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Aerotech EDA139 User Manual

Bal linear amplifier series
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BAL L
A
S
INEAR
MPLIFIER
ERIES
USER'S MANUAL
P/N: EDA139 (V1.5)
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

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  • Page 1 BAL L INEAR MPLIFIER ERIES USER’S MANUAL P/N: EDA139 (V1.5) 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 BA Linear Amplifier, comments regarding the documentation, or are looking for manual updates, please refer to Aerotech online at: http://www.aerotech.com. For your convenience, a product registration form is available at our web site.

  • Page 3: Table Of Contents

    BAL Amplifier Dimensions..............3-5 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 1.5...
  • Page 4 Table of Contents BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...
  • Page 5 Motor Phasing .................. 2-15 Figure 2-10. Current Command Interface Circuit ..........2-16 Figure 3-1. BA Linear Amplifier Dimensions............3-5 Figure C-1. BAL Feedback Cable (PFC)...............C-1 Figure C-2. BAL Light Duty Brushless Motor Cable (PMC) ........C-2 ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 6 List of Figures BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...
  • Page 7 Table 3-1. Part Number and Ordering Example (BAL20-40-A-AH)....3-1 Table 3-2. Part Number and Ordering Options..........3-1 Table 3-3. Electrical Specifications ..............3-2 Table 4-1. Amplifier Faults, Causes, and Solutions..........4-1 Table R-1. Revisions ..................R-1 ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 8 List of Tables BA Linear Series User’s Manual Aerotech, Inc. viii Version 1.5...

  • Page 9: Chapter 1: Introduction

    ½ CMM (Coordinate Measurement Machines) ½ x-y stages ½ inspection and scanning (w/o Air Bearings) ½ medical ½ and semiconductor fabrication. Figure 1-1. BAL Series Amplifier Aerotech, Inc. Version 1.5...

  • Page 10: Models, Options And Packages

    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. In addition, there is an option to drive three brush motors in torque mode. Aerotech, Inc. Version 1.5...

  • Page 11: Bal Drive Package

    In addition, it generates an internal velocity feedback signal from the encoder, if the velocity mode is specified. Independent of the mode specified, the control section produces three current command signals that are fed through opto-isolation to each of the three amplifiers. Aerotech, Inc. Version 1.5...

  • Page 12: Figure 1-2. Functional Diagram

    Drive Power Power Power Motor Supply Supply Supply Connections +5V and +/- 12V POWER SUPPLY ISOLATION ISOLATION ISOLATION FAULT CONTROL CURRENT COMMAND “A” Control SECTION Connections CURRENT COMMAND “B” CURRENT COMMAND “C” Figure 1-2. Functional Diagram Aerotech, Inc. Version 1.5...

  • Page 13: Hardware Overview And Function

    (Return). This area is designated as such on the amplifier. Input power to the BAL series amplifier is made at the HI (line) and LO (neutral) terminals with earth ground connected to (or “G” Ground). Motor frame and shield connect to a second Ground (G). Aerotech, Inc. Version 1.5...

  • Page 14: Dip Switch

    To set the continuous current limit to 5.5A: 5.5A Continuous RMS x 1.414 = 7.8A continuous peak (7.8A continuous peak/20A max peak) x 100 = 39%. Open switches 1 and 4; close switches 2 and 3. Aerotech, Inc. Version 1.5...

  • Page 15: Potentiometers (Pots)

    Refer to Table 1-4 for connector J6 pinouts. The LED ENABLE indicator will illuminate at all times until there is a fault or external shutdown, then the indicator will be off and motor power will be removed. Refer to Figure 1-3 for location of these items. Aerotech, Inc. Version 1.5...

  • Page 16: Table 1-4. Connector J6 Pinouts

    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. This input is also for connection of analog Hall B, if applicable. Aerotech, Inc. Version 1.5...
  • Page 17 (CCW motor shaft rotation) is inhibited (jumper selectable). Pin 25 output -icmd Current command monitor. Representative of the current command (self commutating modes only). 1. Denotes input pull up to internal +5 V through a 10K resistor. Aerotech, Inc. Version 1.5...

  • Page 18: I/O Circuitry

    The following shows the internal circuitry for the BAL amplifier. Note that all of the logic inputs can tolerate +24VDC. P6-23 FAULT OUTPUT MMBT2222 * capable of 160mA max. Figure 1-4. Fault Output SHUTDOWN / ENABLE P6-10 74HC14 .1UF Figure 1-5. Enable/Shutdown Inputs Aerotech, Inc. 1-10 Version 1.5...

  • Page 19: Figure 1-7. Hall And Encoder Inputs

    P6-16 10K 1% 74HC14 R227 P6-17 10K 1% 74HC14 C186 C187 C188 100PF 100PF 100PF P6-18 R219 C179 SN75157 .01UF SIN-N P6-19 P6-5 C181 R220 SN75157 .01UF COS-N P6-6 Figure 1-7. Hall and Encoder Inputs Aerotech, Inc. Version 1.5 1-11...

  • Page 20: 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. 1-12 Version 1.5...

  • Page 21: Chapter 2: Installation And Operation

    Figure 2-1 highlights where the jumpers are located on the board (with the default configurations). Aerotech brushless motors should be set for 0 degree Hall commutation shift. Motors from other manufacturers may require a 30-degree Hall commutation shift. Consult the motor manufacturer for details.

  • Page 22: Table 2-1. Jumper Selections

    Digital Hall commutation, Phase A Hall. JP18 Analog Hall commutation, Phase A Hall. (* Factory Option) Digital Hall commutation, Phase B Hall. JP19 Analog Hall commutation, Phase B Hall. (* Factory Option) JP17, JP27, and JP37 are for factory use only. Aerotech, Inc. Version 1.5...
  • Page 23 TP16 TP30 TP34 TP20 TP24 TP10 TP14 JP37 JP27 JP17 R20 R21 R22 R30 R31 R32 R10 R11 R12 Figure 2-1. BAL Board Assembly with Jumper Locations Remove AC power from unit before removing cover. DANGER Aerotech, Inc. Version 1.5...

  • Page 24: Wiring Configurations

    SIG COM SIG COM motors and with single-phase SHUTDOWN Shutdown brush AC motors. FAULT Fault SHIELD Earth Ground Shielded Cabling AC LO 115/230 VAC 50/60 HZ AC HI (Depending on Mode) Figure 2-2. Velocity Command Configuration Aerotech, Inc. Version 1.5...

  • Page 25: Torque Command Configuration (Current)

    SIG COM SIG COM motors and with single-phase SHUTDOWN Shutdown brush AC motors. FAULT Fault SHIELD Earth Ground Shielded Cabling AC LO 115/230 VAC 50/60 HZ AC HI (Depending on Mode) Figure 2-3. Torque (Current) Command Configuration Aerotech, Inc. Version 1.5...

  • Page 26: Dual-Phase Command Configuration

    SHUTDOWN Shutdown motors and with single-phase FAULT Fault brush AC motors. SHIELD Earth Ground Shielded Cabling AC LO 115/230 VAC 50/60 HZ AC HI (Depending on Mode) Figure 2-4. Dual-Phase Command Configuration Aerotech, Inc. Version 1.5...

  • Page 27: Three Phase Brushless Motors With Unconnected Phases

    The BAL Series amplifier over comes this problem by providing the “RT” (return) connection for six wire motors, like the Aerotech BLM Series linear motors.

  • Page 28: Power And Control Connections

    (viewed at J6 pin 25 ICMD) of ± 6 volts. Switch “SW4” 1 through 4 are used to scale this ±6 volt signal from zero to maximum current. Refer to Figure 2-3 for torque command configuration. Aerotech, Inc. Version 1.5...

  • Page 29: Setup - Velocity Command Mode

    JP10, JP12 set to 2-3 and JP4 set to 1-2 for zero (0) degrees commutation (default) or JP10, JP12 set to 1-2 and JP4 set to 2-3 for thirty (30) degrees commutation (brushless motor operation only). • Set JP8 to 1-2 (default) Aerotech, Inc. Version 1.5...
  • Page 30 If an encoder is being used, switch the sine and cosine input signals. Verify compliment signals (sin & sin-N, cos & cos-N) are of correct phasing. Aerotech, Inc. 2-10 Version 1.5...

  • Page 31: Setup - Dual Phase Command Mode

    • JP9 and JP13 are set to 3-4 • JP8 is set to 1-2 (default). This mode is used with brushless motors only. Refer to Figure 2-4 for dual phase command configuration. Aerotech, Inc. Version 1.5 2-11...

  • Page 32: Dc Brush Motor Operation

    For Single Power Supply SIG COM SIG COM SHUTDOWN Shutdown Operation FAULT Fault SHIELD Earth Ground Shielded Cabling AC LO 115/230 VAC 50/60 HZ AC HI (Depending on Mode) Figure 2-7. Single Brush Motor Configuration with Tach Aerotech, Inc. 2-12 Version 1.5...

  • Page 33: Multiple Brush Motor

    Motor B Torque CMD ICMDB SIG COM SIG COM Shutdown SHUTDOWN FAULT Fault SHIELD Earth Ground Shielded Cabling AC LO 115/230 VAC 50/60 HZ AC HI (Depending on Mode) Figure 2-8. Multiple Brush Motor Configuration Aerotech, Inc. Version 1.5 2-13...

  • Page 34: Motor Phasing Process

    “1” indicates five volts or logic high. If an Aerotech brushless motor is used with the BAL amplifier, motor phase and HALL connections can be easily determined by referring to the system interconnection drawings in Figure 2-2, Figure 2-3, and Figure 2-4.

  • Page 35: Figure 2-9. Motor Phasing

    J6 produces a CCW (e.g., a negative rotation) rotation of the motor shaft as viewed from the front of the motor. DEGREES COMMUTATION SEQUENCE (HALL A,B,C) 0° Commutation Waveforms (Aerotech Motors) 30° Commutation Waveforms Motor Amplifier +1/2A PHASE A...

  • Page 36: Current Regulator Adjustments

    From Digital JP12 Commutation Circuit JP12 Phase “B” JP12 RCN1 Current Command “B” 6.8K Input B J6-22 Input C LM348 J6-12 RCN1 Current Command “C” 6.8K Figure 2-10. Current Command Interface Circuit ∇ ∇ ∇ Aerotech, Inc. 2-16 Version 1.5...

  • Page 37: Chapter 3: Technical Details

    Motor power cable, BAL amplifier to BMS series motors, 15 ft. Control Cables BAC2-3 Amplifier cable, BAL amplifier to control for brushless series motors, 3 ft. BAC6-3 Amplifier cable, BAL amplifier to control for DC brush series motors, 3 ft. Aerotech, Inc. Version 1.5...

  • Page 38: Electrical Specifications

    A) and ICMDB (current command B) are jumper selectable current command inputs. 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. (icmdc optional) Aerotech, Inc. Version 1.5...
  • Page 39 - power: 6 pin unpluggable screw terminal for AC input and motor output; mate provided. - Gain: adjusts preamp AC gain. - BALance: nulls command input DC offsets. Potentiometers - Tach: adjusts gain of tach or encoder derived velocity feedback input. - Input: adjusts gain of command input. Aerotech, Inc. Version 1.5...
  • Page 40 - Dynamic power dissipation limit Protective Features - Over temperature - Control power supply under voltage - Power stage bias supply under voltage. - Opto and transformer isolation between control and power stages. Isolation Indicator - LED indicates drive enabled. Aerotech, Inc. Version 1.5...

  • Page 41: Bal Amplifier Dimensions

    ENABLED [10.08] 228.6 CURRENT LIMIT [9.00] TEST MODE INPUT TACH GAIN AEROTECH, INC PITTSBURGH, PA USA 4.7 [.19] Typ. 3.6 [.14] 114.1 [4.49] Dimensions - Millimeters [Inches] Figure 3-1. BA Linear Amplifier Dimensions ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 42 Technical Details BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...

  • Page 43: Troubleshooting

    Amplifier Faults (Enable LED deenergizes). 3. Defective on board power supply - Return for repair. 4. Over loaded logic power supply - Remove device(s) being powered from the BAL 5 V supply. ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 44 Troubleshooting BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...

  • Page 45: Appendix A: Glossary Of Terms

    HED - Hall Effect Device. RMS - Root Mean Square - The effective DC value of AC voltage or current. TTL - Transistor - Transistor Logic. Aerotech, Inc. Version 1.5...
  • Page 46 Appendix A BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...

  • Page 47: Appendix B: Warranty And Field Service

    Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether 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...
  • Page 48 BA Linear Series User’s Manual 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 49: 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 BAL amplifiers. CONSOLIDATED #5720 (20 COND. #24). ECX___ SIGNALS CONNECT TO CONTROLLER OR TO #5738 (20 COND. #22). ECX579...

  • Page 50: Figure C-2. Bal Light Duty Brushless Motor Cable (Pmc

    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. BAL Light Duty Brushless Motor Cable (PMC) ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 51 Power and control connections, 2-8 feedback signals, 1-2 Power connections, 1-5 Field Service Policy, B-1 Power limit circuit, 1-3 Functional diagram, 1-4 Pre-Amplifier Circuit, 2-6 Precautions, 1-12 Product Overview, 1-1 GAIN pot, 1-7 Revision History, R-1 Aerotech, Inc. Version 1.5...
  • Page 52 Velocity Command, 2-4 Velocity command mode, 2-9 Velocity mode, 2-12 TACH pot, 1-7 Voltage configurations, 1-2 Tachometer, 2-4 Test, 1-6 Torque command mode, 2-8 Troubleshooting, 4-1 Warnings, 1-12 TTL, A-1 Warranty Policy, B-1 ∇ ∇ ∇ Aerotech, Inc. Version 1.5...

  • Page 53: Table R-1. Revisions

    Table 3-3. text added: Minimum Load Resistance (line-to-neutral) Page 1-6: DIP Switch setting reversed (Open setting was noted as Closed and 1.4.2. vice versa in graphic next to Table 1-2). 1.3a 2.5.1., 2.5.2 SW1 changed to SW4 ∇ ∇ ∇ Aerotech, Inc. Version 1.5...
  • Page 54 Revision History BA Linear Series User’s Manual Aerotech, Inc. Version 1.5...
  • Page 55 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...

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