Aerotech BA-SineDrive Series User Manual page 5

Table of Contents
CHAPTER 4: MODE OF OPERATION AND TUNING....................................... 4-1
CHAPTER 5: TECHNICAL DETAILS................................................................... 5-1
iv
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
3.2.7. PRM:7 Initialization Current (INIT CURRENT)................ 3-5
3.2.8. PRM:8 Velocity Loop Update Rate (UPDATE) ................ 3-6
3.2.9. PRM:9 Low Pass Filter Enable (FILTER) .......................... 3-6
3.2.10. PRM:10 Filter Cutoff (CUT. FREQ.).................................. 3-7
3.2.11. PRM:11 Commutation Phase Offset (PHASE OFF) ........... 3-7
3.2.12. PRM:12 Input Command Offset (CMD. OFF).................... 3-8
3.2.13. PRM:13,14 Current Offset Adjustment (IA OFFSET,
IB OFFSET) ......................................................................... 3-8
3.2.14. PRM:15 Servo Peak Current Limit (CURR. LIMIT) .......... 3-9
3.2.15. PRM:16 Servo RMS Limit (RMS LIMIT).......................... 3-9
3.2.16. PRM:17 Servo RMS Current Timeout (RMS TIME) ....... 3-10
3.2.17. PRM:18 Servo Velocity Trap (VEL ERR LMT) .............. 3-10
3.2.18. PRM:19 Integral Clamp (INT CLAMP) ........................... 3-11
3.2.19. PRM:20 Operating Mode (MODE)................................... 3-11
3.2.20. PRM:21 Thermistor Polarity (THERM POL.) .................. 3-12
3.2.21. PRM:22 Enable Polarity (ENABLE POL.) ....................... 3-13
3.2.22. PRM:23 Fault Output Polarity (FAULT POL.)................. 3-13
3.2.23. PRM:24 Encoder Polarity (Enc. Mult.) ............................. 3-13
4.1. Introduction ........................................................................................ 4-1
4.2. Velocity and Current Mode ................................................................ 4-1
4.2.1. Current Mode ....................................................................... 4-1
4.2.2. Velocity Mode...................................................................... 4-2
4.3. Tuning................................................................................................. 4-2
5.1. Introduction ........................................................................................ 5-1
5.2. Hardware Overview and Function ...................................................... 5-1
5.2.1. Motor and AC Power Connections....................................... 5-2
5.2.1.1.
5.2.1.2.
5.2.1.3.
5.2.2. COM Port ............................................................................. 5-4
5.2.3. LED Status Indicators .......................................................... 5-5
5.3. The I/O Port........................................................................................ 5-6
5.3.1. SIN, SIN-N, COS, COS-N Signals....................................... 5-6
5.3.2. Restore/Reset Signal............................................................. 5-7
5.3.3. Input+/Input- Command INPUT .......................................... 5-7
5.3.4. Thermistor Input Signal........................................................ 5-7
5.3.5. External Enable Input........................................................... 5-8
5.3.6. Fault Output.......................................................................... 5-8
5.4. Encoder/Limits/Hall Effects Port........................................................ 5-9
5.4.1. Encoder Interface ............................................................... 5-10
5.4.2. Hall Effect Interface ........................................................... 5-10
5.5. Servo Amplifier Specifications......................................................... 5-14
5.6. BAS Amplifier Dimensions .............................................................. 5-15
5.6.1. Mounting Procedures for the BAS 10/20/30/50 ................. 5-17
5.6.2. Mounting Procedures for the BAS 75/100 ......................... 5-18
Aerotech, Inc.
BA SineDrive User's Manual
Wiring, Grounding, and Shielding
Techniques.......................................................... 5-2
Minimizing EMI Interference and CE
Compliance......................................................... 5-2
Minimizing 50/60 HZ Line Interference............. 5-3
Version 1.4