Varedan Technologies VSA Series Technical Reference Manual

Digital pwm servo amplifier

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VSA Series Digital PWM Servo Amplifier

Manual Part Number: 4055-42-005

3860 Del Amo Blvd. Suite 401, Torrance, CA 90503

www.varedan.com

VSA1-0510 Series

VSA2-1530 Series

Technical Reference Manual

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Summary of Contents for Varedan Technologies VSA Series

Page 1 VSA Series Digital PWM Servo Amplifier VSA1-0510 Series VSA2-1530 Series Technical Reference Manual Manual Part Number: 4055-42-005 3860 Del Amo Blvd. Suite 401, Torrance, CA 90503 www.varedan.com...
Page 2 Torrance, CA 90503 Phone: 310-542-2320 www.varedan.com This document contains proprietary and confidential information of Varedan Technologies, LLC and is protected under Federal copyright law. The information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form without the express written consent of Varedan Technologies, LLC.
Page 3 VSA Series Digital PWM Servo Amplifier Technical Reference Manual CAUTION! READ THIS SECTION BEFORE PROCEEDING. Warning! Potentially lethal voltages exist within the amplifier when power is applied.  Never attempt to handle or probe the amplifier with power applied.  Hazardous voltages are present at the motor output terminals, input power connection, and within the sheet metal enclosure.
Page 4 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Contents Introduction ............................9 Specifications ............................10 Electrical Specification ........................ 10 Mechanical Specification ......................10 Mounting Dimensions ........................11 2.3.1 VSA1-0510 dimension ......................11 2.3.2 VSA2-1530 dimension ......................11 Model Numbering ..........................12 Package overview ..........................
Page 5 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1.1 File ............................25 9.1.2 Drive ............................25 9.1.3 Comms ............................ 26 9.1.4 Tools ............................27 9.1.4.1 Terminal .......................... 27 9.1.4.2 Analyze ..........................28 9.1.4.3 Script ..........................28 9.1.4.4 Save settings to Drive ..................... 28 9.1.4.5...
Page 6 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 12 External Safety Interface ........................50 12.1 Safety Torque off (STO) ......................50 12.2 External Regen Resistor ......................50 12.3 Keep Alive and Motor Brake ....................... 51 12.3.1 Keep Alive ..........................51 12.3.2 Motor brake operation ......................
Page 7 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.23 FAULTS? ..........................63 15.3.24 FAULTSA? ..........................63 15.3.25 GAINS? ........................... 63 15.3.26 HALLS:ccc ..........................63 15.3.27 HELP? ............................. 64 15.3.28 I? ............................. 64 15.3.29 INPOL:x:n ..........................64 15.3.30 INPUTS? ..........................64 15.3.31 INPUTSA? ..........................
Page 8 VSA Series Digital PWM Servo Amplifier Technical Reference Manual...
Page 9 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 1 Introduction This manual describes the operation and installation of the VSA Series digital Pulse Width Modulated (PWM) Servo Amplifiers manufactured by Varedan Technologies. The VSA Series are designed for high performance OEM applications requiring PWM switching type amplifiers.
Page 10 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 2 Specifications 2.1 Electrical Specification Parameter VSA1-0510 VSA2-1530 AC Supply Voltage Input 80VAC – 240VAC, 1 or 3-phase DC Bus Voltage Input 24VDC - 80VDC 90VDC – 380VDC Keep Alive Voltage (optional)
Page 11 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 2.3 Mounting Dimensions 2.3.1 VSA1-0510 dimension 2.3.2 VSA2-1530 dimension...
Page 12 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 3 Model Numbering (TBD) Model number breakdown: VSAn-CCCC-XXYY_ZZZ Field Number Description Available Options Notes Varedan Digital PWM VSA1, VSA2 Product Series Amplifier CCCC Current Level 0510 – 5A continuous, 10A peak 1530 –...
Page 13 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 4 Package overview 4.1 VSA1-0510 package overview 4.1.1 Front View 4.1.2 Side View 4.2 VSA2-1530 package overview...
Page 14 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 4.2.1 Front View 4.2.2 Left View 4.2.3 Right View...
Page 15 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 4.2.4 Top View 5 LED Display One LED display indicates the basic status of VSA drive. Green Amplifier enabled, no faults Amber Amplifier disabled, no faults. Motor dynamic braking. Faults. Amplifier disabled. Motor in free-wheeling mode.
Page 16 VSA Series Digital PWM Servo Amplifier Technical Reference Manual IN COM – – Return for all Opto-Isolated Inputs - (Note1) OUT1 (Fault) Output 5-24V Opto-Isolated Output - Fault - (Note2) OUT2 Output 5-24V Opto-Isolated Output - (Note2) OUT3 Output 5-24V...
Page 17 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Motor Temp + Input NTC/PTC Motor Temp Sensor Motor Temp - Input NTC/PTC Motor Temp Sensor +5V Output Output +5VDC Maximum current 1A Common System Common Main Encoder A+ Input +/-5V...
Page 18 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Chassis Ground Connection to Backplate 6.4.2 J2 – STO (Safe Torque Off) interface Signal Direction Voltage Description Number Level +5V internal power STO+ Opto-isolated, AC input STO- Opto-isolated, AC input 6.5 VSA2-1530 VSA2-1530 drive power input can be either AC or DC voltage.
Page 19 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Motor phase C In/Out Connect to motor lead C Motor phase B In/Out Connect to motor lead B Motor phase A In/Out Connect to motor lead A 6.5.4 P11 – Keep Alive and Brake...
Page 20 VSA Series Digital PWM Servo Amplifier Technical Reference Manual can be used. Note2: Each Opto-isolated Output has the following circuit with a solid-state relay capable of 100mA load current. The Output circuit can be either pulled up or pulled down using the “OUT COM” pin that is shared across all output channels.
Page 21 VSA Series Digital PWM Servo Amplifier Technical Reference Manual TeraTerm can be downloaded from the following link: https://ttssh2.osdn.jp/ 7.1.2 RS232 serial port software configuration The COM port settings for the VSA1 amplifier using the RS232 card are: Baud Rate = 115200...
Page 22 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Once desired parameter values are found, use the WRITE command to save the changes. If a RESET is issued before the WRITE command, any parameter changes will be lost, and the amplifier will revert to the last saved set of parameters.
Page 23 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 8 Install GUI Software The PC based Varedan GUI, with its built-in command stimulus and real-time oscilloscope signal tracer views, reduces the requirements for external equipment while setting up new systems. The standard RS232 and Ethernet based communications easily connects with all modern computers.
Page 24 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 8.5 Complete and close installation window Click on the “Close” button to close the installation window. 9 GUI Feature Details The Varedan GUI main menu has five major function regions. It consists of top pull-down manual bar, side configuration tree, and right-side quick look status panel, and lower connection status and drive firmware version indicators.
Page 25 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1 Top pull-down manual The Varedan GUI when it first runs shows five major regions of functionality as shown below 9.1.1 File File menu allows users to load and save customized GUI configurations for a special application.
Page 26 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1.3 Comms The VSA communicates with a host via RS-232 serial connection or via Ethernet if the option is enabled. The "Comms" menu allows you to select between the various methods of communications supported by the utility.
Page 27 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1.4 Tools Tools” manual has the following function items: Terminal, Analyze, Script, Save settings to Drive, Update Firmware, and Restore Defaults. 9.1.4.1 Terminal To open a live Terminal session with the attached drive, select "Terminal" from the main GUI menu. The Terminal opens in a separate window and provides a way to send commands to the drive, or observe the commands sent by the GUI to the drive.
Page 28 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1.4.2 Analyze The GUI utility provides Signal Tracer, which allows sets of signals to be displayed on the oscilloscope interface. To open the Signal Trace, select "Analyze" located on the top-right of main GUI menu, or select “Tools->Analyze”.
Page 29 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.1.5 Help “Help” manual provides detailed descriptions for all GUI functions. User should reference “Help” document for detailed GUI supports. 9.2 Main menu Analyze and Reset Drive buttons Main GUI menu top-right side have 2 quick buttons “Analyze”...
Page 30 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.5 Configuration Tree Configuration tree allows users to set operation details from GUI. It consists of Amplifier, I/O, Motion, Motor, and System 5 tabs. 9.5.1 Amplifier Tab “Amplifier” tab selects Amp mode, setup current loop gains, and position loop gains.
Page 31 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Current available Amp Mode Select as: AMP Mode Selection Description Single-Phase Torque Control Single phase motor like VCM, or single coil current control. H-bridge drive. Motor leads connect to phase A and C outputs.
Page 32 VSA Series Digital PWM Servo Amplifier Technical Reference Manual User I/O – Inputs Description User Input General purpose user input (for use in programs) Enable Amplifier Enable amplifier from input I/O signal Program Select Limit Pos Limit Neg Stop Special user function input...
Page 33 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Step & Dir For functionality of “Analog Output”, reference to section 10, user analog DAC output. 9.5.3 Motor Tab Motor tab allows users to set commutation method, to change motor phase leads, to set continuous and peak current limits, and to set motor encoder feedbacks.
Page 34 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.5.3.1.4 Offset Value Sets direct commutation angle offset in electrical degrees. Typically, this is used for aligning absolute feedback devices. 9.5.3.2 Phasing Sets motor phase leads relationship. 9.5.3.2.1 Halls Set the hall state relationship to the motor phases. This has same action as swapping the hall wires. For example, setting the sequence to "ACB"...
Page 35 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 9.5.3.3.3 Invert Direction TBD. Check this box to reverse actual position direction. 9.5.3.4 Limits For user applications, sets current limits for safety operation. 9.5.3.4.1 Continuous current Maximum continuous current (Amp) for safety operation. When actual motor phase current exceeds this setting, the motor I2T over-current protection becomes active.
Page 36 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 10 User programmable analog output VSA1 amplifier has a programmable analog output for user monitoring. Hardware output is located at connector P1-pin10, with voltage range from 0 to 5V, where 2.5V references to 0 signal level. Users can select and scale output signal either form GUI or from host terminal.
Page 37 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 10.2 Select and scale analog output from host terminal If GUI is not available. Users can use host terminal to set up analog output signal for monitoring. Step 1: use ANALOGOUT command to select output signal. Refence to serial command list for details.
Page 38 VSA Series Digital PWM Servo Amplifier Technical Reference Manual synchronized with motor electrical angle and close current loops. With synchronous current control, phase delay caused by sinusoidal motor commutation is removed. Balanced space vector PWM is applied to obtain additional 15% phase voltage gain.
Page 39 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.1.2 I/O selection An IO setup example is shown on the above GUI, “User I/O Input #2” is selected as the amplifier enable signal, active high. “Cmd B” input is configured as force or torque command source. Cmd “B Polarity” is normal, non-inverted.
Page 40 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.1.3 Motor configuration and current limits On the above GUI setups, Mode is select as “Sinusoidal” commutation and “Alignment” select is “Halless”. Current firmware only supports “Sinusoidal” commutation. Stepper mode is not implemented yet.
Page 41 VSA Series Digital PWM Servo Amplifier Technical Reference Manual > PKTIME:3.0 <CR> (peak Current Time 3 seconds) Reference to serial command list for detailed descriptions. 11.1.4 Motor initialization (phasing) For 3-phase synchronous motor, to obtain maximum torque/force, the motor phase current must be in phase with the motor back-emf.
Page 42 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.1.4.4 Absolute encoder For absolute encoder, motor commutation information to encoder is fixed and will not change if the drive power is removed. In this case, users can directly enter the known motor initial phase offset into “Offset Value”...
Page 43 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.1.6 Save user configurations to Drive All new parameter settings will be lost if drive’s power is removed or a reset command is issued. Users can save these parameters to the drive’s flash memory either from GUI tools or to use WRITE command from terminal console.
Page 44 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.2.1 Amplifier operation mode and gains From GUI configuration tree->Amplifier tab, selecting operate mode “Three-Phase Ext. Commutation (ABSine)”. Sets current PI control loop gains. “Current I Gain Limit” is not implemented and should be ignored.
Page 45 VSA Series Digital PWM Servo Amplifier Technical Reference Manual > MAPIN:2:1 <CR> (map user input #2, as Enable amplifier) > INPOL:2:1 <CR> (User input #2, active high) > MAPOUT:2:6 <CR> (Map user output #2, as Disable amplifier) > OUTPOL:2:1 <CR> (User output #2, active high) >...
Page 46 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.2.4 Motor Test Results The test motor is a 3-phase motor with phase-to-phase inductance 6mH and phase-to-phase resistance 1.3 ohm. Amplifier get enabled by active high signal from connector P1 pin-2. GUI “QuickLook” panel I/O sector shows the enable amp is asserted and “Status”...
Page 47 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Current command (reference) CMD A +/-10V differential If CMD Source = CMD A CMD A or CMD B CMD B +/-10V differential t If CMD Source = CMD B Current control...
Page 48 VSA Series Digital PWM Servo Amplifier Technical Reference Manual An IO setup example is shown on the above GUI, “User I/O Input #2” is selected as the amplifier enable signal, active high. “Cmd B” input is configured as current command source. Cmd “B Polarity” is normal, non-inverted.
Page 49 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 11.3.4 Motor test results A test motor with coil inductance 6mH and resistance 1.3 ohm is connected to P3 pin-4 and pin-6. Amplifier get enabled by active high signal from connector P1 pin-2. GUI “QuickLook” panel I/O sector shows the enable amp is asserted and “Status”...
Page 50 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 12 External Safety Interface 12.1 Safety Torque off (STO) Both VSA1 and VSA2 have the safe torque off function. In the safe state, the drive get disabled by hardware and the motor is in free-whell state.
Page 51 VSA Series Digital PWM Servo Amplifier Technical Reference Manual VBUS External Regen Resistor PWM controlled Power GND To avoid regen energy exceeds the power rating of the regen resistor, the regen turn on/off is PWM controlled. Users can set up PWM on duty cycle to control the regen energy that dumps to the external load resistor.
Page 52 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 12.3.2 Motor brake operation Some applications apply a brake to hold the axis when the drive get disabled. The brake is controlled by DSP I/O. When the drive gets disabled, brake can be engaged. When the drive gets enabled, brake will be released.
Page 53 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 13.1.4 Motor phase over current If any motor phase current over the peak current, the over current fault is asserted. Users can define the peak current either from GUI or use PKLIMIT command from the console.
Page 54 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 14 Firmware Upgrade The VaredanGUI should be used as the primary tool for updating drive firmware. If this option is not available, the 3 party C2Prog program can also be used. Contact Varedan Engineering for firmware images for different upload procedures.
Page 55 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 14.2 Update firmware from C2Prog Step 1: Download and install CodeSkin C2Prog v1.7j from the following link: http://www.codeskin.com/c2prog-download C2Prog will be used to flash the firmware hex file onto the VSA amplifier.
Page 56 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Step 6: Click on the “Configure Ports...” button to open the Port Configuration pop-up. Step 7: Click on the “Scan Ports” button and select the appropriate port from the pull-down menu.
Page 57 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Enter (carriage return) is used. As a minimum, all commands must be terminated by the carriage return character (ASCII 13). The line feed (ASCII 10) is optional and is not used by the amplifier.
Page 58 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.3 ALIGNMODE:n Select motor initialization (phasing) method. Category Configuration Parameter Integer Description Hall sensors for motor initialization. No motion required. Halless, constant current motor phasing. Motor moves. Absolute encoder, fixed phase angle offset 15.3.4 AMPMODE:n...
Page 59 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Test signal, motor electrical angle (degree) 15.3.6 ANALOGAPOL:n Sets input polarity for CMD A analog input. Category Configuration Parameter Integer Description Normal Inverted the signal 15.3.7 ANALOGBPOL:n Sets input polarity for CMD B analog input.
Page 60 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Category Configuration Parameter float 0.0 to 10.0 VSA1 – Continuous current in Amps 0.0 to 25.0 VSA2 – Continuous current in Amps 15.3.11 CIGAIN:f Sets current loop integral gain value. CIGAIN? reads the setting value.
Page 61 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.16 DECEL:f Sets the desired deceleration in user units/sec Category Configuration Parameter float 1.0 to 4000.0 Deceleration in user units/sec 15.3.17 DIR:n Sets the motor direction polarity as positive/clockwise or negative/counter-Clockwise. Only active when the amplifier is Disabled.
Page 62 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Counter-clockwise/negative 15.3.18 ECHO:n Category Immediate Parameter Integer Echo off Echo on 15.3.19 EN, ENABLE Enables the amplifier. Don’t use this command if a hardware I/O is selected to be host enable signal input.
Page 63 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Description No external command source CMD A Input as the command source CMD B Input as the command source TBD, external reference 15.3.23 FAULTS? Returns faults as a bit encoded binary word.
Page 64 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Parameter Character A, B, C 15.3.27 HELP? Lists all available user commands. Category Status Parameter 15.3.28 Lists 3 phase currents, one per line. Category Status Parameter 15.3.29 INPOL:x:n Sets the active level or edge trigger for input number x...
Page 65 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.31 INPUTSA? Returns an ASCII list of the state of the inputs. Check bits description in INPUTS? command. Category Status Parameter 15.3.32 JERK:f Sets user desired maximum jerk limit value. Category...
Page 66 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.35 MONITOR? Lists the measured bus voltage, keep alive voltage, and the amplifier temperature. Voltage measurements may have 10% variation to its real values. Category Status Parameter 15.3.36 MOTOROVERTEMP:x:n Sets the motor over-temp protection mode and the sensor resistance threshold.
Page 67 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.40 OUTPUTSA? Returns an ASCII list of the state of the user outputs. Category Status Parameter 15.3.41 PDGAIN:f Sets the position loop derivative gain. Category Configuration Parameter float Description 0.0 to 1000.0 Position PID controller, derivative gain 15.3.42...
Page 68 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Category Configuration Parameter float Description 0.0 to 25.0 Peak time in seconds to calculate I2T limit 15.3.46 POLES:n Sets the number of magnetic motor poles (NOT pole pairs). Category Configuration Parameter...
Page 69 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.51 Returns the binary value of the 16-bit status flags. For ASCII version, see SA? Category Status Parameter 15.3.52 Returns the hex ASCII value of the 16-bit status flags. Category Status...
Page 70 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.55 SPD? Responds with the actual speed of the motor in user units. Category Immediate Parameter 15.3.56 SWAP:n Swap encoder counting direction. Category Configuration Parameter Integer Description Normal counting Invert encoder counting direction 15.3.57...
Page 71 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 15.3.60 TMODE:n Selects the data trace trigger mode of the digital scope. Category Configuration Parameter integer Description 0 – default Auto Normal Single 15.3.61 TPOS:n Sets the data trace horizontal trigger position of the digital scope.
Page 72 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Iq, 3-phase synchronous control, dq axis current Id, 3-phase synchronous control, dq axis current CMD A CMD B CMD A CMD B Test signal (electrical angle) 15.3.64 TSLOPE:x Sets the trigger slope of the digital scope.
Page 73 VSA Series Digital PWM Servo Amplifier Technical Reference Manual Description 0 to 1000.0 Velocity PI controller, integral gain 15.3.69 VPGAIN:f Sets the velocity loop proportional gain. Category Configuration Parameter float Description 0 to 1000.0 Velocity PI controller, proportional gain 15.3.70 WRITE Saves the user parameter settings to flash memory.
Page 74 VSA Series Digital PWM Servo Amplifier Technical Reference Manual 16 Sales and Services Varedan Technologies warrants this product to be free of manufacturing defects for a period of 1 year. If your product requires services, please contact our factory for troubling information and if needed, return material authorization (RMA) information.

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Vsa1-0510 series Vsa2-1530 series