operation & service manual lcam 5/15
Contents
1. aiqeisnipy ules ndu JUsIqUIY 9 52 0 8 uano 2 GF JUSINO UBYM SYLT i FOVLIOA 5 a 2 9 52 91 92 vZ yndjno sng sainjeay suoneoyioads NOILWOIGNI Lan 1X3 ANANI 18588 6 8 TWNOIS TWNOIS TWNOIS ANdino NI HOVL NOILYOIONI LINWA WNOIS 774916 4 aSNaS 1 8 9 2 1 LOTT NIV HOWL 0241 829 0181 212 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita 91350 U S A 888 702 0540 15 oar LHN Oz azr azr azr 1573 29 YOL ver ML MOL 1217 OL 13 8 20vuL SNONNILNOD VOL 1516 50184 21 0702 OSX 5 5 gt X0 OL Ei 011 158 52 ate yoz 668 5 2 031319395 SSIMYSHLO 5531 53102. lt an 2 01311 603 ed pS We sz c 568 11 6 6018 11668 829 2 01311 06 901311 801311 101311 201311 ero LO 211 4 E 2013 113 CI SOUS OF oO gt 66 amp J 0284 4 R136_ C46 _ C4 eae lt a NI R129 R131 00000 R130 04255 N 118018 oO Boy BY LCAM 5 15 CIRCUIT BOARD ASSEMBLY 17 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 L S NVON 12 21 27 N d 5 981 26 LT N dx1uaoyd 4039aUUO 3030W BUD ST S 8 quaiquiy 3 52 Y O S andul VA 0S OL aBeyoA sng 2 40 8 IVA ES LT induj 104100 ict Y3MOd NYJ Y3MOd NV4 SISSVHO NI NI 0941 6 9 INdNI OV DC OUTPUT MOOHS 91419919 1 9 N
3. 1 Pd Im x Vb watts Where Pd Total watts delivered from bus Im Motor current Vb Bus voltage 2 Pm Im x Vm watts Where Pm Total power watts dissipated in motor Vm Motor voltage 3 Im x Vb Im Vm Where Pa Total watts dissipated at amplifier From the above relationship it can be surmised that the worst case dissipation occurs when the amplifier has to deliver a high continuous current at a low motor speed i e less motor BEMF and more current For some applications a power resistor can be added in series with the motor thus shifting some of the power dissipation from the amplifier to the resistor 7 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 TECHNICAL SPECIFICATIONS Output e LCAM 5 15 15 peak 5A continuous forced air cooling required Note Large motor and Small motor versions have different velocity loop compensation Input e LCAM 5 15 24 75VDC Integral forced air fan cooling multi axis LCAM 5 15 only Analog command signals differential amp single ended adjustable gain Reset LCAM 5 15 pull up pull down active high only Inhibit Same as Reset Limits Same as Reset Output Connections Motor MTR amp MTR e Fault out LCAM 5 15 Optically isolated can sink up to 50 mA active high only Bandwidth e 10 kHz maximum and varies with motor inductance Status Indicator e LCAM 5 15 Green Run LED Red Inhibit LED Red F
4. 702 0540 19 26470 Ruether Avenue 102 Santa Clarita California 91350 USA Telephone 661 251 2081 Fax 61 251 2067 www h2wtech com e mail info h2wtech com
5. Tach or Not enough Tach or not enough Bandwidth too much Bandwidth Figure B Critically damped One Hook Overshoot Under and Over damped 8 Adjust the Compensation pot RV3 CCW until the waveform is critically damped or one hook overshoot Then proceed to step 10 9 If the desired waveform cannot be obtained by adjusting the Compensation pot back off the Tach Gain pot CCW a few turns and repeat step 8 10 Do not adjust the Tach Gain or Compensation for the rest of the calibration procedure 11 With battery box still connected at J1 1 and J1 4 for single ended input or if your system uses the Differential input move battery box to J1 1 and J1 2 and remove micro shunt at J3 con nector set battery box for a known DC voltage Adjust the Signal Gain pot RV1 to obtain the desired motor velocity 12 1 the motor is rotating in the wrong direction for a given input polarity remove the power reverse both the motor leads and the tach leads 13 Remove the battery box and repeat step 3 14 Calibration complete Reconnect signal wires H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 C Calibration of the Current Mode Amplifier LCAM 5 15 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the required motor current motor torque The following potentiometers pots will be set during calibration Note RV6 is a s
6. 8 YO 2 00 98 1 YO WN 1671 OMV9L SLNdLNO GN3NNOO3Y 5 GNYNNOD 37875 03073 5 ISN 92982 8810 10 11 ON 1001 NIdNIYI ISN 50270 OMVbZ YO 92670 OMVZZ YOLOANNOD 1330205 OL ONIMIM TWNOIS GN3NNOO3Y AINO 5 FIONIS SI HOLOANNOD LNdNI 40 SASWHd 2 0 170 3SYHd 319 5 2 OL SI LAdNI Ov L MOTs MOTs 941 6 9 17 LC I DC OUTPUT BG 8 0 3 k SIXY INdNI OV 652 104 OVW OV LEN 822 88 NI Nv4 NI Y3MOd NYJ GND SISSVHO 8 91 0512 01 02 4 XON 202290000 80815 984 26 LT 4 Joyauuo 510122 02 BURON PALO ST S 164 JUaIGUY 2 652 0 05 eens andul 0S 04 sng 2 ZH 09 05 21815 IVA OTT ES LT saunqnay H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita 91350 U S A 888
7. IN 5 8 MONY 8 LINN 3HL NOILVIILN3A YadOdd 01 5 3 JHL 40 401 SON3 Lv 5 40 0 2 30 NIN Y NIVLNIVN 4 SYAISNdNV 40 SLNdLNO 3HL 9 YO 2 601 Ya9YV YO WN 1671 OMV91 ONIMIM SINANI YIMOd S YO 2 601 7 WN 1671 9 9 ONIXIM 51114100 YOLOW 5 X04 318VO 03073 5 ISN 98982 8810 10 11 ON 1001 ONIdWIdO ISN 50270 WN 92670 OMVZZ MOLOANNOD 133005 01 TWNOIS GNANNOOSY Z XINO_3SVHd 319 5 SI_Y3MOd YOLOANNOD LNdNI Y3MOd 40 SASWHd 2 0 170 3SYHd 319 5 2 OL SI LAdNI Y3MOd OV I ALON 1 SIX L SIXY 11 2 SIXV L 5 9 822 0076 071 8 6 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita 91350 U S A 888 702 0540 18 D VV SL S NVO ian ainsi aw aii LINN 3HL NOILVILIN3A 01 5834 40 401 SONI H108 5 40 9 Z 40 NIN Y NIVLNIVW 4 5 3 3 JHL 30 5108100 3HL Y3A3N 9 XALLI 2 60 93087 YO 1671 OMVIL 5 3
8. MOL L Bud 9080 M8 L yd 9001 96 SWHO NI SONVISISSY i AGZ UI SGVUVIONSIN NI 72 JOH 9101 09 9 NYHL GND 5155 12573 29 N3349 07 999 87 Yayvayg 33 5 9 FYNLVYSAdWAL SLINVA 1 88 0 118 umo 8 64 INO 1789 LINO OND TWNOIS 1 001 gy Cb Ue i Si asad 199 N zzzz1a 001 1013 20 oT pip LINN ALIGIHNI H108 LINO 110 y 00 268 0 5 688 6 0683 TL L LINO 120 3SN3S AN3YYND 3SN3SI 179 Weve 968 O 35 35 LINO 1629 941 1x3 inva 1x3 WOO HOVL golo 89 yool 100 LINO O dl C dN0o 8l 128 000408 lt 10 7 1 JUHM aosi SA 83 at NITHOWL OO 9 19070 gt ols 1000 0 01 F 30701 98 X00 L 07 01 158 100 0 17 ory 27 HOO 968 TVNOIS Sz 95 00 028 SJ H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 16 JE PaT 0002 4006 Hit ca wo oN ai 0O CI Cass ee 811411 609 Or ue 0 TT gE 90 HHH lt
9. OPERATION amp SERVICE MANUAL LCAM 5 15 TABLE OF CONTENTS Introduction Features Application Note Technical Specifications Startup and Calibration APPENDIX Drawing LCAM 5 15 Installation Drawing LCAM 5 15 Schematic Installation Drawing LCAM 5 15 Printed Circuit Board Assembly Amplifier Drawing LCAM 5 15 2 Axis Baseplate Assembly Drawing LCAM 5 15 4 Axis Baseplate Assembly 3 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 INTRODUCTION The H2W Technologies LCAM 5 15 H bridge linear servo amplifier provides the optimum solution for applications which require high current loop bandwidth low radiated electrical noise and low crossover distortion This amplifier is constructed using surface mount technology and incorpo rates the latest in heat transfer technology which makes it one of the most powerful amplifiers for a given form factor Typical applications are brushed DC permanent magnet motors and voice coil motors The LCAM 5 15 is configurable and can operate in the following modes 1 Velocity mode for motors with tachometer feedback 2 Current mode for torque mode operation A basic velocity mode servo loop for a brush type motor is shown in figure A An external controller commands a given velocity RPM The velocity loop summing amplifier compares this command with the actual motor velocity supplied by a DC tachometer on the motor shaft and prod
10. ault LED Mechanical LCAM 5 15 module Height 7 13 Width 2 23 Depth 5 69 LCAM 5 15 2 Axis Height 10 75 Width 9 75 Depth 6 93 LCAM 5 15 4 Axis Height 10 75 Width 14 90 Depth 6 93 Environmental e Operating temperature 0 to 55 C e Storage temperature 40 to 80 C e Humidity 5 95 relative non condensing 8 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 STARTUP AND CALIBRATION This section contains the procedure required for initial start up and amplifier calibration The LCAM 5 15 series amplifier can be configured to run in velocity mode x x and current mode Required Equipment Oscilloscope voltmeter amp battery box The battery box serves as a step input voltage command applying and removing a flashlight battery can also be used for this function Refer to the technical specifications page and the drawings in the appendix for the information needed to supply the correct power and to wire the model you are starting up An isolation trans former is needed for the multi axis LCAM 5 15 An isolated power supply unregulated is OK providing the necessary voltage is required for the LCAM 5 15 module H2W can provide appro priate transformers and power supplies Consult an H2W applications engineer or sales person for assistance A Initial Start Up When applying power to start up your amplifier system for the
11. e polarity DC power supply H2W Technologies offers various unregulated power supplies for the LCAM 5 15 series amplifiers The LCAM 5 15series amplifier is also available in multi axis configurations That is there are two basic baseplate assemblies namely 2 axis and 4 axis baseplate assemblies that have built in AC to DC power supplies un regulated and cooling fans The 2 axis baseplate assembly con tains one AC to DC power supply one fan and up to two LCAM 5 15 amplifier modules The 4 axis baseplate assembly contains one AC to DC power supply two fan and up to four LCAM 5 15 amplifier modules For multi axis applications it is always recommended to use three phases power transformers for minimizing ripple voltage during high current demand scenarios where all axis motors are running at full load simultaneously H2W Technologies offers various isolated three phases power transformers 2 Typical continuous internal rating of the amplifiers running at normal room conditions is LCAM 5 15 series 250 Watts continuous For most applications the above heat sinking is adequate However if you have a usage mode where the heat sink temperature becomes excessive please contact H2W Technologies and we can furnish a larger heat sink with greater air flow for your application 6 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 Use the following relationships to calculate amplifier dissipation
12. first time we recommend you follow this procedure If you have already gone through this procedure you can skip to the appropriate calibration procedure Check for any loose or damaged components Check that all connections are tight Be sure that the motor mechanism is clear of obstructions If the mechanism has limited motion e g a lead screw set the mechanism to mid position Disconnect the signal and auxiliary inputs Be sure the Loop Gain pot s are fully CCW RV6 for LCAM 5 15 This will prevent the motor from running away in velocity mode when power is applied Check for the correct AC voltage before connecting to LCAM 5 15 multi axis amplifier The DC Bus amplifier supply voltage will be 1 4 times greater than the AC value If the voltage is correct remove power and connect AC source to amplifier inputs For the LCAM 5 15 module amplifier check for the correct DC voltage before connecting to the amplifier power input Work on only one amplifier axis at a time for LCAM 5 15 multi axis amplifiers 9 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 Calibration of the Velocity Mode Amplifier LCAM 5 15 Series The amplifier in this configuration receives an analog bi polar input command which is proportional to the motor velocity The amplifier receives velocity feedback from a tachometer which is usually mounted to the rear of the motor The following pots wi
13. ingle turn pot and RV1 RV5 are 10 turn pots Signal Gain SIG the input voltage to velocity ratio for signal input Tach Gain TACH 5 5 the DC tachometer gain Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is LOOP GAIN fully CCW no current is delivered to the motor Balance BAL Used to null any offset in system Compensation COMP Used in conjunction with tach gain to set the system bandwidth Current Limit LIMIT Sets the maximum motor current Shipped set CCW min current PROCEDURE Apply main power and fan power Visually confirm a green LED Depending on the configura tion of the Inhibit Reset and Limits it may be necessary to make appropriate connections to those terminals before the amplifier will be enabled and energize the motor Slowly turn the Loop Gain RV6 pot CW fully The Motor should be stopped or turning slowly Set the Balance RV2 for at 1 7 1 Install a micro shunt at J3 connector across J3 1 to J3 2 Note For single ended signal input amplifier a micro shunt is permanently installed at J3 connector On the other hand the micro shunt should be removed for differential input amplifi er after the calibration process Connect an oscilloscope to J1 7 MTR 1 and a battery box to J1 1 J1 4 is common for both The voltage on J1 7 is a function of motor current 1V 2 0A While applying a step input voltage adjust the Curren
14. ll be set during calibration Note RV6 is a single turn pot and RV1 RV5 are 10 turn pots Signal 58 the input voltage to velocity ratio for signal input Tach Gain TACH Sets the DC tachometer gain Loop Gain Used to shut off uncalibrated amplifiers When the loop gain is LOOP GAIN fully CCW no current is delivered to the motor Balance BAL Used to null any offset in system Compensation COMP Used in conjunction with tach gain to set the system bandwidth Current Limit LIMIT Sets the maximum motor current Shipped set CCW min current PROCEDURE 1 Apply main power and fan power Visually confirm a green LED Depending on the configura tion of the Inhibit Reset and Limits it may be necessary to make appropriate connections to those terminals before the amplifier will be enabled and energize the motor Slowly turn the Loop Gain RV6 CW fully Motor should be stopped or turning slowly If the motor starts running away remove the power reverse the tach leads and retest Set Balance RV2 for zero motor rotation Install micro shunt at J3 connector across J3 1 to 3 2 Note For single ended signal input amplifier a micro shunt is permanently installed at J3 connector On the other hand the micro shunt should be removed for differential input amplifi er after the calibration process Connect oscilloscope to J1 7 MTR 1 and battery box to J1 1 J1 4 is common fo
15. on pot wiper TP4 to common ohms Current Limit pot wiper TP5 to common ohms Note Tach voltage is measured at J1 3 Common for all measurements is at J1 4 Date data taken Serial number S N Model number LCAM 5 15 Note any changes to components or any special features in the space below H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 APPENDIX 14 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 L OOV Mg 15 V 24 punog 0 N d LSY4 Y OL La sng 91481 asng 8 01 9812 21 22 XBW LP 2 jeus zr 40 9826 21 Nid X1U80Ud Bune 96 0 G 9 08 03007 9 SG 019 0 uon IPUOD 993 971 10 sunyeseduus 1940 ped pajqes p 13 9 uny 0 94 59929 1940 JUIS ayy S LERNO RREN 909 57 9
16. or inductance Provides high bandwidth low noise and zero crossover distortion Velocity mode tachometer feedback and Current mode torque Operating input voltage range 24 75 VDC for standard LCAM 5 15 module Velocity and current modes Short from output to output short from output to ground amplifier RMS over current and amplifier over temperature LEDs indicate status on the LCAM 5 15 Command signals limits inhibit reset and fault Fault out and motor current monitor Peak motor current is adjustable An input is provided to reset the amplifier in the event of a fault All servo amplifiers are CE marked H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 APPLICATION NOTE POWER DISSIPATION CONSIDERATIONS AND CALCULATIONS WHEN USING LINEAR DC SERVO AMPLIFIERS When selecting a linear amplifier the following ratings of the amplifier should be known in order to properly size the amplifier to your system requirements 1 The total wattage peak current and voltage rating of all the semiconductors installed on the heat sink of the output power stage of the amplifier Output transistor ratings for the LCAM 5 15 series are Voltage 250 Volts Peak current 60 A Continuous current 30 A Normally shipped with 12 20A limit Total wattage 25 deg C 1200 Watts The LCAM 5 15 series amplifier is a module style amplifier requiring an external unregulated sin gl
17. r both The voltage on J1 7 is a function of motor current 1V 2 0A While applying a step input voltage adjust Current Limit RV5 for desired peak current The purpose of the following procedure is to set the system bandwidth to obtain a critically damped response or a one hook overshoot response with the maximum possible Tach Gain There are many possible settings of Tach Gain and Compensation which will yield the desired waveform The optimum setting will occur when Tach Gain is as CW as possible and Compensation is as CCW as possible However the servo loop may become unstable the motor oscillates or hunts with a very low near CCW setting of Compensation In this case stability is the limiting factor At no time should the servo loop be allowed to be unstable Amplifiers are normally shipped with the Tach Gain RV4 set at 100 This is a good place to start If you are unsure of where the Tach Gain is set turn the Tach Gain RV4 fully CW up to 10 turns Connect oscilloscope to J1 3 TACH IN and J1 4 is common Set battery box for a DC signal output to obtain approximately The RPM may be set by measuring the tach voltage at J1 3 e g 2 8VDC for a 7V KRPM tach is 400RPM 10 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 11 7 Pulse the input and compare the waveform with figure B Critically damped One Hook Overshoot Under damped Over damped Too much
18. t Limit RV5 for the desired peak current If the desired peak current cannot be achieved with the Current Limit pot full CW increase the input Signal Gain RV1 by turning in the CW direction With the battery box still connected at J1 1 and J1 4 for single ended input or if your system uses the Differential move battery box to J1 1 and J1 2 and remove micro shunt at J3 connector set the battery box for a known DC voltage Apply input signal pulses and adjust the Signal Gain pot RV1 to obtain the desired current gain of the amplifier If the motor is rotating the wrong direction for a given input polarity remove the power reverse the motor leads Remove the battery box and repeat step 2 Calibration complete Reconnect signal wires 12 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 13 D Calibration Setup Record LCAM 5 15 Series It is good practice to keep a record of all the pot settings Doing so will facilitate calibration on future units and repair on this unit Although not a substitute for the calibration procedure it will at least get you in the ballpark Remove the power and allow all capacitors to discharge before taking measurements Note The balance pot should not be measured in this fashion set per step 3 in the calibration procedure Signal Gain pot wiper TP2 to common ohms Tach Gain pot wiper TP3 to common ohms Compensati
19. uces an error voltage proportional to the difference between the actual and commanded velocity The velocity error is used to command motor current in the inner servo loop The current loop summing amplifier compares the command current velocity error with the actual current in the motor and produces an error voltage proportional to the difference between the actual and commanded current Finally the current error signal is used to produce an output to drive the motor The velocity loop may be bypassed and an external current command fed directly to the current loop In this case the external command signal controls the torque of the motor rather than the velocity This is known as current mode operation VELOCITY CURRENT ERROR SIGNAL LOOP AMPLIFIER VELOCITY COMMAND SIGNAL Figure A Velocity mode servo loop for a brush type motor 4 H2W Technologies Inc 26470 Ruether Ave 102 Santa Clarita CA 91350 U S A 888 702 0540 Ergonomic Design SMT construction Bandwidth Linear output stage Multimode operation Operating Voltage Basic versions Fault protection Status indicator Dedicated inputs Dedicated outputs Current limit External fault reset CE compliant FEATURES Easy access to connections adjustments and test points Provides ultra compact size cost competitive package and high relia bility All servo amplifiers have a nominal 10 kHz current loop bandwidth which varies with the mot
Download Pdf Manuals
Related Search