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Summary of Contents for Copley Controls Corp. 303
- Page 1 300 Series Amplifier User’s Guide Rev 08 5/00 All Rights Reserved Models: 303,303B 306,306A,306B,306AB...
- Page 2 The 300 Series Amplifier User’s Guide Rev 07 9/96 All Rights Reserved...
- Page 3 Corporate Office, USA Central USA West Coast, 410 University Ave. Chicago, IL San Jose, C Westwood, MA 02090 Tel: 847-426-8793 Tel: 408-997 Tel: 617-329-8200 Fax: 847-426-8789 Fax: 408-997 Fax: 617-329-4055 Visit us on the web @ http://www.copleycontrols.com e-mail: s...
- Page 4 300 Series Amplifier User’s Guide 1996~1998 Copley Controls Corporation 410 University Avenue Westwood, MA 02090 All rights reserved The 300 Series Amplifier User' s Guide Rev 08 5/00...
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Page 6: Table Of Contents
300 SERIES USER GUIDE Table of Contents Table of Contents............................ii A Visual Guide to the 300 family: ......................iv Introduction..............................1 Getting Started ............................1 Functional Diagram ........................... 2 J17 Component Header..........................3 Location............................3 Current-Mode Setup (Standard configuration) ................3 Velocity Mode Setup (Use components supplied)............... - Page 7 300 SERIES USER GUIDE Notes on Modes & Jumpers................... 21 Eurocard Mount ............................22 DIN Connector Pinouts........................ 22 Jumper Settings..........................22 Status Output Jumper ........................23 Tuning and Adjustments ..........................23 Trimpots............................23 Balance .......................... 23 Feedback........................23 Current Limit ......................... 23 Voltage Feedback ......................
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Page 8: A Visual Guide To The 300 Family
300 SERIES USER GUIDE A Visual Guide to the 300 family: Basic Amplifier, No Mounting Card, No Heatsink (30x shown) See p. 5 for connectors & pinouts. See pp. 7-8 for wiring. Amplifier with MB4 Mounting Card (30xPMFDV shown) See p. 18 for connectors & pinouts. See pp. -
Page 9: Introduction
300 SERIES USER GUIDE Introduction The 300 Series amplifiers are second generation products designed for low cost and high performance. They can be mounted on chassis or p.c. boards and operate from 16 to 160 volt single-output DC power supplies. A wide range of inductive loads can be driven: 64 uH to 50 mH depending on model and supply voltage. -
Page 10: Functional Diagram
300 SERIES USER GUIDE Functional Diagram... -
Page 11: J17 Component Header
300 SERIES USER GUIDE J17 Component Header This is an 11-position socket which holds resistors and capacitors which are used for tachometer scaling and compensation, amplifier compensation, and current limiting. Location AMPLIFIER WITHOUT MB4 CARD 4-PIN 22-PIN J17 HEADER Current-Mode Setup (Standard configuration) This is the standard configuration as delivered from the factory. -
Page 12: Technical Specifications
300 SERIES USER GUIDE Technical Specifications... -
Page 13: Mechanical Outlines
300 SERIES USER GUIDE Mechanical Outlines... -
Page 14: Basic Amplifier Connectors, Signals And Pinouts
300 SERIES USER GUIDE Basic Amplifier Connectors, Signals and Pinouts If you are using the MB4 or Eurocard, the pinouts will be different (refer to the sections on the MB4 and Eurocard). Use this list when reading the following sections on hooking up the basic amplifier. -
Page 15: Basic Amplifier: Current-Mode, No Tachometer
300 SERIES USER GUIDE Basic Amplifier NO Tachometer : Current-Mode, Use this checklist for applications that don't employ a tachometer. These include microprocessor control systems that get position feedback from an encoder on the motor, as well as non-motor applications such as magnet-coil, solenoids, or other loads that require a set current from the amplifier in response to a control-voltage at the inputs. -
Page 16: Basic Amplifier: Current-Mode With Tachometer
300 SERIES USER GUIDE Basic Amplifier: WITH Tachometer Current-Mode 1. Setup J17 header components for high gain, tachometer mode (see p.3) 2. Connect DC power supply to amplifier +HV and GND. Check voltage to see that is within the amplifiers' rating. 3. -
Page 17: Amplifier With Mb4 Mounting Card: Current-Mode, No Tachometer
300 SERIES USER GUIDE Amplifier with MB4 Mounting Card NO Tachometer : Current-Mode, Use this checklist for applications that don't employ a tachometer. These include microprocessor control systems that get position feedback from an encoder on the motor, as well as non-motor applications such as magnet-coil, solenoids, or other loads that require a set current from the amplifier in response to a control-voltage at the inputs. -
Page 18: Amplifier With Mb4 Mounting Card: Current-Mode, With Tachometer
300 SERIES USER GUIDE Amplifier with MB4 Mounting Card : Current-Mode, WITH Tachometer Use this checklist for applications that do employ a tachometer. These include microprocessor control systems that get position feedback from an encoder on the motor, as well as non-motor applications such as magnet-coil, solenoids, or other loads that require a set current from the amplifier in response to a control-voltage at the inputs. -
Page 19: Amplifier On Eurocard: Current-Mode, No Tachometer
300 SERIES USER GUIDE Amplifier on Eurocard: NO Tachometer Current-Mode, Use this checklist for applications that don't employ a tachometer. These include microprocessor control systems that get position feedback from an encoder on the motor, as well as non-motor applications such as magnet-coil, solenoids, or other loads that require a set current from the amplifier in response to a control-voltage at the inputs. -
Page 20: Amplifier On Eurocard: Current-Mode, With Tachometer
300 SERIES USER GUIDE Amplifier on Eurocard WITH Tachometer : Current-Mode, Use this checklist for applications that do employ a tachometer. These include microprocessor control systems that get position feedback from an encoder on the motor, as well as non-motor applications such as magnet-coil, solenoids, or other loads that require a set current from the amplifier in response to a control-voltage at the inputs. -
Page 21: Power Supply Considerations
300 SERIES USER GUIDE Power Supply Considerations 1. Determine the maximum voltage required to drive your motor or load at peak current and peak RPM (in the case of a motor). Add extra for losses in the amplifier (see p. 10, Output Voltage Swing). Add an extra 5-10% for power supply ripple. -
Page 22: Minimum Inductance
Dash-1 column will result in lower bandwidth, and may require component changes to optimize compensation. Model Standard Dash-1 Standard Dash-1 303, 303B 63 uH to 1.9 mH 2 to 9 mH 125 uH to 3.9 mH 4 to 18 mH 306, 306A, 306AB 32 uH to 0.9 mH 1 to 4.5 mH... -
Page 23: Enable Inputs
This is a signal that is a measure of the output current of the amplifier. The scale factor in amps/volt is listed below. All of the 300 series output a +/-6V signal when the current is at the peak rated value. Amplifier Amps/Volt 303,303B Table 6 306, 306B 4.17 306A,306AB Status LED A green Normal LED is on the basic amplifier, the MB4 card, and Eurocard. -
Page 24: Normal Output
Amplifier Rout Vsat 303,303B 0.26 3.12 306,306B 0.13 3.25 306A,306AB 0.13... -
Page 25: Dc Power Outputs
300 SERIES USER GUIDE DC Power Outputs All internal supply voltages are derived from the high-voltage supply. These internal voltages are available at the signal connector for certain user applications. All are current-limited by series resistors (Rser) and are intended for low-power applications. Table 8 lists the connector pin, voltage, and series resistance for each of these outputs: Vout Rser... -
Page 26: Mounting
300 SERIES USER GUIDE Mounting Standard Mounting The standard model comes with plug-in cable connectors. (See appendix for a list of connector types) The chassis can be mounted to flat surfaces with four #6 screws that go through four holes in the amplifier chassis. The mounting surface may provide adequate heat-sinking, or the amplifier can be ordered with a standard (-H option) or extended -HX option) heatsink. -
Page 27: Mb4 Mounting Card
300 SERIES USER GUIDE MB4 Mounting Card The MB4 card adds features and options to the 300 series amplifiers that are not available on the basic unit. These include PWM inputs, voltage-mode amplification, IR compensation, and output 'edge' filters. The MB4 card connects to the amplifier via connectors J3 & J4. The user makes connections to the amplifier/card assembly via connectors P1 (motor, and high voltage DC supply) , and P2 (reference, tach, and aux inputs, and Enable signals). -
Page 28: Mb4 Card Options
300 SERIES USER GUIDE They are listed here for information only. The type of signal (output, input, passive) is relative to the MB4 card, i.e. pin A is the Ref+ signal that is an output from the card to the amplifier. Type Description +Ref... -
Page 29: Mb4 Card Jumper Settings
300 SERIES USER GUIDE MB4 Card Jumper Settings Table 15 shows the settings of the on-card jumpers for the various card and setup options. Jumpers consist of two-pin shorting connectors on three-pin p.c. board headers. The shorting connector can connect pins 1-2, or 2-3, as shown below. PINS A m p l i f i e r M o d e I n p u t T y p e... -
Page 30: Eurocard Mount
300 SERIES USER GUIDE Eurocard Mount All connections to the amplifier are made via the DIN connector. The Eurocard may be ordered with the same additional options as the MB4 card: Voltage-Mode operation with IR compensation (-V option) PWM Inputs (-D option) Edge Filters (-F option) Heatsink options available with the Eurocard mounting are the -H, and -HX, for standard and extended heatsink. -
Page 31: Status Output Jumper
300 SERIES USER GUIDE Status Output Jumper JP-103: 1-2 for open-drain MOSFET output, 2-3 for HCTTL output. Normal = HI (HCTTL), or off (MOSFET), fault = LO (HCTTL), or ON (MOSFET). Tuning and Adjustments First we describe the operation of the trimpots on the basic amplifier, and the MB4 and Eurocard. -
Page 32: Mode Setting: Flat-Gain Vs. Tachometer
300 SERIES USER GUIDE Mode Setting: Flat-Gain vs. Tachometer In current mode operation, the amplifier functions as a single-input, single-output transducer that converts an input voltage to an output current. Use of a tachometer is optional. When no tachometer is used, the amplifier is operated in the flat gain mode. This configuration gives the maximum bandwidth. -
Page 33: Frequency Response With Tachometer
300 SERIES USER GUIDE Frequency Response with Tachometer The curves below show the gain and phase for the servo preamplifier when using the J17 components setup for normal tachometer mode, and for the 1/3 and 1/5 gain modes as shown in the table on the preceding page. -
Page 34: Tachometer Scaling
300 SERIES USER GUIDE Tachometer Scaling As delivered, a +/-10V reference signal will drive the motor to a speed at which the tachometer produces a -/+8V signal, regardless of RPM. Tachometer scaling refers to the selection of components on the J17 header so that a particular signal at the reference inputs will drive a motor to a particular RPM. -
Page 35: Voltage-Mode Gain
300 SERIES USER GUIDE Voltage-Mode Gain This setup applies to MB4 and Eurocards that have been ordered with the -V option, for voltage feedback. A voltage-sensing circuit attenuates the amplifier's output voltage by a factor of 22. This voltage is then fed-back into the Tach input. Setting the voltage-gain then is similar to setting-up a system with a tachometer. -
Page 36: Ir-Comp
300 SERIES USER GUIDE IR-Comp Setup Procedure Two methods are presented here. Use the one that seems to be the most appropriate to your installation, and equipment available. First, remember that IR-comp is used in the voltage mode. So determine that the voltage gain of the amplifier has been set correctly (see proceeding section). -
Page 37: Dynamic Setup Method
300 SERIES USER GUIDE Dynamic Setup Method Equipment required: Oscilloscope, signal generator (square wave, 1 Hz.) 1. Adjust the Feedback pot CCW until oscillation appears (squealing sound). Turn pot 2 turns CW. Oscillation should cease. 2. Apply square wave to Reference voltage inputs. Monitor current monitor test point (TP2) with oscilloscope. -
Page 38: Pwm Operation
300 SERIES USER GUIDE PWM Operation PWM signals are of two distinct types that we refer to as 0-100% and 50%. The 0-100% type uses two signals: one to control the amplitude and the other to control direction. The 50% type uses only one signal that is at 50% duty cycle for a zero output from the amplifier, and changes to 0, or 100% for full output in the positive, or negative directions. -
Page 39: Appendix
300 SERIES USER GUIDE Appendix Connector Part Numbers Here are the Copley Controls Corp.(CCC), and OEM part numbers for the connectors used with the 300 series amplifiers: Basic Amplifier 4-pin power/motor connector CCC No. 57-0073 (Weidmuller BL4.12593.6) Basic Amplifier 22-pin signal connector (housing only) CCC No. -
Page 40: Mb4 Card Layout
300 SERIES USER GUIDE MB4 Card Layout... -
Page 41: Eurocard Layout
300 SERIES USER GUIDE Eurocard Layout JP106 JP103 JP104 JP109 JP101 JP102 JP108 JP107 JP105 Jumper Pin Numbering PINS Panel Layout BALANCE REF GAIN CURR LIMIT FEEDBACK ARM FB. NORMAL RESET CURR MON. -
Page 42: Mb4 Card Schematic
300 SERIES USER GUIDE MB4 Card Schematic... -
Page 43: Eurocard Schematic
300 SERIES USER GUIDE Eurocard Schematic... -
Page 44: Ordering Guide For 300 Series
300 SERIES USER GUIDE Ordering Guide for 300 Series... - Page 45 The 300 Series Amplifier User' s Guide Rev 07 5/98...
- Page 46 The 300 Series Amplifier User’s Guide Rev 07 5/98 All Rights Reserved C o rp o r a t e O f fi c e, U S A W e s t C o a st , U S A F ar E a s t, J ap a n 4 1 0 U n i v er s ity A v e .
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