Summary of Contents for Advanced Motion Controls 12A8
- Page 1 (217) 352-9330 | Click HERE Find the Advanced Motion Controls 12A8E at our website:...
- Page 2 Everything’s possible. AZ Analog Drives for Servo Systems Hardware Installation Manual www.a-m-c.com MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 3 Preface ADVANCED Motion Controls constantly strives to improve all of its products. We review the information in this document regularly and we welcome any suggestions for improvement. We reserve the right to modify equipment and documentation without prior notice. For the most recent software, the latest revisions of this manual, and copies of compliance and declarations of conformity, visit the company’s website at www.a-m-c.com.
- Page 4 - Updated Pin Layout Diagram, Figure 2.4 - Added Tachometer Velocity information (also see page page 30, and page © 2008 ADVANCED Motion Controls. All rights reserved. MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 5: Table Of Contents
Contents Safety General Safety Overview ........1 Products and System Requirements AZ Drive Family Overview . - Page 6 AZBxxA8 ..........13 AZBExxA8 .
- Page 7 Encoder Inputs ........29 Tachometer Input ....... . . 30 Offset Input .
- Page 8 Inhibit Input ........42 Power-On Reset .
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Page 9: Safety
Safety This section discusses characteristics of your AZ Analog Drive to raise your awareness of potential risks and hazards. The severity of consequences ranges from frustration of performance, through damage to equipment, injury or death. These consequences, of course, can be avoided by good design and proper installation into your mechanism. General Safety Overview In order to install an AZ drive into a servo system, you must have a thorough knowledge and understanding of basic electronics, computers and mechanics as well as safety precautions and practices required when dealing with the possibility of high voltages or heavy, strong equipment. Observe your facility’s lock‐out/tag‐out procedures so that work can proceed without residual power stored in the system or unexpected movements by the machine. You must install and operate motion control equipment so that you meet all applicable safety requirements. Ensure that you identify the relevant standards and comply with them. Failure to do so may result in damage to equipment and personal injury. - Page 10 Safety / General Safety Overview Keep clear of all exposed power terminals (motor, DC Bus, shunt, DC power, transformer) when power is applied to the equipment. Follow these safety guidelines: Always turn off the main power and allow sufficient time for •...
- Page 11 Safety / General Safety Overview Make sure minimum inductance requirements are met! Pulse Width modulation (PWM) servo drives deliver a pulsed output that requires a minimum amount of load inductance to ensure that the DC motor current is properly filtered. The minimum inductance values for different drive types are shown in the individual data sheet specifications.
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Page 12: Products And System Requirements
Products and System Requirements This document is intended as a guide and general overview in selecting, installing, and operating an AZ servo drive. Contained within are instructions on system integration, wiring, drive‐setup, and standard operating methods. AZ Drive Family Overview The family of AZ analog drives are designed to offer the same high performance and accuracy of larger drives, but in a space‐saving PCB‐mount architecture. By utilizing high density power devices, dual sided PCB boards, and creative design AZ drives are ideal for applications with limited size and weight constraints. The AZ drive family contains drives that can power Single Phase (brushed) and Three Phase (brushless) motors. AZ drives are powered off a single unregulated DC power supply, and provide a variety of control and feedback options. The drives accept either a +/‐10V analog signal or a PWM and Direction signal as input. A digital controller can be used to command and interact with AZ drives, and a number of input/output pins are available for parameter observation and drive configuration. Drive Datasheet Each AZ analog drive has a separate datasheet that contains important information on the modes and product‐specific features available with that particular drive. The datasheet is to be used in conjunction with this manual for system design and installation. In order to avoid damage to equipment, only after a thorough reading and understanding of this manual and the specific datasheet of the AZ drive being used should you attempt to install and operate the drive. -
Page 13: Products Covered
Products and System Requirements / Products Covered Products Covered The products covered in this manual adhere to the following part numbering structure. However, additional features and/or options are readily available for OEM’s with sufficient ordering volume. Feel free to contact ADVANCED Motion Controls for further information. FIGURE 2.1 AZ Part Numbering Structure AZ Analog Drive Series Additional Options Drive Type Revision Blank: Brushed Drive B: Brushless drive Assigned a letter (A through Z) by manufacturer BDC: Brushless Drive, PWM Command Feedback Supported PWM Command... -
Page 14: Control Modes
Products and System Requirements / Control Modes Control Modes The AZ family of analog drives offers a variety of different control methods. While some drives in the series are designed to operate solely in one mode, on other drives it is possible to select the control method by DIP switch settings. Consult the datasheet for the drive in use to see which modes are available for use. The name of the mode refers to which servo loop is being closed in the drive, not the end‐result of the application. For instance, a drive operating in Current (Torque) Mode may be used for a positioning application if the external controller is closing the position loop. Oftentimes, mode selection will be dependent on the requirements and capabilities of the controller being used with the drive as well as the end‐result application. Current (Torque) In Current (Torque) Mode, the input command voltage controls the output current. The drive will adjust the output duty cycle to maintain the commanded output current. This mode is used to control torque for rotary motors (force for linear motors), but the motor speed is not controlled. The output current can be monitored through an analog current monitor output pin. The voltage value read at the “Current Monitor Output” can be multiplied by a scaling factor found on the drive datasheet to determine the actual output current. All AZ drives are able to operate in Current (Torque) Mode. While in Current (Torque) Mode, the drive will maintain a commanded torque output to the motor based on the input reference command. Sudden changes in the motor load may cause the drive to be outputting a high torque command with little load resistance, causing the motor to spin rapidly. -
Page 15: Encoder Velocity
Products and System Requirements / Control Modes motor RPM through the scaling factor. See “Velocity Monitor Output” on page 33 for the motor RPM equation. This mode is available as a DIP switch selectable mode on AZBHxxA8 drives. Due to the inherent low resolution of motor mounted Hall Sensors, Hall Velocity Mode is not recommended for low-speed applications below 300 rpm for a 6-pole motor, 600 rpm for a 4-pole motor, or 900 rpm for a 2-pole motor. -
Page 16: Feedback Supported
Products and System Requirements / Feedback Supported Feedback Supported There are a number of different feedback options available in the AZ family of analog drives. The feedback element can be any device capable of generating a voltage signal proportional to current, velocity, position, or any parameter of interest. Such signals can be provided directly by a potentiometer or indirectly by other feedback devices such as Hall Sensors or Encoders. These latter devices must have their signals converted to a DC voltage, a task performed by the AZ drive circuitry. TABLE 2.3 Feedback Supported Feedback Supported Description AZ_DDC AZBDC AZBE AZBH Hall Sensors for Commutation Hall Sensors for Velocity Control Single- Ended Incremental Encoder Feedback Polarity The feedback element must be connected for negative feedback. This will cause a difference ... -
Page 17: Using A Single Phase Motor With A Three Phase Drive
Products and System Requirements / Feedback Supported FIGURE 2.2 Hall Sensor Commutation and Motor Phase Current for 120-Degree Phasing Hall Sensor Commutation High (1) Hall A Low (0) High (1) Hall B Low (0) High (1) Hall C Low (0) Electrical Degrees Motor Phase Current... -
Page 18: Encoder Feedback
Products and System Requirements / Feedback Supported commutation state (see Table 2.4 above) which is a valid state in 60‐degree phasing. Connect only two of the motor output wires, Motor A and Motor B. • Tie one of the Hall Sensor inputs on the AZ drive to signal ground. Since the Hall Sensor inputs are by default internally brought high to +5V, this will put the AZ drive in a commutation state where two Hall inputs are high, and one is low (as shown in Table 2.4, having all three Hall inputs pulled high is an invalid commutation state in 120‐degree phasing). Depending on which Hall Sensor input is tied to ground, consult Table 2.4 above to determine which two motor output wires will be conducting current for that specific commutation state. Encoder Feedback AZBExxA8 drives utilize two single‐ended incremental encoder inputs for velocity control. The encoder provides incremental position feedback that can be extrapolated into very precise velocity information. The encoder signals are read as "pulses" that the AZ drive uses to essentially keep track of the motor’s position and direction of rotation. Based on the speed and order in which these pulses are received from the two encoder signals, the drive can interpret the motor velocity. The diagram below represents encoder "pulse" signals, showing how dependent on which signal is read first and at what frequency the "pulses" arrive, the speed and direction of the motor shaft can be extrapolated. FIGURE 2.3 Encoder Feedback Signals Example 1: Encoder-A precedes Encoder-A Encoder-B. The pulses arrive at a certain frequency, providing speed and directional Encoder-B... -
Page 19: Pin Layout
Products and System Requirements / Pin Layout Pin Layout The diagrams below show the pin layout and location on AZ drives, as seen from the PCB where the drive is mounted. Note that AZ20 drives uses a double row for the power header. More detailed dimensional information can be found in “Physical Dimensions” on page 39 and in “Mating Connectors” on page 24. FIGURE 2.4 AZ-series Pin Layouts AZ6 and AZ12 Drives AZ20 Drives P1 - Signal P1 - Signal Connector Connector P2 - Power PIN 16 PIN 16 Connector P2 - Power Connector 0.10in [2.54mm] PIN 1 PIN 1b... -
Page 20: Single Phase (Brushed, Voice Coil, Inductive Load) Drives
Products and System Requirements / Single Phase (Brushed, Voice Coil, Inductive Load) Drives Single Phase (Brushed, Voice Coil, Inductive Load) Drives AZxxA8 AZxxA8DDC • • Designed to drive brush‐type motors Designed to drive brush‐type motors with a +/‐10 V analog input. with a PWM input command. • • Current (Torque) Mode Current (Torque) Mode Block Diagrams FIGURE 2.5 FIGURE 2.5.1 AZxxA8 Drive Structure AZxxA8DDC Drive Structure AZ SERVO DRIVE AZ Servo Drive... -
Page 21: Three Phase (Brushless) Drives
Products and System Requirements / Three Phase (Brushless) Drives Three Phase (Brushless) Drives AZBxxA8 AZBDCxxA8 • • Designed to drive brushless motors Designed to drive brushless motors with a +/‐10 V analog input with a PWM input command • • Current (Torque) Mode Current (Torque) Mode • • Hall Sensor trapezoidal Commutation Hall Sensor trapezoidal Commutation AZBExxA8 AZBHxxA8 • • Designed to drive brushless motors Designed to drive brushless motors with a +/‐10 V analog input with a +/‐10 V analog input • • DIP Switch selectable modes ‐ Current DIP Switch selectable modes ‐ Current ... -
Page 22: Pinouts
Products and System Requirements / System Requirements Pinouts TABLE 2.6 Three Phase Signal Connector TABLE 2.6.1 Three Phase Power Connector AZ6/AZ12/AZ20 AZ6/AZ12/AZ20 AZ6/AZ12/AZ20 AZ6/AZ12/AZ20 AZ6 / AZ12 AZ20 Analog Input PWM Input Analog Input Analog Input All Configurations All Configurations Encoder Vel. -
Page 23: Motor Specifications
Products and System Requirements / System Requirements Motor Specifications AZ analog servo drives have a given current and voltage rating unique to each drive. Based on the necessary application requirements and the information from the datasheet of the motor being used, an AZ drive may be selected that will best suit the motor capabilities. Some general guidelines that are useful when pairing an AZ servo drive with a motor: The motor current I is the required motor current in amps DC, and is related to the • torque needed to move the load by the following equation: Torque ------------------ - Where: ‐motor torque constant The motor current will need to be calculated for both continuous and peak operation. The peak torque will be during the acceleration portion of the move profile. The continuous torque is the average torque required by the system during the move profile, including dwell times. The system voltage requirement is based on the motor properties and how fast and hard • the motor is driven. The system voltage requirement is equal to the motor voltage, V , required to achieve the move profile. ⋅ ⋅ Where: ‐motor back EMF constant ‐motor speed (use the maximum speed expected for the application) ‐motor current (use the maximum current expected for the application) ‐motor line‐to‐line resistance The motor inductance is vital to the operation of AZ servo drives, as it ensures that the DC • motor current is properly filtered. ... -
Page 24: Power Supply Specifications
Products and System Requirements / System Requirements Power Supply Specifications AZ servo drives operate off an isolated unregulated DC Power Supply. The AZ12 and AZ6 drives have a DC supply range of 20‐80 VDC, while the AZ20 series has a range of 10‐80 VDC. All AZ servo drives have an over‐voltage shutdown of 88 VDC. To avoid nuisance over‐ or under‐ voltage errors caused by fluctuations in the power supply, the system power supply voltage should be at least 10% above the entire system voltage requirement, and at least 10% below the lowest value of the following: Drive over voltage • • External shunt regulator turn‐on voltage Use of a shunt regulator is necessary in systems where motor deceleration or a downward motion of the motor load will cause the system’s mechanical energy to be regenerated via the drive back onto the power supply. This regenerated energy can charge the power supply capacitors to levels above that of the AZ drive over‐voltage shutdown level. If the power supply capacitance is unable to handle this excess energy, or if it is impractical to supply enough capacitance, then an external shunt regulator must be used to dissipate the regenerated energy. The shunt regulator will "turn‐on" at a certain voltage level (set below the drive over‐ voltage shutdown level) and discharge the regenerated electric energy in the form of heat. The diagram below provides a possible example of an appropriate system power supply voltage for an AZ20 drive using an external shunt regulator. FIGURE 2.8 AZ20 Power Supply Selection AZ Drive Over Voltage Shutdown (88V) Shunt Regulator Turn-On Voltage (80V) Acceptable Power Supply Range (26 V-72V) -
Page 25: Environment
Products and System Requirements / System Requirements Use values of V and I at the point of maximum power in the move profile (when V = max). This will usually be at the end of a hard acceleration when both the torque and speed of the motor is high. Environment To ensure proper operation of an AZ servo drive, it is important to evaluate the operating environment prior to installing the drive. TABLE 2.7 Environmental Specifications Environmental Specifications Parameter Description Ambient Temperature Range Figure 2.9 Baseplate Temperature Range 0 - 75 C Humidity 90%, non-condensing Mechanical Shock 15g, 11ms, Half-sine Vibration 2 - 2000 Hz @ 2.5g Altitude... -
Page 26: Integration In The Servo System
Integration in the Servo System This chapter will give various details on incorporating an AZ servo drive into a system, such as how to design the PCB traces on an interface board, how to properly ground both the AZ drive along with the entire system, and how to properly connect motor wires, power supply wires, feedback wires, and inputs into the AZ drive. Grounding In most servo systems all the case grounds should be connected to a single Protective Earth (PE) ground point in a "star" configuration. Grounding the case grounds at a central PE ground point reduces the chance for ground loops and helps to minimize high frequency voltage differentials between components. All ground wires must be of a heavy gauge and be as short as possible. The following should be securely grounded at the central PE grounding point: • Motor chassis Controller chassis • Power supply chassis • PCB Interface chassis • FIGURE 3.1 System Grounding Case Ground Wire Shield Ground Wire Shielded Feedback/Signal Cable Shielded Power Cable Command Command +VDC Signal Signal... -
Page 27: Wiring
Integration in the Servo System / Wiring The DC power ground and the input reference command signal ground are oftentimes at a different potential than chassis/PE ground. The signal ground of the controller must be connected to the signal ground of the AZ drive to avoid picking up noise due to the "floating" differential servo drive input. On all AZ drives, the DC power ground and the input command signal ground are referenced to each other internally. In systems using an isolated DC power supply, signal ground and/or power ground can be referenced to chassis ground. First decide if this is both appropriate and safe. If this is the case, they can be grounded at the central grounding point. Grounding is important for safety. The grounding recommendations in this manual may not be appropriate for all applications and system machinery. It is the responsibility of the system designer to follow applicable regulations and guidelines as they apply to the specific servo system. -
Page 28: Motor Wires
Integration in the Servo System / Wiring of being too thick rather than too thin. This recommendation becomes more critical as the cable length increases. Motor Wires The motor power wires supply power from the drive to the motor. Use of a twisted, shielded pair for the motor power cables is recommended to reduce the amount of noise coupling to sensitive components. For a brushed motor or voice coil, twist the two motor wires together as a group. • • For a brushless motor, twist all three motor wires together as a group. Ground the motor power cable shield at one end only to the mounting card or PCB interface chassis ground. The motor power leads should be bundled and shielded in their own cable and kept separate from feedback signal wires. DO NOT use wire shield to carry motor current or power! Power Supply Wires The PWM current spikes generated by the power output‐stage are supplied by the internal power supply capacitors. In order to keep the current ripple on these capacitors to an acceptable level it is necessary to use heavy power supply leads and keep them as short as possible. Reduce the inductance of the power leads by twisting them. Ground the power supply cable shield at one end only to the mounting card or PCB interface chassis ground. When multiple drives are installed in a single application, precaution regarding ground loops ... -
Page 29: Input Reference Wires
Integration in the Servo System / Wiring motor, try to find separate paths that maintain distance between the two. A rule of thumb for the minimum distance between these wires is 10cm for every 10m of cable length. FIGURE 3.2 Feedback Wiring Avoid running Motor Feedback feedback and power wires together Motor Feedback Separate power and AZ SERVO AZ SERVO Motor Motor feedback wires DRIVE DRIVE where possible Motor Power Motor Power Input Reference Wires Use of a twisted, shielded pair for the input reference wires is recommended. Connect the ... -
Page 30: Noise Suppression
Integration in the Servo System / Noise Suppression Noise Suppression While the above wiring and grounding practices should be sufficient to reduce noise and interference issues to a minimum, in some systems sizing or other constraints do not allow these guidelines to be put into use effectively. In these cases, the below items provide extra means of noise suppression. AC Line Filter It is possible for noise generated by the machine to "leak" onto the main AC power, and then get distributed to nearby equipment. If this equipment is sensitive, it may be adversely affected by the noise. AC line filters can filter this noise and keep it from getting on the AC power signal. The AC power filter should be mounted flat against the enclosure of the system using the mounting lugs provided on the filter. Paint should be removed from the enclosure where the filter is fitted to ensure effective metal to metal contact. The filter should be mounted as close to the point where the AC power enters the enclosure as possible. Also, the AC power cable on the load end of the filter should be routed as far from the AC power cable on the supply end of the filter and all other cables and circuitry to minimize RF coupling. Ferrite Suppression Cores If PWM switching noise couples onto the encoder signals or onto the signal ground, then a ferrite suppression core can be used to attenuate the noise. Take the motor leads and wrap them around the suppression core as many times as reasonable possible, usually 2‐5 times. Make sure to strip back the cable shield and only wrap the motor wires. There will be two wires for single phased (brushed) motors and 3 wires for three phase (brushless) motors. Wrap the motor wires together as a group around the suppression core and leave the motor case ground wire out of the loop. The suppression core should be located as near to the drive as possible. Inductive Filter Cards Inductive filter cards are added in series with the motor and are used to increase the load ... -
Page 31: Mounting
Integration in the Servo System / Mounting Mounting This section provides instructions and information on the different ways to mount an AZ servo drive to a PCB board. Mounting Card AZ servo drives are designed to interface directly with the ADVANCED Motion Controls mounting card MC1XAZ01. Pinouts, dimensions, and ordering information for the mounting card are obtainable on the MC1XAZ01 datasheet, available for download at www.a‐m‐c.com. The MC1XAZ01 is designed for easy mounting and installation on a standard DIN‐rail tray, available from Phoenix Contact (www.phoenixcontact.com, part number 2952020/UM72/10.16/GN6021). The MC1XAZ01 is shipped with the following included connectors: TABLE 3.1 MC1XAZ01 Connectors MC1XAZ01 Connectors Description Qty. Included Manufacturer and Part Number 3-position 5.08mm spaced plug terminal Phoenix Contact: 1757022 4-position 5.08mm spaced plug terminal Phoenix Contact: 1757035 8-position 3.5mm spaced plug terminal... -
Page 32: Pcb Mounting Options
Integration in the Servo System / Mounting PCB Mounting Options AZ servo drives can be directly integrated onto a PCB, either by mounting the board on socket connectors or by actually soldering the AZ drive to the board. Mating Connectors AZ drives use 0.64 mm square post male headers (2.54 mm pin spacing) for signal and power pins that are designed for fast and easy removal from PCB‐mount socket connectors, making this option particularly useful when prototyping. The socket mating connectors compatible with AZ drives are shown in the table below. For detailed physical dimensions, see “Physical Dimensions” on page 39. TABLE 3.2 AZ Drives Socket Mating Connectors AZ Socket Mating Connectors Connector Pins Manufacturer and Part Number Signal Connector - All AZ Drives Samtec: BCS-116-L-S-PE Power Connector - AZ6 and AZ12 Samtec: BCS-111-L-S-PE... -
Page 33: Soldering
Integration in the Servo System / Mounting Soldering Soldering an AZ board directly to a PCB provides added support against mechanical shocks and vibration. It is recommended to solder AZ drives to a PCB following the industry standard for Acceptability of Electronic Assemblies IPC‐A‐610D. Use solder with no‐clean flux. AZ drives can be soldered by any of the following methods: • wave soldering • hand soldering selective wave soldering • To clean the PCB and drive after soldering, it is recommended to gently apply isopropyl alcohol or a cleaning agent with a soft‐bristled brush. Use care not to apply downward pressure, but rather lightly brush the PCB and drive. Do not immerse the drive in a cleaning agent. Screw Mounting For added stability and support, AZ drives can be mounted with screws in tandem with one of the options above. Figure 3.5 shows how an AZ20 drive can be mounted to the MC1XAZ01 mounting card using a spacer. See “Physical Dimensions” on page 39 and/or the specific drive’s datasheet for exact screw locations and dimensions. FIGURE 3.5 AZ20 Screw Mount Diagram Remove drive mounting screw, and replace with spacer*. Use the removed drive mounting screw to secure mounting card to drive from the bottom of the... -
Page 34: Pcb Design
Integration in the Servo System / PCB Design FIGURE 3.6 AZ6/AZ12 Screw Mount Diagram Remove drive mounting screw, and align spacer* over empty screw hole on drive PCB. Use a 4/40 thread, 1" screw to secure mounting card to drive from the bottom of the mounting card through the spacer after drive has been inserted in mounting... -
Page 35: Interface Circuitry Examples
Integration in the Servo System / Interface Circuitry Examples • Keep high current traces short Traces carrying high current, such as the DC Power traces and Motor Signal traces, should be kept short and close together to minimize noise emissions. Also, keep DC Power traces separate from Motor Signal traces where possible. • Design for maximum values Adjacent traces can carry a voltage potential equal to the maximum DC power supply value, and carry current of both the AZ servo drive’s peak and continuous current ratings. The trace width and copper plating thickness will need to take these maximum values into account. Also, be aware that AZ servo drive pin headers have a maximum current rating of 3 amps DC per pin. In order to achieve a higher overall peak current capability, some high current signals "share" a group of pins to spread the current between them. High current traces running to these pin groups should be inter‐connected on the PCB board. Consult the drive’s datasheet or the "Pinouts" section in “Products Covered” on page 5 for these pin groupings. Interface Circuitry Examples The following sections show examples of how an interface board could be designed to work with an AZ servo drive, and also contain general connection rules and instructions. DC Power Input The diagram below shows how an AZ servo drive connects to an isolated DC Power Supply through a mounting card/interface PCB. Notice that the power supply wires are shielded, and that the power supply case is grounded at the single point system ground (PE Ground). The cable shield should be grounded at the mounting card or PCB interface side to chassis ground. FIGURE 3.7 DC Power Input Wiring INTERFACE AZ SERVO DRIVE... -
Page 36: Motor Power Output
Integration in the Servo System / Interface Circuitry Examples Motor Power Output The diagram below shows how an AZ servo drive connects to a motor through a mounting card/interface PCB. Both brush‐type and brushless motors should follow this general setup. Notice that the motor wires are shielded, and that the motor housing is grounded to the single point system ground (PE Ground). The cable shield should be grounded at the mounting card or PCB interface side to chassis ground. FIGURE 3.8 Three Phase Motor Power Output Wiring AZ SERVO INTERFACE PCB DRIVE Motor C Shield Motor B Motor Motor A Chassis Ground Single Point System Ground (PE Ground) -
Page 37: Hall Sensor Inputs
Integration in the Servo System / Interface Circuitry Examples Hall Sensor Inputs Brushless AZ drives allow single‐ended Hall Sensor inputs both for commutation, and in the special case of AZBHxxA8 drives, for velocity feedback. AZ drives provide a +6V low power supply to power the Hall Sensors. Below is the recommended circuitry when designing a mounting card to interface with an AZ drive. FIGURE 3.10 Hall Sensor Interface Wiring INTERFACE AZ SERVO DRIVE Hall 1 (P1-8) Hall A Shield Hall 2 (P1-9) Hall B Motor Hall C Hall 3 (P1-10) Hall Power... -
Page 38: Tachometer Input
Integration in the Servo System / Interface Circuitry Examples Tachometer Input For drive models that allow an external DC Tachometer for velocity control, the tachometer is connected between the Velocity Monitor Output / Tachometer Input pin (P1‐ 15) and signal ground (either P1‐7 or P1‐2). The tachometer is limited to a feedback voltage range of ±60 VDC. The diagram below shows the recommended connection method. FIGURE 3.12 DC Tachometer Input Wiring INTERFACE AZ SERVO DRIVE Tach+ VEL MONITOR OUT / TACH IN Tachometer (+/- 60 VDC) SIGNAL GROUND Tach- Offset Input For drive models that have an external offset input option, a potentiometer can be ... -
Page 39: Operation
Operation This chapter will present a brief introduction on how to test and operate an AZ servo drive. Read through this entire section before attempting to test the drive or make any connections. Getting Started To begin operation with your AZ drive, be sure to read and understand the previous chapters in this manual as well as the drive datasheet. Be sure that all system specifications and requirements have been met, and become familiar with the capabilities and functions of the AZ drive. Also, be aware of the “Troubleshooting” section at the end of this manual for solutions to basic operation issues. Input/Output Pin Functions The family of AZ drives provide a number of various input and output pins for parameter observation and drive configuration options. Consult the drive datasheet to see which input/output pin functions are available for each drive. Current Monitor Output The current monitor pin is available on all AZ drive models. Measured relative to signal ground, it provides an analog voltage output signal that is proportional to the actual current output. The scaling factor for each individual drive can be found on the drive datasheet. Example Measurement The current monitor pin on an AZ drive with a current monitor scaling factor of 4 A/V is measured to be 1.3V. This would mean the drive is outputting: (4 A/V)(1.3V) = 5.2A. Current Reference Output The current reference pin is available on all AZ drive models. Measured relative to signal ground, it provides an analog voltage output signal that is proportional to the command signal to the internal current loop. When the drive output MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 40: Fault Output
Operation / Getting Started reaches the maximum peak current value, the current reference pin will read 7.45V. The command to the internal current loop can be solved for by the following equation: peak ⋅ ------------- - command current ref 7.45V Where: ‐command current to the internal current loop command ‐measured voltage at current reference pin current ref ‐peak current value of AZ drive peak Example Measurement The current reference pin on an AZ drive with a peak current value of 12A is measured to be 2.63V. Following the above equation to solve for I , the command current to the internal command current loop would be 4.24A. Fault Output The fault output is available on all AZ drive models. This pin provides a +5V TTL output that will become high when the drive is subject to one of the following fault conditions: inhibit, invalid Hall State, output short circuit, over voltage, over temperature, or power‐up reset. This pin will remain low when the drive is enabled. AZ drives automatically self‐reset once one of the above‐mentioned fault conditions are removed. For instance if the DC power supply rises above the over‐voltage shutdown level of an AZ drive, the Fault Output will go high, and the drive will be disabled. Once the DC power supply level is returned to a value below the drive over‐voltage shutdown level, the Fault Output will become low, and the drive will automatically become enabled. Inhibit Input The inhibit input pin is available on all AZ drive models. This pin provides a +5V TTL ... -
Page 41: Velocity Monitor Output
Operation / Getting Started Velocity Monitor Output The velocity monitor output pin is available on AZBE and AZBH drive models only. This pin provides an analog voltage output that is proportional to the actual motor speed. • For AZBE drives in Encoder Velocity Mode, substitute the voltage value read at the velocity monitor pin, V , into the below equation to determine the motor RPM: monitor ⋅ ⋅ --------- - 60 monitor Motor Velocity [RPM] ---------------------------------------------------------- - Number of encoder lines For AZBH drives in Hall Velocity Mode, substitute the voltage value read at the velocity • monitor pin, V , into the below equation to determine the motor RPM: monitor ⋅ ⋅ ------ - 120 monitor Motor Velocity [RPM] ------------------------------------------------------- -... -
Page 42: Connections Test
Operation / Getting Started Connections Test Before applying power to the drive, connect the AZ drive to the mounting card or PCB interface, using any of the mounting options from “Mounting” on page 23. Using an ohmmeter or digital multimeter, test the connections between the mounting card or PCB interface headers and the AZ drive pins. Check for any shorts or open circuits. At this point, also check the ground connection of the whole system (AZ drive, mounting card, Motor). All these elements should have their case or chassis connected to a central grounding point in a "star" configuration. For review, see “Grounding” on page 18. Power Supply 1. Before wiring the DC power supply to the mounting card and AZ drive, use a voltmeter or digital multimeter to make sure the DC voltage level is within specifications. 2. Do not turn on the DC power supply yet. Connect the DC power supply wires to the mounting card or PCB interface. Do not connect directly to the AZ drive header pins. Be sure the high voltage and ground connections do not get reversed, as this will damage the drive. 3. Turn on the DC power supply. Monitor the DC voltage on the mounting card test points or PCB interface to be sure the voltage level is within specifications. Once certain that power is being properly applied to the AZ drive, turn the DC power supply off. Input Command Wiring Follow the instructions below to properly wire the input command of the AZ drive, but do not apply any power or input signal yet. • For drives that use +/‐10 V analog input, one method of testing the functionality of the AZ drive within the system is by using an external reference potentiometer (approximately 50 kΩ) as an input command signal. By applying a positive DC voltage (10V max) to one end of the potentiometer, and a negative DC voltage (10V max) to the other end of the potentiometer, a +/‐ analog signal can be sent through the potentiometer’s wiper into the +REF input pin, P1‐1, on the mounting card or PCB interface (see drive datasheet or “Pinouts” on page 12 for pin labels). The voltages applied to the external reference potentiometer should come from a "test" power supply that is different than the main DC ... -
Page 43: Hall Sensors
Operation / Getting Started — Without connecting the potentiometer wiper to the mounting card or PCB interface, apply the "test" +/‐VDC to the two sides of the potentiometer. — Measure the wiper of the potentiometer with a voltmeter or digital multimeter, and verify that by turning the potentiometer in both directions, the full range of +/‐VDC is observable on the potentiometer wiper. This voltage will serve as a "test" command. Once the full range of +/‐VDC has been verified, turn the potentiometer so that — approximately 0 VDC is observed on the potentiometer wiper, then turn off the "test" power supply. With no voltage command applied to the potentiometer, connect the wiper to the — +REF IN input pin on the mounting card or PCB interface. Connect the "test" power supply ground or common to the AZ drive signal ground on the mounting card or PCB interface. For drives that use PWM and Direction input, a Function Generator should be set up to • generate a simple +5V square wave at a frequency of 10‐25 kHz. Connect the Function Generator signal to the PWM input pin on the AZ drive, P1‐1 (see drive datasheet or “Pinouts” on page 12 for pin labels) and the common to the signal ground pin on the AZ drive, P1‐2. Hall Sensors 1. (Three Phase Drives Only) With the DC power supply still turned off, connect the Hall Sensors to the Hall input pins on the mounting card or PCB interface. Also, connect the +V HALL OUT +6V supply from the AZ drive to the Hall Power line (consult the motor datasheet to see which wires from the motor are the Hall Input lines and Hall Power line). 2. Turn on the DC power supply to the system. Use a digital multimeter or voltmeter, to monitor the Fault Output pin (see “Fault Output” on page 32 for more information). 4. Manually rotate the motor shaft by hand a few revolutions. If all the Hall Sensors are functioning properly, the Fault Output signal should stay low. If the Fault Output signal goes high, this could indicate either a short or bad connection in the Hall Sensor wires, or ... - Page 44 Operation / Getting Started the elements should be properly grounded in a central point location, and no power or input command should be applied to any element in the system. Once certain that all these steps have been safely and properly followed, turn on the main DC power supply. Use a voltmeter or digital multimeter to once again check the DC power supply level. Analog Input Drives 1. Turn on the "test" power supply connected to the external potentiometer. 2. Slowly turn the potentiometer in one direction while observing the motor shaft. Only make very slight adjustments to the reference potentiometer to avoid causing damage to the motor. Since the drive is in Current (Torque) Mode and there is no load on the motor shaft, even a small potentiometer adjustment can create high speeds at the motor shaft.
- Page 45 Operation / Getting Started can be attached to the mounting card or PCB interface. All six will have to be tested in order to find the right commutation. Before removing the motor wires, turn off both the main DC power supply and the Function Generator. Never remove or make any connections to the drive while power is applied! The proper combination of motor wires will yield smooth motion and identical speeds in both directions. Improper combinations will cause jerky motion, slow movement in one direction, and/or audible noise. Once the proper combination has been found, varying the duty cycle should cause the motor shaft to rotate appropriately in response to the input. MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ...
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Page 46: Specifications
Specifications Specifications Tables TABLE A.1 Power Specifications Description Units AZ12 AZ20 DC Supply Voltage Range 20-80 10-80 DC Bus Over Voltage Limit DC Bus Under Voltage Limit Maximum Peak Output Current Maximum Continuous Output Current Maximum Power Dissipation at Continuous Current Minimum Load Inductance μH Switching Frequency... - Page 47 / Specifications Tables TABLE A.5 Environmental Specifications Parameter Description Ambient Temperature Range Figure A.1 Baseplate Temperature Range 0 - 75 C Humidity 90%, non-condensing Mechanical Shock 15g, 11ms, Half-sine Vibration 2 - 2000 Hz @ 2.5g Altitude 0-3000m FIGURE A.1 AZ Ambient Temperature Ranges Maximum Ambient °C AZ6/AZ12 Drive Models...
- Page 48 / Specifications Tables FIGURE A.2 AZ12 and AZ6 Mounting Diagrams (dimensions in inches and [mm]) FIGURE A.3 AZ20 Mounting Diagrams (dimensions in inches and [mm]) MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 49: Troubleshooting
Troubleshooting This section discusses how to ensure optimum performance and, if necessary, get assistance from the factory. Fault Conditions and Symptoms An inoperative drive can indicate any of the following fault conditions: • over‐temperature over‐voltage • under‐voltage • short‐circuits • • invalid commutation • inhibit input • power‐on reset All of the above fault conditions are self‐reset by the drive. Once the fault condition is removed the drive will become operative again without cycling power. To determine whether the drive is in a fault state, measure the “Fault Output” pin with a digital multimeter or voltmeter. A high at this pin will indicate that the drive is subject to one of the above fault conditions, and the drive will be disabled until the drive is no longer in a fault state. To remove the fault condition, follow the instructions in the sections below describing each possible fault state. Over-Temperature Verify that the baseplate temperature is less than 75 C (167 F). The drive º º remains disabled until the temperature at the drive baseplate falls below this threshold. Over-Voltage Shutdown 1. Check the DC power supply voltage for a value above the drive over‐voltage shutdown limit. If the DC bus voltage is above this limit, check the AC power line connected to the DC power supply for proper value. -
Page 50: Under-Voltage Shutdown
/ Fault Conditions and Symptoms Under-Voltage Shutdown Verify power supply voltages for minimum conditions per specifications. Also note that the drive will pull the power supply voltage down if the power supply cannot provide the required current for the drive. This could occur when high current is demanded and the power supply is pulled below the minimum operating voltage required by the drive. Short Circuit Fault 1. Check each motor lead for shorts with respect to motor housing and power ground. If the motor is shorted it will not rotate freely when no power is applied while it is uncoupled from the load. 2. Disconnect the motor leads to see if the drive will enable without the motor connected. 3. Measure motor armature resistance between motor leads with the drive disconnected. Invalid Hall Sensor State (Brushless Drives only) See the “Commutation Sequence” table in “Hall Sensors” on page 8 for valid commutation states. If the drive is disabled check the following: 1. Make sure that the 60 or 120 degree phasing jumper (JE2) is in the correct setting per motor data sheets. When driving a single phase (brushed type) motor with a three phase (brushless) drive use the 60‐degree phase setting (see “Using a Single Phase Motor with a Three Phase Drive” on page 9 for more information on this particular configuration). 2. Check the voltage levels for all the Hall sensor inputs. 3. -
Page 51: Motor Problems
/ Fault Conditions and Symptoms within a time frame of less than 10 seconds. An over‐current condition will not cause the drive to become disabled. FIGURE B.1 Peak Current Fold-Back Amps Peak Current Limit Continuous Current Limit Drive Current Output t(s) Sustained maximum current demand, when switching between positive and negative maximum current without allowing sufficient time for fold- back, will result in drive damage. -
Page 52: Technical Support
/ Technical Support • Mechanical backlash, dead‐band, slippage, etc. • Noisy inhibit input line. Excessive voltage spikes on bus. • Technical Support For help from the manufacturer regarding drive set‐up or operating problems, please gather the following information Drive Model Information • DC bus voltage and range. • Motor type, including inductance, torque constant, and winding resistance. Position of all DIP‐switches. • Length and make‐up of all wiring and cables. • If brushless, include Hall sensor information. • • Type of controller, plus full description of feed back devices. • Description of problem: instability, run‐away, noise, over/under shoot, or other description. Complete part number and serial number of the product. Original purchase order is • helpful, but not necessary. Product Label Description The following is a typical example of a product label as it is found on the drive: FIGURE B.2 AZ Product Label 1. -
Page 53: Warranty Returns And Factory Help
/ Technical Support which signifies a prototype unit. The part number can also have a suffix (e.g. AZB20A8B‐ AM1), which designates a special version of the standard drive (AZB20A8B is the standard drive, ‐AM1 designates the special version). Warranty Returns and Factory Help Seller warrants that all items will be delivered free from defects in material and workmanship and in conformance with contractual requirements. The Seller makes no other warranties, express or implied and specifically NO WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. The Seller's exclusive liability for breach of warranty shall be limited to repairing or replacing at the Seller's option items returned to Seller's plant at Buyer's expense within one year of the date of delivery. The Seller's liability on any claim of any kind, including negligence, for loss or damage arising out of, connected with or resulting from this order, or from the performance or breach thereof or from the manufacture, sale, delivery, resale, repair or use of any item or services covered by or furnished under this order shall in no case exceed the price allocable to the item or service or part thereof which gives rise to the claim and in the event Seller fails to manufacture or deliver items other than standard products that appear in Seller's catalog. Seller's exclusive liability and Buyer's exclusive remedy shall be release of the Buyer from the obligation to pay the purchase price. IN NO EVENT SHALL THE SELLER BE LIABLE FOR SPECIAL OR CONSEQUENTIAL DAMAGES. Buyer will take all appropriate measures to advise users and operators of the products delivered hereunder of all potential dangers to persons or property, which may be occasioned by such use. Buyer will indemnify and hold Seller harmless from all claims of any kind for injuries to persons and property arising from use of the products delivered hereunder. Buyer will, at its sole cost, carry liability insurance adequate to protect Buyer and Seller against such claims. All returns (warranty or non‐warranty) require that you first obtain a Return Material Authorization (RMA) number from the factory. Request an RMA number by: telephone (805) 389-1935 (805) 389-1165 e-mail amcsupport@a-m-c.com MNALAZIN-02... - Page 54 / Technical Support ____________________________________________________ ____________________________________________________ ____________________________________________________ Reminders ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ MNALAZIN-02 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 55 Index Encoder Velocity......7 Fault Output........32 Hall Velocity........6 Feedback Polarity ......8 AC Line Filter........22 Open Loop ........6 Feedback Supported....7–10, 38 Agency Compliances .......ii Tachometer Velocity ....7 Encoder........10 Altitude..........17 Control Specifications....5, 38 Hall Sensors .........8 Ambient Temperature Range..17, 39 Current (Torque) ......6 Tachometer.........10 Attention Symbols ......iii Current (Torque) Mode Test ...33–37 Feedback Wires......20 AZ12 ..........16 CURRENT MONITOR ....12, 14 Ferrite Suppression Cores.....22 Dimensions ........40 Current Monitor Output ....31 Fold‐back.........42 Pin Layout ........
- Page 56 Electromagnetic ......19 Over‐Temperature......41 Signal Ground.........19 Magnetic ........19 Over‐Voltage ........41 Single Phase Drives......12 Voltage Drops ......19 Over‐Voltage Shutdown ...16, 41 AZxxA8 ........12 Invalid Commutation .....41 AZxxA8DDC........12 Invalid Hall Commutation ..38, 42 Block Diagrams ......12 Pinouts ........12 Part Number ........44 Power Connector ...12 Part Numbering Structure....5 Signal Connector....12 Lock‐out/tag‐out Procedures..1 Soldering .........25 PCB Circuitry Design Examples Specifications Check ....14–17 Tachometer Input ......30 PCB Design ........26 Environment ......17 Mating Connectors ......24...
- Page 57 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 58 AZ Analog Drive Hardware Installation Manual MNALAZIN-02 3805 Calle Tecate Camarillo, CA 93012-5068 • Tel: (805) 389-1935 Fax: (805) 389-1165 www.a-m-c.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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