Related Manuals for Aerotech BA10 SERIES
Summary of Contents for Aerotech BA10 SERIES
- Page 1 BA10/20/30 S ERIES USER’S MANUAL P/N: EDA121 (V1.6) AEROTECH, Inc. 101 Zeta Drive Pittsburgh, PA. 15238-2897 USA Phone (412) 963-7470 Fax (412) 963-7459 Product Service: (412) 967-6440; (412) 967-6870 (Fax) www.aerotech.com...
- Page 2 If you should have any questions about the BA10, 20, or 30 and/or comments regarding the documentation, please refer to Aerotech online at: http://www.aerotech.com. For your convenience, a product registration form is available at our web site. Our web site is continually updated with new product information, free downloadable software and special pricing on selected products.
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Page 3: Table Of Contents
40/80 VDC Power Transformers ............3-7 CHAPTER 4: TROUBLESHOOTING..............4-1 4.1. Amplifier Related Problems ............... 4-1 APPENDIX A: GLOSSARY OF TERMS ............... A-1 APPENDIX B: WARRANTY AND FIELD SERVICE...........B-1 APPENDIX C: CABLE DRAWINGS ...............C-1 INDEX REVISION HISTORY Aerotech, Inc. Version 1.6... - Page 4 Table of Contents BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
- Page 5 BA Amps Side View ................3-5 Figure 3-2. BA Amp Top View (Preferred Mounting).......... 3-6 Figure 3-3. Preferred Mounting of BA Amplifiers..........3-6 Figure C-1. BA Feedback Cable (PFC) ..............C-1 Figure C-2. BA10/20/30 Light Duty Brushless Motor Cable (PMC) ....C-2 Aerotech, Inc. Version 1.6...
- Page 6 List of Figures BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
- Page 7 Table 1-3. Potentiometer Functions ..............1-6 Table 1-4. Connector P1 Pinouts ................. 1-7 Table 2-1. Jumper Selections................2-2 Table 3-1. Ordering Information................3-1 Table 3-2. Electrical Specifications ..............3-2 Table 4-1. Amplifier Faults, Causes, and Solutions..........4-1 Aerotech, Inc. Version 1.6...
- Page 8 List of Tables BA10/20/30 Series User’s Manual Aerotech, Inc. viii Version 1.6...
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Page 9: Declaration Of Conformity
BA10/20/30 Series User’s Manual Regulatory Information DECLARATION OF CONFORMITY Manufacturer’s Name and Address Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2897 Declares that the product: Product Name: Brushless Servo Amplifier (BA Series) Conforms to the following product specifications: EMC: EN 55011: 1991 Class B Emissions... - Page 10 Regulatory Information BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
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Page 11: Chapter 1: Introduction
The BA drives provide the designer with servo drive flexibility for use in applications such as: ½ machine tools ½ packaging ½ labeling ½ x-y stages ½ inspection ½ medical ½ winding ½ semiconductor fabrication ½ food processing. Figure 1-1. BA Series Amplifier Aerotech, Inc. Version 1.6... -
Page 12: Models, Options And Packages
Differential inputs are used for better noise immunity. Velocity feedback is from either an encoder or tachometer and logic inputs include directional current limits and shutdown. Fault, current, and velocity outputs simplify monitoring drive status. Aerotech, Inc. Version 1.6... -
Page 13: Ba Drive Package
Regulator FAULT OUT Figure 1-2. Functional Diagram A secondary 115/230 VAC connection is necessary if the DC bus power is required to operate below 80 VDC. The shunt regulator is not included with the BA10/20 drive. Aerotech, Inc. Version 1.6... -
Page 14: Hardware Overview And Function
Input power to the BA series amplifier is made at the HI (line) and LO (neutral) terminals with earth ground connected to (ground). Motor frame and shield connect to a grounding stud on the heat sink. Aerotech, Inc. Version 1.6... -
Page 15: Dip Switch
DIP switches equally or to next higher switch setting. Closing DIP switches 1 through 4 will allow peak current. Closing switches 5 through 8 will allow 50% peak continuous current for two seconds. Aerotech, Inc. Version 1.6... -
Page 16: Version
Refer to Figure 1-3 for location of these items. A second LED will be green whenever +5V is present (Rev E and above). Aerotech, Inc. Version 1.6... - Page 17 Recommended reference input for tachometer. This point is identical to Pin 15 input -tach signal common. Hall effect B. One of three commutation signals used with brushless Pin 16 input Hall B motors. Used in conjunction with Hall effect A and Hall effect C. Aerotech, Inc. Version 1.6...
- Page 18 (jumper selectable). Current command monitor. Representative of the current command. Pin 25 output -icmd BA10 3.2 Amp/V BA20 6.5 Amp/V BA30 9.7 Amp/V Denotes input pull up to internal +5 V through a 10K resistor. Aerotech, Inc. Version 1.6...
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Page 19: I/O Circuitry
The following shows the internal circuitry for the BA amplifier. Note that all of the logic inputs can tolerate +24VDC. P1 - 23 FAULT OUTPUT MMBT2222 5.1K *Capable of 160mA max. Figure 1-4. Fault Output SHUTDOWN/ENABLE P1-10 .1UF 74HC14 Figure 1-5. Enable/Shutdown Inputs Aerotech, Inc. Version 1.6... - Page 20 74HC14 C186 C187 C188 100PF 100PF 100PF P1 - 18 C179 R219 SN75157 .01UF SIN-N P1 - 19 P1 - 5 C181 R220 SN75157 .01UF COS-N P1 - 6 Figure 1-7. Hall and Encoder Inputs Aerotech, Inc. 1-10 Version 1.6...
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Page 21: Safety Procedures And Warnings
To minimize the possibility of bodily injury, make certain that all electrical power switches (all switches external to the amplifier) are in the off position prior to making any mechanical adjustments. Aerotech, Inc. Version 1.6 1-11... - Page 22 Introduction BA10/20/30 Series User’s Manual Aerotech, Inc. 1-12 Version 1.6...
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Page 23: Chapter 2: Installation And Operation
The BA series amplifiers are jumper selectable providing the user with quick reconfiguration capability of operating modes. Table 2-1 list the jumpers and the default configurations for the amplifiers. Figure 2-1 highlights where the jumpers are located on the board (with the default configurations). Aerotech, Inc. Version 1.6... - Page 24 Signal common of control section connected to earth ground (TB1 - pin 4) (default). JP22 Signal common, not referenced to earth ground. 0 commutation offset (default). JP25,26 30 commutation offset (must be changed when JP8 is 2-3). Aerotech, Inc. Version 1.6...
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Page 25: Figure 2-1. Ba Board Assembly
JP10 JP13 JP11 Shunt Fuse 250 VAC, 2 amp (slow blow) Side View of Shunt Figure 2-1. BA Board Assembly P3 is used to connect drive signals to the shunt regulator board (optional on BA10, BA20). Aerotech, Inc. Version 1.6... -
Page 26: Wiring, Grounding, And Shielding Techniques
Offering electrical noise a low impedance path to earth ground not only reduces radiated emissions, but also improves system performance. If possible, do not route motor cables near cables carrying logic signals and use shielded cable to carry logic signals. Aerotech, Inc. Version 1.6... -
Page 27: Fusing And Inrush Limiting
THIS PURPOSE. THERMISTOR IS TO BE PLACED IN THE AC HI LINE. ONLY ONE THERMISTOR NEEDED FOR ONE AMP. ALTERNATELY, 2 THERMISTORS CAN BE USED IN AC HI & LO FOR MULTIPLE AMPS IN PARALLEL. Figure 2-3. Fusing and Inrush Limiting Aerotech, Inc. Version 1.6... -
Page 28: Volt Option
The internal power supply of the BA amplifier requires a minimum of 56 VAC input to operate properly. The figure below shows the connection to the separate AC power board. The connection is made to the AC input board with a three terminal connector (Aerotech Part #ECK00213). 115VAC CONTROL A.C. -
Page 29: Minimizing 50/60 Hz Line Interference
50/60 Hz torque disturbance may be present in the position loop. To eliminate this problem, an isolation transformer can be used to block the 50/60 Hz from being seen by the motor frame. Refer to Figure 2-6 for connection of this transformer. Aerotech, Inc. Version 1.6... - Page 30 This configuration is especially important if the BA amplifier is operating at DC bus voltages of 160 VDC or 320 VDC (e.g., 115 VAC or 230 VAC input power). Figure 2-6. Isolation Transformer Connection (eliminates torque disturbance) Aerotech, Inc. Version 1.6...
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Page 31: Integrated Configurations
HALL C Motor Phase C Motor - To Signal Common. +TACH -TACH Motor Single-Ended or Frame +INPUT Differential Velocity -INPUT Command SIG COM SIG COM Shutdown SHUTDOWN FAULT Fault SHIELD Shielded Cabling Figure 2-7. Velocity Command Configuration Aerotech, Inc. Version 1.6... -
Page 32: Current Command Configuration
Motor Phase C Motor - HALL C To Signal Common. Motor SHIELD Frame Single-Ended or +INPUT -INPUT Differential Velocity Command SIG COM SIG COM Shutdown SHUTDOWN FAULT Fault SHIELD Shielded Cabling Figure 2-8. Current Command Configuration Aerotech, Inc. 2-10 Version 1.6... -
Page 33: Dual-Phase Command Configuration
Motor Phase A Motor Phase B Motor Phase C Dual-Phase Current Motor SHIELD Commands Provided Frame By Commutating Controller SIG COM SIG COM ICMDA ICMDB Shutdown SHUTDOWN FAULT Fault SHIELD Shielded Cabling Figure 2-9. Dual-Phase Command Configuration Aerotech, Inc. Version 1.6 2-11... -
Page 34: Control Connections
For most applications under the velocity command mode, the preferred starting point for setting the three gain pots is as follows: INPUT pot - 1/3 CW from full CCW TACH pot - full CW GAIN pot - full CW Aerotech, Inc. 2-12 Version 1.6... -
Page 35: Figure 2-10. Command Signal Adjustment Portion Of The Pre-Amplifier Circuit
Command Signal Adjustment Portion of the Pre-Amplifier Circuit To minimize the possibility of electrical shock and bodily injury, ensure that the motor is decoupled from the mechanical system to avoid personal injury if the motor begins to spin. WARNING Aerotech, Inc. Version 1.6 2-13... -
Page 36: Setup - Dual-Phase Command Mode
JP11 and JP13 are set to 2-3 JP3, JP5, JP15, and JP6 are set to 1-2 (default). This mode is used with brushless motors only. Refer to Figure 2-9 for dual phase command configuration. Aerotech, Inc. 2-14 Version 1.6... -
Page 37: Motor Phasing Process
P1. A “0” for the given HALL input indicates zero voltage or logic low, where a “1” indicates five volts or logic high. If an Aerotech brushless motor is used with the BA amplifier, motor phase and HALL connections can be easily determined by referring to the system interconnection drawings in Figure 2-7, Figure 2-8, and Figure 2-9. -
Page 38: Figure 2-11. Motor Phasing
Installation and Operation BA10/20/30 Series User’s Manual DEGREES COMMUTATION SEQUENCE (HALL A,B,C) 0° Commutation Waveforms (Aerotech Motors) 30° Commutation Waveforms Motor Amplifier +1/2A PHASE A -1/2A +1/2B PHASE B -1/2B +1/2C PHASE C -1/2C Motor Rotation Figure 2-11. Motor Phasing Aerotech, Inc. -
Page 39: Current Regulator Adjustment
The two current command signals as well as the two current feedback signals are each summed with the result providing the current command and current feedback signals for phase “C”. Aerotech, Inc. Version 1.6 2-17... - Page 40 Connection IFDBK (pin 12 of P1) is provided for monitoring phase “A” current. For DC brushless motor operation, the signal at this pin would represent motor phase “A” current. For DC brush motor operation, this signal would represent the current flowing in the motor armature. Aerotech, Inc. 2-18 Version 1.6...
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Page 41: Technical Details
5 kVA isolation transformer; 115/230 VAC input; 28, 43, 56, 70, 115 VAC output Screw terminal block for BA DB25 control connector AC Line Filter, general noise suppression (not for CE Compliance) AC Line Filter Module (required for BA amplifiers to meet CE Compliance) Aerotech, Inc. Version 1.6... -
Page 42: Electrical Specifications
They bypass the differential input, pre-amplifier, and self-commutation circuit. They are to be used with controllers that provide external velocity loop and commutation control. 40-80 VDC bus requires external transformer; 110 VAC auxiliary input for control input power Aerotech, Inc. Version 1.6... - Page 43 3V output. Equals peak current of amplifier 16 Amps for BA10, 20 for BA20 and 30 for BA30. - AC input: AC HI, AC LO, earth ground ( ), 56-230 VAC, 50-60 Hz, single Power Inputs phase. Aerotech, Inc. Version 1.6...
- Page 44 - Control power supply under voltage - Power stage bias supply under voltage. Isolation - Opto and transformer isolation between control and power stages. Indicator (power) - LED indicates drive power. Indicator (enabled) - LED indicates drive enabled. Aerotech, Inc. Version 1.6...
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Page 45: Ba Amplifier Dimensions
The outline dimensions for the BA amplifiers are shown in Figure 3-1 and Figure 3-2. To ensure proper heat dissipation, Aerotech recommends the following procedures. Use the mounting procedure shown in Figure 3-3. The wider part of the amp should be mounted to the heat sink. - Page 46 Refer to Figure 3-3. $(527(&+ Motion Control SERVO Division AMPLIFIER @ www.aerotechinc.com !DANGER! HIGH VOLTAGE CONTROL INTERFACE P1 2 FT 2 FT Figure 3-3. Preferred Mounting of BA Amplifiers Aerotech, Inc. Version 1.6...
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Page 47: 40/80 Vdc Power Transformers
The TV0.3-28 power transformer is an optional accessory only available for the BA10 and BA20 amplifiers. This transformer allows for the generation of 28VAC from a 115VAC and 230VAC source, respectively. When rectified by the BA amp, 28VAC yields a 40VDC power bus. Aerotech, Inc. Version 1.6... - Page 48 Technical Details BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
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Page 49: Troubleshooting
2. Over temperature condition - Turn off and let amplifier cool down. Provide better ventilation. Amplifier Faults (Enable LED deenergizes). 3. Defective on board power supply - Return for repair. 4. Overloaded logic power supply - Remove device(s) being powered from the BA 5 V supply. Aerotech, Inc. Version 1.6... - Page 50 Troubleshooting BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
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Page 51: Appendix A: Glossary Of Terms
HED - Hall effect device. IGBT - Insulated Gate Bipolar Transistor. PWM - Pulse Width Modulation. RMS - Root Mean square - The effective DC value of AC voltage or current. TTL - Transistor - Transistor Logic. Aerotech, Inc. Version 1.6... - Page 52 Glossary of Terms BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
- Page 53 Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s products are specifically designed and/or manufactured for buyer’s use...
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Page 54: Appendix B: Warranty And Field Service
Warranty and Field Service Returned Product Non- After Aerotech’s examination, the buyer shall be notified of the repair cost. At such time warranty Determination the buyer must issue a valid purchase order to cover the cost of the repair and freight, or authorize the product(s) to be shipped back as is, at the buyer’s expense. -
Page 55: Appendix C: Cable Drawings
In This Section: Description ..........C-1 Description The following section provides the user with 2 reference drawings for connecting Aerotech cables to the BA amplifiers. CONSOLIDATED #5720 (20 COND. #24). ECX___ SIGNALS CONNECT TO CONTROLLER OR TO #5738 (20 COND. #22). ECX579... - Page 56 EACH PASS OF WIRE THROUGH TOROID IS 1 TURN. TO BRAIDED SHIELD. COVER ALL SOLDER CONNECTIONS FRAME GROUND AND MOTOR SHIELD DO NOT GET WITH HEATSHRINK. WRAPPED AROUND TOROID. Figure C-2. BA10/20/30 Light Duty Brushless Motor Cable (PMC) Aerotech, Inc. Version 1.6...
- Page 57 3-1 Fault conditions, 1-2 feedback signals, 1-2 part number information, 3-1 Field Service Policy, B-1 Phase Hall sequence, 2-15 Position, 2-10 Potentiometer functions, 1-6 Potentiometers, 1-4, 1-6 GAIN pot, 1-6 Power, 1-2 Grounding techniques, 2-4 Aerotech, Inc. Version 1.6...
- Page 58 Velocity, 1-5, 2-9 Velocity Command, 2-9 RMS, A-1 Velocity command mode, 2-12 Voltage configurations, 1-2 Safety Procedures, 1-11 Self-Commutation, 2-11 Warnings, 1-11 Shielding techniques, 2-4 Warranty Policy, B-1 Wiring techniques, 2-4 TACH pot, 1-6 Tachometer, 2-9 Aerotech, Inc. Version 1.6...
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Page 59: Revision History
“extensive changes” in the corresponding General Information cell. Table R-1. Revisions Revision Section(s) Affected General Information 1.4.2. Table 1-2 updated. Figure 2-3: inrush limiter Keystone CL-10 is now obsolete, the new part 2.3.2. number is CL-11. Aerotech, Inc. Version 1.6... - Page 60 Revision History BA10/20/30 Series User’s Manual Aerotech, Inc. Version 1.6...
- Page 61 Company name ________________ Address ________________ ________________ Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech. AEROTECH, INC. Technical Writing Department 101 Zeta Drive Pittsburgh, PA. 15238-2897 U.S.A. Fax number (412) 967-6870...