B40A40 Series B40A40 SERIES BRUSHLESS SERVO AMPLIFIERS Model: B40A40 FEATURES: • • • • • • Surface-mount technology Small size, low cost, ease of use Optical isolation, see block diagram DIP switch selectable modes: current, open loop, external velocity, tach, Hall velocity and encoder velocity Four quadrant regenerative operation Agency Approvals: BLOCK DIAGRAM: ADVANCED MOTION CONTROLS 3629 Vista Mercado, Camarillo, CA 93012 Tel: (805) 389-1935, Fax: (805) 389-1165 C-59 B40A40 Series DESCRIPTION: B40A40 Series PWM servo amplifiers are designed to drive brushless DC motors at a high switching frequency. They are fully protected against over-voltage, under-voltage, over-current, over-heating and short-circuits. All models interface with digital controllers or can be used as stand-alone drives. They require only a single unregulated DC power supply. A single red/green LED indicates operating status. Loop gain, current limit, input gain and offset can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes when SW1 (DIP switch) is ON. SPECIFICATIONS: MODEL POWER STAGE SPECIFICATIONS B40A40 DC SUPPLY VOLTAGE 60 - 400 V PEAK CURRENT (2 sec. max., internally limited) ± 40 A MAX. CONTINUOUS CURRENT (internally limited) ± 20 A MINIMUM LOAD INDUCTANCE* 600 µH 20 kHz ± 15% SWITCHING FREQUENCY 0° to +65 °C, disables if > 65 °C HEATSINK (BASE) TEMPERATURE RANGE POWER DISSIPATION AT CONTINUOUS CURRENT 400 W OVER-VOLTAGE SHUT-DOWN (self reset) 420 V BANDWIDTH (load dependent) 2.5 kHz MECHANICAL SPECIFICATIONS POWER CONNECTOR: P3 SIGNAL CONNECTOR: P1, P2 Screw terminals P1 is a 25 pin and P2 is a 15 pin low density female D-Sub Connector 9.24 x 6.28 x 2.51 inches SIZE 234.7 x 159.4 x 63.8 mm 4.5 lb. WEIGHT 2.1 kg * Low inductance motors require external inductors. C-60 B40A40 Series PIN FUNCTIONS: CONNECTOR PIN NAME DESCRIPTION / NOTES I/O 1 +10 V @ 3 mA OUT For customer use O 2 SIGNAL GND Reference ground SGND 3 -10 V @ 3 mA OUT For Customer use O 4 +REF IN I 5 -REF IN Differential reference input, maximum ±15 V, 40K input resistance 6 Velocity Input Single Ended reference input, external velocity signal, maximum ±15 V, 10K input resistance I 7 VELOCITY MONITOR OUT Hall-velocity mode: 1 V = 100 Hz Hall sensor frequency. Encoder velocity mode: 1V = 25 kHz encoder frequency. O 8 CURRENT MONITOR OUT 9 CURRENT REFERENCE OUT 10 This signal is proportional to the actual current in the motor leads. SW3=OFF 1 V=2.75 A, SW3=ON 1V=5.5 A O Monitors the input signal connected directly to the internal current amplifier.7.25 V = max peak current. See current limit adjustment information below. O This TTL level input signal turns off all power devices of the “H” bridge when pulled to ground. This inhibit will cause a fault condition and a red LED. For inverted inhibit inputs, see section "G". I Reserved 11 INHIBIT IN 12 Reserved 13 Reserved 14 FAULT OUT (LED red) TTL level output. Becomes high during output SC, over and under-voltage, inhibit, and during powerup reset. Fault condition indicated by red LED. O 15 +5 V @ 250 mA OUT For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. O 16 SIGNAL GND Reference ground 17 Controller Power * Connected to P2-15. For customer use I 18 Controller Signal * Connected to P2-10. For customer use I 19 Reserved 20 Encoder Channel A P1 SGND Differential encoder output from P2-4. O Differential encoder output from P2-5. 21 Encoder Channel A 22 Encoder Channel B Differential encoder output from P2-6. 23 Encoder Channel B Differential encoder output from P2-7. 24 Index 25 Index O Differential encoder output from P2-8 (Not Required). Differential encoder output from P2-9 (Not Required). O C-61 B40A40 Series PIN FUNCTIONS: CONNECTOR P2 P3 PIN NAME 1 HALL 1 2 HALL 2 3 HALL 3 4 Encoder Channel A 5 Encoder Channel A 6 Encoder Channel B 7 Encoder Channel B 8 Index + 9 Index - DESCRIPTION / NOTES Hall sensor inputs, logic levels, internal 2KΩ pull-up. Maximum low level inputs is 1.5V, minimum high level inputs is 3.5 V I Differential encoder input I Differential encoder input I Differential encoder input I 10 Controller signal * Connected to P1-18. For customer use. O 11 +V HALL 30 mA OUT O 12 GND Power for HALL sensors, short circuit protected, +6 V @ +30 mA 13 +5V, 250mA OUT For customer use. Note: the total current on P1-15 and P2-13 combined should not exceed 250 mA. O 14 TACH Tachometer input, max. ±60 VDC, 60K input resistance I 15 Controller Power * Connected to P1-17. For Customer Use. O 1 Motor A Motor phase A connection O 2 Motor B Motor phase B connection O 3 Motor C Motor phase C connection O 4 POWER GND Power ground 5 HIGH VOLTAGE DC power input NOTES: All circuits on connectors P1 and P2 are optically isolated from all circuits on connector P3. * No Connection internal to amplifier. See block diagram. C-62 I/O SGND PGND I B40A40 Series SWITCH FUNCTIONS: SETTING SWITCH FUNCTION DESCRIPTION ON OFF Test Offset Decrease Increase 1 Test / Offset. Sensitivity of the "offset" pot. Used as an on-board reference signal in test mode. 2 Current loop gain 3 Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. 100% 50% 4 Loop integrator. This capacitor normally ensures "error-free" operation in velocity mode by reducing the error signal (output of summing amplifier) to zero. Shorts out the velocity/voltage loop integrator capacitor Velocity/voltage loop integrator 5 MODE SETTING operating See chart in the functional block diagram 6 7 Velocity direction. Changes the polarity of the velocity monitor signal. 8 Current reduction. Reduces continuous current limit by 50%. 9 10 Continuous / peak current limit ratio is 50% Continuous / peak current limit ratio is 25% Integrator capacitor. Adjusts the value of the integrator capacitor in velocity mode. Increase Decrease 60/120 degree commutation phasing setting 120 degree phasing 60 degree phasing POTENTIOMETER FUNCTIONS: POTENTIOMETER DESCRIPTION TURNING CW Pot 1 Loop gain adjustment in open loop & velocity modes. Turn this pot fully ccw in current mode. Increases loop gain Pot 2 Current limit. It adjusts both continuous and peak current limit while maintaining selected ratio. Increases current limit Pot 3 Reference gain. It adjusts the ratio between input signal and output variables (voltage, current or velocity). Increases reference input gain Pot 4 Test / Offset. Used to adjust any imbalance in the input signal or in the amplifier. When SW1 (DIP switch) is OFF, the sensitivity of this pot is greatly increased thus it can be used as an on-board signal source for testing purposes. See section "G". N/A C-63 B40A40 Series TEST POINTS FOR POTENTIOMETERS: See section "G". OPERATING MODE SELECTION: These modes can be selected by the DIP switches according to the chart in the functional block diagram. • • • • • Current mode Open loop mode Tachometer mode Hall velocity mode Encoder velocity mode See section "G” for more information. SET-UP: See section "G" for engineering and installation notes. CURRENT LIMIT ADJUSTMENTS: These amplifiers feature separate peak and continuous current limit adjustments. Pot 2, the current limit potentiometer, adjusts both peak and continuous current limit at the same time. It has 12 active turns plus 1 inactive turn at each end and is approximately linear. Thus, to adjust the current limit turn the potentiometer counter-clockwise to zero, then turn clockwise to the appropriate value. In many applications it is sufficient to use only the DIP switches for current limit adjustments. SW3 reduces both peak and continuous current limit by 50% when OFF. SW8 reduces only the continuous current limit by 50% when OFF: SW8 CONTINUOUS / PEAK CURRENT LIMIT RATIO ON 50% OFF 25% P1-9 is the input to the internal current amplifier stage. Since the output current is proportional to P1-9, the adjusted current limit can easily be observed at this pin without connecting the motor. Note that a command signal must be applied to the reference inputs to obtain a reading on P1-9. The maximum peak current value equals 7.25 V at this pin and the maximum continuous current value equals 3.63 V at this pin. If SW3=ON, peak rated amplifier current = 7.25 V. If SW3=OFF, ½peak rated amplifier current =7.25 V. Example: using the B40A40 with SW3=ON, 40A=7.25V and with SW3=OFF, 20A=7.25V. The actual current can be monitored at pin P1-8. ORDERING INFORMATION: Models: B40A40X X indicates current revision letter. TYPICAL SYSTEM WIRING: See section "G". MOUNTING DIMENSIONS: See page F-15. C-64