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User Manual for QuickStart BL2303E1-A02

1. ADVANCED MOTION CONTROLS MNQSA2UM 01 8 Integrate QuickStart into Your System Wiring 3 1 2 Command Signal Command signal and mode selection are dictated by the capabilities of your controller and the desired operation of your system Analog 10V command signals are suited for torque and velocity modes 10V Command Signal Single Ended Signal SIB Available Drive Modes SGND C3 2 SGND Torque Mode Velocity Mode Command C3 4 Ref 10V Command Signal Differential Signal SIB Available Drive Modes Command C3 4 Torque Mode Velocity Mode Command C3 5 Ref More Information on Mode Selection Drive modes can be separated into three basic categories Torque Velocity and Position The name of the mode describes what servo loops are being closed in the drive They don t describe the end result of the operation For example a drive in Torque mode can still be in a positioning application if the external controller closes the position loop In fact most high performance positioning systems use a drive in torque mode with the controller closing the velocity and position loops The correct mode is determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manuf
2. Ss T L N 7 X ME ND C Ss 0 C 2 E 3T 90 amp YN TN 71 Nf dol SPECIF IE SCALE DRAWING B12A6 SEIEN BISA DIM E Page 7 of 8 JZ ADVANCED MOTION CONTROLS Analog Servo Drive B12A6 PART NUMBERING I NFORMATI ON B 12 A 6 Drive Type B or BX Brushless drive BE Encoder Velocity Mode Available BD PWM Command BDC PWM Command Closed Current Loop S or SX Commutated Sine Command Peak Current Maximum peak current rating in Amps Peak Voltage Peak voltage rating scaled 1 10 in Volts Additional Options Assigned a letter A through Z by manufacturer Power Supply DC Power Supply AC AC Power Supply FAC AC Power Connecter Relocated to the Front Isolation Option I Optical Isolation ADVANCED Motion Controls servo drives are available in many configura
3. System Specifications This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA2UM 01 21 ADVANCED A MOTION CONTROLS Analog Servo Drive B12A6 Description Power Range Peak Current 12 12 6 PWM servo drive is designed to drive brushless DC motors at high switching frequency Continuous Current 6A single red green LED indicates operating status The mMM drive is fully protected against over voltage under Supply Voltage 20 60 VDC voltage over current over heating and short circuits across motor ground and power leads Furthermore the drive can interface with digital controllers or be used stand alone and requires only a single unregulated DC power supply Loop gain current limit input gain and offset can be adjusted using 14 turn potentiometers The offset adjusting potentiometer can also be used as an on board input signal for testing purposes Features Four Quadrant Regenerative Operation DIP Switch Selectable Modes Adjustable Current Limits High Switching Frequency Differential Input Command 4 VANCED m NP TION CONTROL ml N pueris LIT la LII a P On Board Test Potentiometer Offset Adjustment Potentiometer Adjustable Input Gain Selectable 120 60 Hall Commutation Phasing Drive Status LED Digital Fault Output Monitor MODES OF OPERATI ON Current Duty Cycle Open Loop Tachometer Ve
4. P N 748677 2 erminals P N 748333 4 Connector B Quick Start Cable Connector CBL F01 10 CABLE Side Common Wiring Scheme Function _Wire Color Contact CBL F01 10 FEEDBACK CABLE WIRING SPECIFICATIONS Single Wire Single Wire 6 Pin Molex Connector Single Wire A eo st Z Twisted Pair N e 5 gt co lt 0 LO T Plug P N 748364 1 Twisted Pair Housing P N 748677 1 Terminals P N 748333 4 isted Pair Tw 8 Pin Molex Connector P N 70107 0007 isted Pair Tw Terminals P N 16 02 0077 isted Pair Tw DIAGRAM O c c O O Twisted Pairs Twisted Pairs Twisted Pairs 10120uuo5 4 ADVANCED MOTION CONTROLS 805 389 1165 805 389 1935 Fax 3805 Calle Tecate Camarillo CA 93012 Tel Quick Start Cable CBL P01 10 POWER CABLE WIRING SPECIFICATIONS CBL P01 10 CABLE Connector A 4 Pin Molex Connector Terminals 2 o 2 9 39 01 3043 39 00 0081 DIAGRAM Connector A Flying Leads Single Wires 4 ADVANCED MOTION CONTROLS 805 389 1165 805 389 1935 Fax 3805 Calle Tecate Camarillo CA 93012 Tel System Specifications This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA2UM 01 35
5. Then our applications engineers can help optimize your system by selecting the best drive for your needs ra yy i You will also be in contact with a local representative to help you with the selection of motors and other system components such as cables gear boxes slides bearings and more Feedback Your feedback is important to us Your comments can make QuickStart better and help us improve our processes technical support customer support and product offering Please go here to provide us your feedback ADVANCED MOTION CONTROLS MNQSA2UM 01 6 Going into Production Prototype to Production This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA2UM 01 7 4 Appendix ADVANCE System Specifications Drive Datasheet Motor Datasheet Cable Datasheets System Interface Board D YA MOTION CONTROLS MNQSA2UM 01 18 ADVANCED YA NOTION CONTROLS MNQSA2UM 01 This page intentionally left blank 19 System Specifications System Specifications Torque peak 7 46 0 844 Nm Torque continuous 3 44 Ib in 0 390 Nm Velocity Maximum 5900 rpm Supply Voltage 20 60 VDC Encoder Resolution 8000 counts rev Speed Torque Curve 2303 1 02 0 060 Torque 6 1 0 1000 2000 3000 4000 5000 Speed rpm ADVANCED MOTION CONTROLS MNQSA2UM 01 20
6. Additional Requirements Item Notes Power Supply Requirements Output Voltage between 20 60VDC Current Output of 6A continuous Selected AMC Power Supplies 1st Choice PS16L60 PS300W48 2 Choice PS16L40 Note that Power Supplies with voltages Supply Voltage 5 3 9 2 1000 solation transformer between the AC input and DC Output lower than 60VDC will be speed limited Speed Controller 10V Command Signal ADVANCE D MOTION CONTROLS MNQSA2UM 01 5 Minute QuickStart Let s Spin the Motor This quick setup procedure will get the motor moving in a short amount of time without the need for a controller The drive has been pre configured in Duty Cycle Mode with a slight offset This will turn the motor at a slow steady speed on power up to demonstrate operation Once the system is shown to be operational the next section Integrate QuickStart into Your System will guide you through the process of integrating the system into your application 2 1 Wiring In Section 2 4 you will find the cables and connections sheet Use this as a reference when following the steps in this section 2 1 1 Drive Connect cable CBL D01 to the P1 connector the drive Connect the other end to the C2 connector on the system interface board SIB 2 1 2 Motor Connect the white connector on the motor power cable CBL P01 10 to the corresponding connector on the motor Connect
7. LONG ENCODER CABLE 7 1005 FOUL SHIELD 1 CLOCKWISE SHAFT ROTATION 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 WIRING SPECIFICATIONS Connector 16 Pin Molex Connector P N 22 01 3167 Terminals P N 08 50 0114 NOTE For cables wi Creating a twisted pair from these DIAGRAM Connector A Single Wires Twisted Pairs th only twisted 1COINJIOD IO 3 1001 CBL D01 DRIVE CABLE Single Wire in in in in le le le E le le le le le ire ire ire ire __ Ire __ Ire ire __ ire ire __ ire ire Twisted Pair Twisted Pair Shield 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Current Mon Variable ariable ariable ariable ariable ariable ariable ariabl EF OU REF REF Shield CABLE CBL D01 black lack white red red black blue blue white purple urple white orange orange white brown brown white yellow ellow black green green white Quick Start Cable ontact 4102 Orig mi AIOMI 1901O1O airs single wires can be paired with other single or unused wires WO wires is recommended for brushless applications Connector 26 Pin AMP D SUB Plug P N 748365 1 Housing
8. Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuration Mode Selection Table Duty Cycle Mode current limit with these settings 4 8A continuous 9 6A peak Switches SW1 ON SW2 ON SW3 OFF SW4 OFF Pots Pot 1 Loop Gain 10 25 turns Pot 2 Current Limit 10 6 turns see Voltage Mode Potentiometer Instructions Pot 3 Reference Gain Full CW Pot 4 Offset Mid 7 turns Voltage Mode Potentiometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of ADVANCED MOTION CONTROLS MNQSA2UM 01 4 Integrate QuickStart into Your System Configuration its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turnthe pot CCW until the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Nowturn the pot in the CW direction the number of turns indicated in the Mode Selection Table Loop Gain Potentiometer 1 In Velocity Mode the loop gain increases the responsiveness of the system The loop gain se
9. the red white and black wires to the P2 connector on the drive Red Motor A P2 1 White Motor B P2 2 Black Motor C P2 3 2 1 3 Feedback CBL F01 10 is the feedback cable Connect the black connectors and shield drain wire on this cable to the corresponding connectors on the motor Connect the 15pin D sub end of this cable to the C1 connector on the System Interface Board SIB ADVANCED VA MOTION CONTROLS MNQSA2UM 01 4 5 Minute QuickStart Grounding 2 1 4 System Power With the power supply turned OFF connect the main power supply to the drive Reversing the polarity will destroy the drive High Voltage goes P2 5 and ground goes to P2 4 Caution 2 2 Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case 2 2 1 Motor Ground The green wire coming from the motor power cable is the motor chassis ground If the motor is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other 2 3 Inhibit Switch optional for this section An inhibit switch not included can be connected between pins 9 11 on the Interfac
10. 5 System Interface Board SIB 14 15 16 17 18 19 20 21 22 23 24 25 26 Dimensions 72mm x 72mm C1 Connector 15 pin to motor C2 Connector 26 pin to drive C3 Connector 26 pin user interface C3 Pin Functions Pin Function 15 Pin Dsub 1 10V 3mA C1 Ed 2 SGND 3 10V 3mA C2 Shell NI 4 Ref In 5 Ref in 6 Tach In P L Tach Gnd 11 LI lj lj 8 Curr Mon Out LI UIT MOR U _ I1 D T 5 9 Inhibit In 5 1111 n Batata Saaz 3 10 VHall 30mA Out 8 Pot 1 LL LL LL a 11 GND 15 C2 4d 1 WI 12 Hall 1 4 1 E uid 3 4 14 Hall 3 1131 TT 11 15 Ref 19 1 1 urr Ref Out 2 2 2 32 16 Fault Out is B ml eus 17 58 ge e 2 9 E 5 LI II j S 18 22 22 19 SGND Encoder 2i 25 25 20 5 Encoder 28 28 21 Encoder Channel 22 Encoder Channel A 23 Encoder Channel 24 Encoder Channel B 25 Encoder Channel 1 26 Encoder Channel AMOTION CONTROLS MNQSA2UM 01 36
11. ADVANCED MOTION CONTROLS Everything s possible cKS PA BL2303El A02 DC060 VA User Manual Plug n Play Servo System with Analog Drive Brushless Motor and Cables Continuous 3 4 Ib in 5900 rpm WWW BL2303EI A02 DC060 Thank you for purchasing this QuickStart package QuickStart makes it easy to set up Advanced Motion Controls drives to get your system running quickly The drive and motor have been matched with each other the cables are custom made for this system and an interface board simplifies integration with your controller Remember if you need us we are here for you Our goal is to get you up and running as quickly as possible If at any point you have a question a team of applications engineers and our customer service staff are just a phone call away We are available weekdays from 8am to 5pm Pacific Time at 805 389 1935 We can also be contacted via email through our website www a m c com go to Contact Us 4 Steps to Success 1 2 3 4 Getting Started 5 Minute Integrate Going into QuickStart QuickStart into Production Your System What s included Let s spin the motor Get your machine Transitioning from with QuickStart and working prototype to what to expect production This manual has been laid out in four sections to guide you through the process of setting up and integrating your QuickStart system By following each step in successio
12. D ground common with signal ground 3 10V 3mA OUT ice Differential Reference Input 10 V Operating Range 15 V Maximum Input 6 TACH IN Negative Tachometer Input Maximum 60 V Use signal ground for positive input 7 TACH GND Positive Tachometer Input and Signal Ground GND Current Monitor Analog output signal proportional to the actual current output Scaling is 2 ERTENEM NTO A V Measure relative to signal ground 9 INHIBIT IN TTL level 5 V inhibit enable input Leave open to enable drive Pull to ground to inhibit drive Inhibit turns off all power devices Low Power Supply For Hall Sensors 6 V 30 mA Referenced to signal ground Short 10 V HALL 30mA OUT circuit protected 11 GND Signal Ground GND 12 HALL 1 13 HALL 2 Single ended Hall Commutation Sensor Inputs 5 V logic level 14 HALL 3 Measures the command signal to the internal current loop This has a maximum output 15 CURR REF OUT of 27 25 V when the drive outputs maximum peak current Measure relative to signal O ground TTL level 5 V output becomes high when power devices are disabled due to at least one 16 FAULT OUT of the following conditions inhibit invalid Hall state output short circuit over voltage over O temperature power up reset P2 Power Connector Pin Name Description Notes I O 1 MOTOR A Motor Phase A 2 MOTOR B Motor Phase B 3 MOTOR Motor Phase 4 POWER GND Power Ground Common With Signal Ground GND 5
13. HIGH VOLTAGE DC Power Input Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Page 4 of 8 3 8 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com 9 ADVANCED MOTION CONTROLS Analog Servo Drive B12A6 HARDWARE SETTINGS Switch Functions Switch Description 269 Off 1 Duty Cycle mode selector Activates internal PWM feedback Duty Cycle mode Other modes 2 60 120 degree commutation phasing setting 120 degrees 60 degrees 3 Outer loop integration Activates or deactivates integration ON Inacifva Active by default for current mode and OFF for other modes Test Offset Switches the function of the Test Offset pot between 4 an on board command input for testing or a command offset Test Offset adjustment OFF by default Mode Selection Table SWI SW3 Tachometer CURRENT OFF ON Not Connected DUTY CYCLE ON OFF Not Connected TACHOMETER VELOCITY OFF OFF Connected Potentiometer Functions Potentiometer Description Turning CW Loop gain adjustment for duty cycle velocity modes Turn this pot fully CCW in current mode Current limit It adjusts both continuous and peak current limit while maintaining their ratio Reference gain Adjusts the ratio between input signal and output variables voltage current or velocity Offset Test Used to adjust any imbalance in the input signal or in 4 the amplifier Can also be used as an on board signal source for Adjusts offset in negativ
14. OTOR CONNECTOR SENSOR CONNECTOR COLOR FUNCTION MOLEX 32 01 2040 MOLEX 43095 0600 dem RED PHASE CONTACTS MOLEX PIN CONTACTS MOLEXP N CONNECTOR Cz S 35 00 0038 OR EQUIV 43038002 OR EQUI oR EQUIVALENT 3 BLACK PHASE SENSOR SHIELDED i 828 AWG 18 LONG SHIELDED CABLE MOTOR SHIELDED CABLE 18 AWG FLAT 015 DEEP 8 20 THRU 4 EG SPD AS SHOWN ON 2 625 B C SENSOR CONNECTIONS 52 03 DIMENSION L 4 14 gt LL 2 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 WIRE CABLE SHIELD Quick Start Motor ENCODER 2000 lines revolution 8000 RPM 0 250 0 0000 0 0005 RADIAL SHAFT MOVEMENT 0 007 TIR AXIAL SHAFT MOVEMENT 0 030 MAX HOUSING Carbon Fiber Composite case ground via cable TERMINATION 15 conductor cable 28 AWG 18 long MOUNTING 1 812 Bolt Circle MOMENT OF INERTIAL 1 5 x 10 oz in s ACCELERATION 1 x 10 Radians s ACCURACY 1 0 Arc Minutes Mechanical OutlIne 30 ROTATION ADJUSTMENT CW ROTATION FOR OUTPUT WAVEFORMS pe 40 ELECTRICAL TYP R jfi ELECTRICAL 10 OUTPUT OUTPUT A JJ LJ orure LU LULU ULL OUTPUT B l l OUTPUT I 2 OUTPUT l B AE WITH B
15. acturer of your controller to determine the correct mode for your drive Once the command signal and mode have been selected connect the controller to the signals as indicated in the above tables The proper gains and command settings must also be configured This will be explained later in the configuration section 3 1 3 Drive Inhibit Recommended The inhibit line is used to turn off power to the motor while the drive is still powered on Sometimes this is necessary if power to the motor needs to be removed quickly or if the user needs to manually move the load in a freewheeling condition If your controller has an inhibit function then we highly recommend that you use it Inhibit Connection Controller SIB Inhibit C3 9 Inhibit ADVANC MOTION CONTROLS MNQSA2UM 01 Integrate QuickStart into Your System Wiring 3 1 4 Feedback The feedback on the motor is an incremental encoder with two Channels A and B and an Index I The signals are differential but are compatible with single ended circuitry simply leave the complimentary signals open A B I The resolution is 8000 counts per revolution quadrature e Power Requirements Encoder power must be supplied by the user not by the drive SVDC 9 125mA The encoder is electrically isolated from the rest of the system For the encoder signals to be properly referenced to the controller the signal grounds of the encoder and cont
16. ak or software to configure Are QuickStart program motors available for individual resale Quite simply not from Advanced Motion Controls The motors in these packages are meant to represent what is commonly available from many different manufacturers Your local Advanced Motion Controls representative can handle requests for motor model information for additional purchases How is QuickStart pricing important to me Careful selection of systems incorporate popular Advanced Motion Control s drives in order to maximize exposure and minimize costs What other considerations should you know about QuickStart Although it will be hard to find easy to configure systems like these at lower prices anywhere QuickStart isn t intended for multiple pre packaged system selling Initial exposure to Advanced Motion Controls drives is the key Each project will be followed up by our Sales department to determine overall progress and assist in determining the next step ADVANCED VA MOTION CONTROLS MNQSA2UM 01 2 Getting Started What to Expect 1 1 1 Package Contents LJBrushed Servo Drive B12A6 LIBrushed NEMA 34 Motor MBL2303EI LlScrew Terminal Board SIB System Interface Board LlFeedback Commutation Cable 10 foot CBL F01 10 Motor Power Cable 10 foot CBL P01 10 LIDrive Cable 1 5 foot CBL D01 Documentation Quick Connect Sheet User Manual Brochure 1 1 2
17. ce is demanded of the motor 3 1 7 SIB Mounting Mounting Dimensions can be found in the SIB datasheet in the Appendix The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix Contact If using the mounting holes standoffs must be used to keep the bottom of the SIB from shorting with the mounting surface 3 1 8 Cable Routing Cable Datasheets can be found in the Appendix QuickStart cables come with excellent shielding and make proper grounding easy This makes proper cable routing less critical however proper routing practices should still be followed Route cables to minimize length and minimize exposure to noise sources The motor power wires are a major source of noise and the motor feedback wires are susceptible to receiving noise This is why itis never a good practice to route the motor power wires close to the motor feedback wires even if they are shielded Although both of these cables originate at the amplifier and terminate at the motor try to find separate paths that maintain distance between the two A rule of thumb for the minimum distance between these wires is 1cm for every 1m of cable length 3 1 9 Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case Motor Ground The green wire coming from motor power cable grounds the motor chass
18. e Board This switch disables power to the motor until you are ready Opening the switch Enables the drive closing the switch Disables the drive To avoid the motor from jumping unexpectedly and causing damage the motor should be secured either with clamps or bolted down using its mounting holes Caution ADVANCED MOTION CONTROLS MNQSA2UM 01 5 5 Minute QuickStart Cables and Connections 2 4 Cables and Connections BL2303E1 A02 DCO060 Cables and Connections User Power 20 60VDC B12A6 USER SUPPLIED CONTROLLER 2 M n Stand Alone Based Controller PLC Controller grunt both Tis wire and the mio Grounding balh cause LC hogne poe nr fhe cher System Interface Board N SIB CBL F01 10 Ground Bring all ground Caution connectlons to a central point The motor will move on initial ar common plane that has solid power up See the manual to contact with Earth ground remove offset Hote Actual cables longer than they appear in these images MBL2303E1 ADVANCED MOTION CONTROLS A ADVANCED MOTION CONTROLS MNQSA2UM 01 5 Minute QuickStart Inhibit Line Test optional 2 5 Inhibit Line Test optional Follow this step only if you installed the inhibit switch described in Section 2 3 This is to verify that the optional inhibit switch is functioning and the drive is ini
19. e be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Advanced Motion Controls Analog Servo Drives are configured using Switches and Potentiometers There is no software to download or configure The basic setup of these servo drives is straightforward and user friendly These instructions will walk you through the steps necessary to configure your drive to your system e Configure the drive mode Torque Mode Configuration Velocity Mode Configuration gt Duty Cycle 3 2 1 Torque Mode Configuration The terms Torque Mode and Current Mode are synonymous They be interchanged and you may see either of these terms throughout this document and other motion control documents The Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuration Mode Selection Table Torque Mode current limit with these settings 4 8A continuous 9 6A peak Switches SW1 OFF SW2 ON SW3 ON SW4 OFF Pots Pot 1 Loop Gain Full CCW Pot 2 Current Limit 10 6 turns see Torque Mode Potentiometer Instructions Pot 3 Reference Gain Full CW Pot 4 Offset Mid 7 turns ADVANCED MOTION CONTROLS 13 Integrate QuickStart into Your System Configuration Torque Mode Potent
20. e direction testing purposes Note Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end 1 Increases gain 2 Increases limit 3 Increases gain Through hole Components Location Description Velocity Loop Integrator Through hole capacitor that can be added for more precise velocity loop tuning See section below on Tuning with Through hole components for more details Tachometer Input Scaling Through hole resistor that can be added to change the gain of the tachometer input See section below on Tachometer Gain for more details 8 H158 Tuning With Through hole Components In general the drive will not need to be further tuned with through hole components However for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches the drive can be manually modified with through hole resistors and capacitors as denoted in the above table By default the through hole locations are not populated when the drive is shipped Before attempting to add through hole components to the board consult the section on loop tuning in the installation notes on the manufacturer s website Some general rules of thumb to follow when adding through hole components are e larger resistor value will increase the proportional gain and therefore create a faster response time e A larger capacitor value will increase the integration time and therefore create a slo
21. e motor turning within a few minutes please call and ask for technical support 805 389 1935 We want to get you up and running quickly ADVANCED MOTION CONTROLS MNQSA2UM 01 Integrate QuickStart into Your system The following instructions are a continuation of the previous chapter This section explains controller wiring drive configuration drive mounting motor mounting SIB mounting and load coupling 3 1 Wiring 3 1 1 Signal Ground Almost all signals between the drive and the controller are referenced to signal ground Without this reference the drive and the controller would not be able to transmit signals to each other To ensure that the signals between the drive and the controller are referenced to the same potential the signal grounds on the controller and the drive must be connected together This is especially important for e Single ended command signals e Inhibit line e Other inputs and outputs You will need to identify the signal ground on your controller and connect it to the signal ground on the drive For your convenience the Signal Ground is accessible at two locations on the SIB However to avoid ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds Available Signal Ground Locations on the SIB Controller SIB Signal Ground C3 2 SGND C3 11 SGND
22. eel free to contact Applications Engineering for further information and details Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system Visit www a m c com to see which accessories will assist with your application design and implementation Power Supplies Shunt Regulators 4 ANO mn m amp gt To Motor Filter Cards Drive s All specifications in this document are subject to change without written notice Actual product may differ from pictures provided in this document Release Date Revision 3 8 2010 2 01 Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 phz 805 389 1935 fx 805 389 1165 www a m c com Page 8 of 8 Quick Start Motor MBL2303E1 BRUSHLESS SERVO MOTOR FEATURES 2 25 Inch Size 23 Motor Continuous Torques up to 55 oz in opeeds up to 6000 rpm Voltage Rating up to 170 Vdc Integrated Hall Effect Commutation 8 Lb Radial Load 1 2 from Front Face High Precision Optical Encoders 8000 count SPECIFICATIONS SPECIFICATIONS CONTINUOUS TORQUE PEAK TORQUE SPEED RATED VOLTAGE RATED VOLTAGE CONTINUOUS CURRENT PEAK CURRENT TORQUE CONSTANT VOLTAGE CONSTANT RESISTANCE 12 NDUCTNACE NERTIA 0 177 0 0025 WEIGHT 1 02 2 3 0 0879 12 44 8 2 1 3 4 MOTOR CONNECTIGNS M
23. iometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turn the pot CCW until the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Nowturn the pot in the CW direction the number of turns indicated in the Mode Selection Table Gain Setting The gain of the drive amps out volts in can be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot to the full clockwise position results in a gain of roughly 1A V Turning the pot counter clockwise reduces the gain down to a minimum of zero 3 2 2 Velocity Mode Configuration Velocity mode controls the motor such that the motor velocity is proportional to a given input command The gain can be expressed as output velocity input command Common units are rpm V and counts per second V Duty Cycle Mode This mode does not use any feedback to determine velocity Velocity is estimated by the duty cycle of the PWM Duty Cycle Mode is an inaccurate form of velocity mode The
24. is If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other ADVANCED MOTION CONTROLS MNQSA2UM 01 Integrate QuickStart into Your System Wiring 3 1 10 Load Coupling A non rigid coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads or misalignment If you feel that the radial load on the motor is excessive you may want to consider connecting the motor to an idler shaft that is supported by pillow block bearings or similar Then the load can be coupled to the idler shaft without risking damage to the motor bearings ADVANCED MOTION CONTROLS MNQSA2UM 01 12 Integrate QuickStart into Your System Configuration 3 2 Configuration B12A6 Capabilities Mode Category Mode Name Torque Current Velocity Estimation Duty Cycle Duty Cycle Mode does not use direct feedback to close the velocity loop therefore it can t be considered a true velocity mode Duty Cycle Mode produces velocity that is roughly proportional to the input command but is not as precise as using a Tachometer or Encoder The correct mode is determined by the requirements of the controller Some controllers require that the driv
25. locity COMMAND SOURCE 10 V Analog FEEDBACK SUPPORTED Halls Tachometer Release Date Revision 3 8 2010 2 01 Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 phz 805 389 1935 fx 805 389 1165 www a m c com bb b bh AA Current Monitor Output COMPLI ANCES amp AGENCY APPROVALS UL cUL CE Class LVD CE Class A EMC RoHS Page 1 of 8 ADVANCED MOTION CONTROLS Analog Servo Drive B12A6 BLOCK DIAGRAM BISA SERIES FUNCTIONAL BLOCK DIAGRAM 15 8 1 OFFSET VELOCITY INTEGRATOR C8 500K TEST Siu SK LOOP GAIN 20K P1 4 REF_IN nua IN GAIN ie du POTS 40K JK 20K CURRENT LIMIT 7 HIGH VOL TAGE 1 1 100 6 3mA INTERNAL P1 2 GND INTERNAL 2 1 1 3 10U 6 3mA CONUERTER 158 NA TACH GAIN P1 6 TACHOMETER DUTY CYCLE 10K 1 7 TACHOMETER 1 99 INTERNAL POWER SUPPLY FOR HALL SENSORS UHall ALL GROUNDS ARE INTERNALLY CONNECTED P1 10 P1 11 1 12 13 1 MODE SELECTION TABLE LED GREEN NORMAL OPERATION LED RED FAULT CURRENT MODE RECOMMENDED SETTING FOR CURRENT MODE POT1 FULLY CCW FULLY CH MODE AMPLIFIERS ARE SHIPPED IN CURRENT MODE WITH MAXIMUM CURRENT SETTINGS DUTY CYCLE MODE FOR OTHER SWITCH FUNCTIONS SEE SWITCH DESCRIPTION OPTIONAL USER INSTALLED THROUGH HOLE COMPONENT Information on Approvals and Compliances US and Ca
26. n you will first be introduced to QuickStart then hook up the system for a simple bench test and then integrate QuickStart into your machine and finally transition into the production stage ADVANCED MOTION CONTROLS MNQSA2UM 01 Getting Started 1 1 What to Expect What is QuickStart QuickStart is a system offering including a drive a motor all necessary cables and an interface board with screw terminal connections all in one box ready for fast delivery What purpose does QuickStart serve QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and provide a positive first experience Why is Advanced Motion Controls offering a QuickStart package We realize that many OEMs today are faced with trying to get their machinery to market using the fastest possible methods Our solution is to provide a means by which motion control can be quickly proven How does QuickStart benefit potential customers QuickStart is designed to make system prototyping easier to include Advanced Motion Controls servo drives The attraction to OEM s is a savings of time money and the personnel needed to move from conception to production Upon receipt everything will plug in and operate within 5 minutes All systems are initially configured in velocity or voltage mode to turn the motor shaft at 30 20 rpm This is an indication that when put together it works out of the box No pots to twe
27. nadian safety compliance with UL 508c the industrial standard for power conversion electronics UL registered under file number E140173 Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products Compliant with European CE for both the Class A EMC Directive 2004 108 EC on Electromagnetic Compatibility specifically EN 61000 6 4 2007 and EN 61000 6 2 2005 and LVD requirements of directive 2006 95 EC specifically EN 60204 1 2006 a low voltage directive to protect users from electrical shock RoHS Reduction of Hazardous Substances is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 12 1 2011 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com PRORA DEG ADVANCED MOTION CONTROLS Analog Servo Drive B12A6 SPECI FI CATI ONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 60 DC Bus Over Voltage Limit VDC 62 Maximum Peak Output Current A 12 Maximum Continuous Output Current A 6 Maximum Power Dissipation at Continuous Current W 18 Minimum Load Inductance Line To Line uH 200 Switching Frequency kHz 33 Control Specifications Description Units Value Command Sources 10 V Analog Feedback Supported Halls Tachometer Commutation Methods Trape
28. roller must be connected The screw terminals the System Interface Board SIB provide easy access to the encoder signals Encoder Connection Signal SIB SGND C3 19 5VDC C3 20 Channel C3 21 Channel A C3 22 Channel B C3 23 Channel B C3 24 Channel 1 C3 25 Channel C3 26 3 1 5 Drive Mounting Mounting Dimensions are found in the drive datasheet in the Appendix The drive can be mounted flat against the base plate or along the spine Mounting the drive flat on the base plate against a large thermally conductive surface for cooling will provide the most natural heat dissipation for the drive A metal back plane in a cabinet on the machine often makes a good surface Drives mounted on the spine can be mounted next to each other Maintain a minimum separation of 1 inch between drives to provide adequate convection cooling Additional cooling may be necessary to dissipate the heat generated by the drive depending on ambient temperatures duty cycle and natural ventilation Note ADVANCED MOTION CONTROLS MNQSA2UM 01 0 Integrate QuickStart into Your System Wiring 3 1 6 Motor Mounting Mounting Dimensions are found in the motor datasheet in the Appendix The mounting surface must be stiff enough so it does not deflect when radial loads are applied to the motor shaft The mounting surface should also have good thermal conductivity especially if peak performan
29. s r 15 CURR REF OUT r 13 HALL 2 r 11 GND 9 INHIBIT IN 7 TACH GND 5 REFIN 10V 3mA OUT _ r 1 10V 3mA OUT E t SIGNAL GND 4 REF IN 6 TACH IN 8 CURRENT MONITOR 10 V HALL 30mA OUT 12 HALL 1 14 HALL 3 16 FAULT OUT P2 Power Connector Connector Information 5 port 5 08 mm spaced screw terminal Detail N licabl Mating Connector ed ZARR Included with Drive Not applicable i 1 MOTORA 2 MOTORB 3 MOTORC 4 POWER GND 5 HIGH VOLTAGE Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo 93012 Page 6 of 8 3 8 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com JZ ADVANCED MOTION CONTROLS MOUNTING DIMENSIONS Release Date 3 8 2010 Analog Servo Drive Revision 2 01 2085 Advanced Motion Controls 3805 Calle Tecate Camarillo 93012 phz 805 389 1935 fx 805 389 1165 www a m c com CA 1 4 J5 A T ae JN AIL C 78 YY oY D q T 25 k D CO 7 CO 2 CU Y J oT 1 pe LC CO bi 5 a Y Li E Y CO CO CE CO a
30. tially powered up in a disabled state 1 Disconnect the motor power by unplugging the white connector CBL P01 10 Unplugging this connection allows you to power up the system without the possibility of spinning the motor Apply power to the drive Toggle the inhibit switch and verify that you can cause the LED color to change from Red to Green Set the switch so the LED is Red Remove power from the drive and reconnect the white connector on CBL P01 10 2 6 System Power Up 1 2 Apply power to the drive If an inhibit switch has been installed enable the drive by toggling the inhibit switch so the LED turns Green The motor should turn at a smooth controlled speed If the motor turns then the system has been hooked up correctly Remove power and continue to the next section If not then go to Troubleshooting To stop the motor from turning turn the Test Offset switch SW4 to the OFF position Then use the offset pot Pot 4 to set the speed to zero 2 6 1 Troubleshooting LED not lit Verify that power has been applied to the drive Motor doesn t have holding torque Verify that the LED is Green LED doesn t turn Green Verify all cables are connected If an Inhibit Switch has been installed toggle the Inhibit switch Motor doesn t turn but has holding torque Turn Pot 4 Test Offset in either direction This will change the amount of offset in the drive Contact Factory If you can t get th
31. tions All models listed in the selection tables of the website are readily available standard product offerings ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system Equipped with on site manufacturing for quick turn customs capabilities ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time to market while increasing system quality and reliability Examples of Customized Products Integration of Drive into Motor Housing Mount OEM PCB onto Drive Without Cables Multi axis Configuration for Compact System Custom PCB and Baseplate for Optimized Footprint RTV Epoxy Components for High Vibration OEM Specified Connectors for Instant Compatibility OEM Specified Silkscreen for Custom Appearance Increased Thermal Limits for High Temp Operation ha aR aR RRR DR Integrate OEM Circuitry onto Drive PCB Custom Control Loop Tuned to Motor Characteristics Custom 1 0 Interface for System Compatibility Preset Switches and Pots to Reduce User Setup Optimized Switching Frequency Ramped Velocity Command for Smooth Acceleration Remove Unused Features to Reduce OEM Cost Application Specific Current and Voltage Limits maa RR aD F
32. ttings in the mode selection table are a good starting point However once the drive is in the system the loop gain will need to be adjusted to match the system dynamics To adjust the Loop Gain e Turn the Loop Gain pot to the full counterclockwise position Enable the drive e Turn the Loop Gain pot clockwise e When the system begins to make a loud buzzing noise turn the pot in the counterclockwise direction until the buzzing stops e Turn the pot one more turn in the counter clockwise position Reference Gain Potentiometer 3 The gain of the drive velocity out volts in be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot clockwise increases the gain while turning the pot counter clockwise decreases the gain ADVANCED MOTION CONTROLS MNQSA2UM 01 15 4 Going into Production 4 1 Prototype to Production Once you have completed your proof of concept you will be ready to design for production If you decide that the QuickStart drive and motor are perfect for you then you re in luck Both are popular off the shelf items that are readily available Drives can be ordered directly from us and we can put you in touch with the appropriate motor supplier If your servo system requires a drive that better fits your application such as e Additional features e Different power range e Smaller size Different form factor such as plug style drives e Network connectivity
33. wer response time Proper tuning using the through hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through hole component values for the specific application Tachometer Gain Some applications may require an increase in the gain of the tachometer input signal This occurrence will be most common in designs where the tachometer input has a low voltage to RPM scaling ratio The drive offers a through hole location listed in the above table where a resistor can be added to increase the tachometer gain Use the drive s block diagram to determine an appropriate resistor value t Note Damage done to the drive while performing these modifications will void the warranty Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Page 5 of 8 3 8 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com 9 VANCED MOTION CONTROLS Analog Servo Drive B12A6 MECHANI CAL I NFORMATI ON 1 Signal Connector Connector Information 16 pin 2 54 mm spaced friction lock header Details Molex P N 22 01 3167 connector and P N 08 50 01 14 insert terminals Mating Connector Included with Drive Ye
34. zoidal Modes of Operation Current Duty Cycle Tachometer Velocity Motors Supported Three Phase Brushless Single Phase Brushed Voice Coil Inductive Load Invalid Commutation Feedback Over Current Over Temperature Over Voltage Short Circuit Phase Phase amp Phase Ground Mechanical Specifications Hardware Protection Description Units Value Agency Approvals CE Class A EMC CE Class A LVD cUL RoHS UL Size H x W x D mm in 129 3 x 75 8 x 25 1 5 1 x 3 x 1 Weight g oz 280 9 9 Heatsink Base Temperature Range C F 0 65 32 149 Storage Temperature Range C F 40 85 40 185 Form Factor Stand Alone P1 Connector 16 pin 2 54 mm spaced friction lock header P2 Connector 5 port 5 08 mm spaced screw terminal Notes 1 Maximum duration of peak current is 2 seconds 2 Lower inductance is acceptable for bus voltages well below maximum Use external inductance to meet requirements 3 Additional cooling and or heatsink may be required to achieve rated performance Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 3 8 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com org VANCED MOTION CONTROLS Analog Servo Drive B12A6 PIN FUNCTI ONS 1 Signal Connector Pin Name Description Notes I O 1 10V 3mA OUT 2 SIGNAL GND 10 V 3 mA low power supply for customer use Short circuit protected Reference GN

User Manual for QuickStart BL2303E1-A02

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