Control Connections; Setup - Torque Command Mode (Current); Setup - Velocity Command Mode - Aerotech BA10 SERIES User Manual

Installation and Operation
2-12
2.5.

Control Connections

The BA drives can be wired into a system in one of two ways depending upon the desired
mode of operation. Command signals can be referenced to velocity or torque (current)
control signals. The user has access to four potentiometers, three that adjust gain while
the fourth (BALance) compensates for input signal offsets. Figure 2-10 illustrates a
portion of the pre-amplifier circuit that is accessible to the user for adjusting command
signal gains.
For adjustments in gain roll-off, "Personality Module" RCN1, pins 7-10 and 8-9 are
provided for the selection of the appropriate resistor/capacitor pair (factory default
values are shown in Figure 2-10.

2.5.1. Setup - Torque Command Mode (Current)

To setup the pre-amplifier circuit for use in the torque (current command) mode,
configure the BA amplifier as follows:
Place SW1 position 10 (mode) to closed (default)
Place SW1 position 9 (test) to open (default)
SW1 positions 1 - 4 selects current limit, positions 5 - 8 selects RMS limit
Set the Input Pot full CW and the Gain Pot full CCW to provide a
transconductance gain of +/-10 volts for full current output. "Balance" and
"Tach" have no effect.
JP14 set to 2-3 (default)
JP11 and JP13 set to 1-2 (default)
JP3, JP5, JP15, and JP6 set to 1-2 (default) for brushless motor operation or 2-3
for brush motor operation
With this configuration, an input signal of
produce the maximum current output signal (viewed at P1 pin 25 ICMD) of
Switch "SW1" 1 through 4 is used to scale this
current. Refer to Figure 2-7 for torque command configuration.

2.5.2. Setup - Velocity Command Mode

For this mode, a velocity feedback signal is required. This feedback signal can be derived
from two sources. From an analog DC tachometer that is connected to the +TACH pin or
from an incremental encoder that is connected to the sine and cosine pins (Refer to Figure
2-7). To setup the pre-amplifier circuit for use in the velocity command mode, configure
the BA amplifier as follows:
Place SW1 position 10 (mode) to open
Place SW1 position 9 (test) to open (default)
SW1 positions 1 - 4 select current limit, positions 5 - 8 select RMS limit
Potentiometers
pre-amplifier gain and offset.
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.
BA10/20/30 Series User's Manual
10 volts to pins +INPUT and -INPUT will
3-volt signal from zero to maximum
"INPUT", "GAIN", "BALance",
3 volts.
and "TACH" adjust
Version 1.6