Aerotech BA10 SERIES User Manual page 17

BA10/20/30 Series User's Manual
Table 1-4. Connector P1 Pinouts
Pin # Input or
Output
Pin 1 shield
Pin 2 output
Pin 3 input
(1)
Pin 4 input
(1)
Pin 5 input
Pin 6 input
Pin 7 input
Pin 8 input
Pin 9 input
(1)
Pin 10 input
(1)
Pin 11 input
Pin 13
Pin 12 output
signal
Pin 14
common
Pin 15 input
(1)
Pin 16 input
Version 1.6
Signal
Connection point to earth ground. Used for reducing electrical noise in
ground control and feedback signals. Typically connected to the foil shield of a
shielded cable.
On board 5V power supply. Pin 2 is intended for powering an encoder
power
and can supply up to 250mA of current.
Tachometer input for velocity feedback, (encoder vs. tach velocity
feedback is jumper selectable). A tachometer may be used in the
+tach velocity loop configuration to provide negative feedback to the
amplifier. This allows the amplifier to close the servo loop and control
the stability of the loop.
Hall effect A. One of three commutation signals used with brushless
Hall A motors. Used in conjunction with Hall effect B and Hall effect C to
provide motor rotor position information to the amplifier.
Cosine signal from encoder. Optionally used, in conjunction with sine
cosine
for deriving an electronic tachometer signal. Line receiver input
cosine-N Compliment of cosine (P1 - 5). Line receiver input.
Signal common. Electrical reference for all control circuitry on
ground
amplifier.
Non-inverting input of differential input circuit. A positive voltage on
this input causes CCW motor rotation (torque or velocity mode). For
+input
single ended operation, connect command to this input and ground (Pin
21 of P1).
Current command A. Jumper selectable current command input.
icmda
Bypasses differential input, pre-amplifier, and self-commutation circuit.
Jumper selectable active high or active low input. Used to shut off
shutdown
power stage and therefore remove all power to the motor.
Directional current limit input. When pulled to its active state, motion in
+ilmt the positive direction (CW motor shaft rotation) is inhibited (jumper
selectable).
NC
Current feedback monitor. When running a brushless motor, this signal
represents the current in motor phase A. When running a brush motor,
this signal represents the entire motor current. Scaling is as follows:
-fdbk
Electrical reference for all control circuitry on amplifier. This pin is
intended to be used as the connection point for the signal common of an
ground
encoder. (Used in conjunction with Pin 2 as the power supply
connections to an encoder.)
Recommended reference input for tachometer. This point is identical to
-tach
signal common.
Hall effect B. One of three commutation signals used with brushless
Hall B
motors. Used in conjunction with Hall effect A and Hall effect C.
Aerotech, Inc.
Introduction
Function
BA10 3.2 Amp/V
BA20 6.5 Amp/V
BA30 9.7 Amp/V
1-7