jee C CW LIMIT lo i l 1 1 l Puls Wiring a Limit S
22. nds You should still connect one drive s GND terminal to the host computer ground Before wiring the entire system you ll need to connect each drive individually to the host computer so that a unique address can be assigned to each drive Proceed as follows 1 Connect the drive TX to the PC s RX terminal RS 485 422 2 Connect the drive TX to PC RX 3 Connect RX to TX t t Xu Xu XL XL aNd 4 Connect RX to TX 5 Connect GND to GND Apply power to the PC and start the SiNet Setup software Select the proper comm port 1 2 3 or 4 then apply power to the drive Press the Caps Lock key The drives only accept commands in uppercase Type RV then press ENTER If the drive has power and is properly wired it will respond with RV x Where x is the firmware version of your drive If the drive responds you re home free the RS485 network is functioning Next you must choose an address for this drive Any of the low ascii characters many of which appear above the number keys on a PC keyboard is acceptable amp 0123456789 lt gt 7 9 To find out what address is in the drive now type DA then press enter The drive will respond with DA x where x is the address that was last stored For example the response might be DA or DA To change the address type DAy where y is the new address character then press ENTER To test the new address type yRV then press ENTER For example if you se
23. r supply for the motor Please read the section entitled Choosing a Power Supply for help in choosing the right power supply acompatible servo motor cables to connect the motor to the drive If you are using an Applied Motion Alpha motor use BLUENC and BLMTR cables one of each small flat blade screwdriver for tightening the connectors included a personal computer running Microsoft Windows 95 98 NT Me 2000 or XP The Applied Motion Si CD included An Applied Motion Si programming cable included If you ve never used a BLU servo before you ll need to get familiar with the drive and the set up software before you try to deploy the system in your application We strongly recommend the following Install the Quick Tuner software from the CD Launch the software by clicking Start Programs Si Programmer Quick Tuner Connect the drive to your PC using the Si Programming cable Connect the drive to the power supply Connect the drive to the motor Apply power to the drive Follow the instructions in the Quick Tuner manual ND HP WN The connectors and other points of interest are illustrated on pages 6 and 7 Depend ing on your drive model and application you ll need to make connections to various parts of the drive These are detailed later in the manual 5 RJ11 connector e RS 232 port screw terminal connector e motor e power supply screw terminal
24. rrent that it would with a 24 volt supply Furthermore the servo loop only commands the amplifier to provide as much current as load conditions require We recommend the following selection procedure 1 If you plan to use only a few drives get a power supply with at least twice the rated phase current of the motor 2 If you are designing for mass production and must minimize cost get one power supply with more than twice the rated current of the motor Install the 27 motor in the application and monitor the current coming out of the power supply and into the drive at various motor loads This will tell you how much current you really need so you can design in a lower cost power supply If you plan to use a regulated power supply you may encounter a problem with regeneration If you rapidly decelerate a load from a high speed much of the kinetic energy of that load is transferred back to the power supply This can trip the overvoltage protection of a switching power supply causing it to shut down Unregulated power supplies are better because they generally do not have over voltage protection and have large capacitors for storing energy coming back from the drive They are also less expensive Recommended Motors Part Current Voltage Rotor Inertia L R Number amps VDC g cm2 V krpm mH X ohms A030 103 2 90A 24 10 1 96 0 32 0 52 A030 104 1 38 48 10 3 81 1 2 1 87 A050 103 10 24 23 3 11 0 85 0 74 050 104 2 00 48 2
25. t the address to and want to test that type RV The drive should respond just as it does to RV the global revision level request Once all the drives have been assigned unique addresses you can proceed to wire the whole system together Getting an RS485 adaptor for your PC Model 117701 from Jameco Electronics 800 831 4242 works well This adaptor is for a 25 pin Serial port If you are like most people and have a 9 pin serial port on your PC you will also need to purchase Jameco cable 31721 Connect as follows adaptor drive 1 2 d TX 4 TX Set the switches for DCE and TXON RxON Don t forget to plug in the DC power adaptor that comes with the unit toPCGND to PC TX to PC TX to PC to PC RX I SSSSS I SSSSS SSSSS RX GND RX GND RX GND Drive 1 Drive 2 Drive 3 RS 485 System Wiring 10 Connecting the Power Supply If you need information about choosing a power supply please read Choosing a Power Supply located elsewhere in this manual If you plan to use a regulated power supply you may encounter a problem with regeneration If you rapidly decelerate a load from a high speed much of the kinetic energy of that load is transferred back to the power supply This can trip the overvolt age protection of a switching power supply causing it to shut down We offer two regeneration clamps that can solve this problem the RCO10 and RC050 I
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