Aerotech BA-SineDrive Series User manual

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BA-SINEDRIVE
USER’S MANUAL
P/N: EDU164 (V1.4)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax [phone]
Product Service: [phone]; [phone] (Fax)
www.aerotech.com
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

If you should have any questions about the BA-SineDrive 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, firmware upgrades,
and special pricing on selected products.
The BA-SineDrive and BAS software are products of Aerotech, Inc.
Windows 95/NT are products of Microsoft Corporation.
The BA-SineDrive User’s Manual Revision History:
Version 1.0 July 17, 1998
Version 1.1 October 22, 1998
Version 1.2 September 19, 2000
Version 1.3 October 6, 2000
Version 1.4 November 20, 2000
© Aerotech, Inc., 2001
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BA SineDrive User’s Manual Table of Contents
Version 1.4 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Product Overview............................................................................... 1-1
1.2. Velocity/Torque Amplifier................................................................. 1-2
1.3. BAS DOS Software............................................................................ 1-3
1.4. BAS Windows Software Interface...................................................... 1-3
1.5. Hardware Overview and Function...................................................... 1-6
1.5.1. Motor and AC Power Connections....................................... 1-7
1.5.1.1. BAS 10/20/30..................................................... 1-7
1.5.1.2. BAS 50/75/100................................................... 1-8
1.5.2. Fusing and Inrush Limiting .................................................. 1-9
1.5.2.1. BAS 10/20/30..................................................... 1-9
1.5.2.2. BAS 50/75/100................................................. 1-10
1.5.3. 20 - 80 Volt Option – BAS 10/20/30 ................................. 1-11
1.5.4. COM Port........................................................................... 1-12
1.5.5. LED Status Indicators ........................................................ 1-12
1.6. Safety Procedures and Warnings...................................................... 1-13
CHAPTER 2: CONFIGURATION AND COMMUNICATION........................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. BAS Control Board Jumper Selections ..............................................2-1
2.3. BAS Communications Modes ............................................................ 2-2
2.4. Menu Commands................................................................................ 2-3
2.4.1. C-Change Parameter............................................................. 2-3
2.4.2. D-Display Tracking Information.......................................... 2-4
2.5. E - Display Error Message.................................................................. 2-6
2.5.1. BAS Faults........................................................................... 2-6
2.5.1.1. Invalid Hall Sequence ........................................ 2-6
2.5.1.2. RMS Current Error............................................. 2-6
2.5.1.3. Velocity Error..................................................... 2-6
2.5.1.4. Encoder Fault ..................................................... 2-7
2.5.1.5. Thermistor Fault................................................. 2-7
2.5.1.6. RMS Current Error............................................. 2-7
2.5.2. F1- Abort Entry/Up One Menu Level .................................. 2-7
2.5.3. F2/F3 - Previous/Next Menu................................................ 2-7
2.5.4. T - Transfer Parameters........................................................ 2-7
2.5.5. Space Bar ............................................................................. 2-7
2.5.6. CTRL-D............................................................................... 2-7
CHAPTER 3: PARAMETERS................................................................................. 3-1
3.1. Introduction........................................................................................ 3-1
3.2. Parameters.......................................................................................... 3-1
3.2.1. PRM:1 Proportional Velocity Gain (KP)............................ 3-2
3.2.2. PRM:2 Integral Velocity Gain (KI)..................................... 3-2
3.2.3. PRM:3 Electronic Tach (VSCALE).................................... 3-2
3.2.4. PRM:4 Encoder Resolution (ENCODER) .......................... 3-3
3.2.5. PRM:5 Electrical Cycles/Mechanical Revolution
(POLE PAIRS)..................................................................... 3-4
3.2.6. PRM:6 Hall Effects Available (HALLS) ............................ 3-4
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Table of Contents BA SineDrive User’s Manual
iv Aerotech, Inc. Version 1.4
3.2.7. PRM:7 Initialization Current (INIT CURRENT)................3-5
3.2.8. PRM:8 Velocity Loop Update Rate (UPDATE)................3-6
3.2.9. PRM:9 Low Pass Filter Enable (FILTER) ..........................3-6
3.2.10. PRM:10 Filter Cutoff (CUT. FREQ.)..................................3-7
3.2.11. PRM:11 Commutation Phase Offset (PHASE OFF)...........3-7
3.2.12. PRM:12 Input Command Offset (CMD. OFF)....................3-8
3.2.13. PRM:13,14 Current Offset Adjustment (IA OFFSET,
IB OFFSET).........................................................................3-8
3.2.14. PRM:15 Servo Peak Current Limit (CURR. LIMIT)..........3-9
3.2.15. PRM:16 Servo RMS Limit (RMS LIMIT)..........................3-9
3.2.16. PRM:17 Servo RMS Current Timeout (RMS TIME) .......3-10
3.2.17. PRM:18 Servo Velocity Trap (VEL ERR LMT) ..............3-10
3.2.18. PRM:19 Integral Clamp (INT CLAMP) ...........................3-11
3.2.19. PRM:20 Operating Mode (MODE)...................................3-11
3.2.20. PRM:21 Thermistor Polarity (THERM POL.)..................3-12
3.2.21. PRM:22 Enable Polarity (ENABLE POL.).......................3-13
3.2.22. PRM:23 Fault Output Polarity (FAULT POL.).................3-13
3.2.23. PRM:24 Encoder Polarity (Enc. Mult.).............................3-13
CHAPTER 4: MODE OF OPERATION AND TUNING.......................................4-1
4.1. Introduction ........................................................................................4-1
4.2. Velocity and Current Mode ................................................................4-1
4.2.1. Current Mode ....................................................................... 4-1
4.2.2. Velocity Mode......................................................................4-2
4.3. Tuning.................................................................................................4-2
CHAPTER 5: TECHNICAL DETAILS...................................................................5-1
5.1. Introduction ........................................................................................5-1
5.2. Hardware Overview and Function......................................................5-1
5.2.1. Motor and AC Power Connections.......................................5-2
5.2.1.1. Wiring, Grounding, and Shielding
Techniques..........................................................5-2
5.2.1.2. Minimizing EMI Interference and CE
Compliance.........................................................5-2
5.2.1.3. Minimizing 50/60 HZ Line Interference.............5-3
5.2.2. COM Port.............................................................................5-4
5.2.3. LED Status Indicators ..........................................................5-5
5.3. The I/O Port........................................................................................5-6
5.3.1. SIN, SIN-N, COS, COS-N Signals.......................................5-6
5.3.2. Restore/Reset Signal.............................................................5-7
5.3.3. Input+/Input- Command INPUT .......................................... 5-7
5.3.4. Thermistor Input Signal........................................................5-7
5.3.5. External Enable Input...........................................................5-8
5.3.6. Fault Output..........................................................................5-8
5.4. Encoder/Limits/Hall Effects Port........................................................5-9
5.4.1. Encoder Interface ...............................................................5-10
5.4.2. Hall Effect Interface...........................................................5-10
5.5. Servo Amplifier Specifications.........................................................5-14
5.6. BAS Amplifier Dimensions..............................................................5-15
5.6.1. Mounting Procedures for the BAS 10/20/30/50.................5-17
5.6.2. Mounting Procedures for the BAS 75/100 .........................5-18
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BA SineDrive User’s Manual Table of Contents
Version 1.4 Aerotech, Inc. v
CHAPTER 6: TROUBLESHOOTING.................................................................... 6-1
6.1. Amplifier Related Problems ............................................................... 6-1
APPENDIX A: WARRANTY AND FIELD SERVICE.......................................... A-1
APPENDIX A: WARRANTY AND FIELD SERVICE POLICY.......................... A-1
INDEX
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Table of Contents BA SineDrive User’s Manual
vi Aerotech, Inc. Version 1.4
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BA SineDrive User’s Manual List of Figures
Version 1.4 Aerotech, Inc. vii
LIST OF FIGURES
Figure 1-1. BA-SineDrive Amplifiers (10/20/30/50/75/100)................................ 1-1
Figure 1-2. Illustration of Configuration............................................................... 1-2
Figure 1-3. BAS MMI Main Screen...................................................................... 1-4
Figure 1-4. Parameter Screen................................................................................ 1-4
Figure 1-5. Parameter Information........................................................................ 1-5
Figure 1-6. BA-SineDrive Hardware (10/20/30)................................................... 1-6
Figure 1-7. BA-SineDrive Hardware (50/75/100)................................................. 1-6
Figure 1-8. Motor and AC Power Connections – 10/20/30 Models..................... 1-7
Figure 1-9. Motor and AC Power Connections – 50/75/100 Models................... 1-8
Figure 1-10. Fuse and Inrush Limiting – 10/20/30 Models.................................... 1-9
Figure 1-11. AC Input Fusing – 50/75/100 Models.............................................. 1-10
Figure 1-12. 20 –80V Option................................................................................ 1-11
Figure 2-1. Tracking Screen.................................................................................. 2-2
Figure 2-2. Parameter Screen................................................................................ 2-2
Figure 2-3. The Change Parameter Screen............................................................ 2-3
Figure 2-4. Changing a Parameter in the Change Parameter Screen..................... 2-4
Figure 2-5. Display Tracking Screen .................................................................... 2-4
Figure 2-6. Display Error Message Screen............................................................2-6
Figure 3-1. PI Control Loop.................................................................................. 3-1
Figure 5-1. BA-SineDrive Hardware .................................................................... 5-1
Figure 5-2. Wiring to Minimize EMI and Capacitive Coupling............................ 5-3
Figure 5-3. Back-Propagation Line Filter Connection.......................................... 5-3
Figure 5-4. Isolation Transformer Connection (eliminates torque
disturbance) ........................................................................................ 5-4
Figure 5-5. Over-Temperature Circuitry............................................................... 5-7
Figure 5-6. Electrical Characteristics of Opto-Isolated Input................................ 5-8
Figure 5-7. Electrical Characteristics of Opto-Isolated Output............................. 5-8
Figure 5-8. CW Motor Rotation (Viewed from the Mounting Flange End)........ 5-10
Figure 5-9. Encoder Input Circuit....................................................................... 5-10
Figure 5-10. Hall Effect Input Circuit................................................................... 5-11
Figure 5-11. Hall Effect Motor Phasing................................................................ 5-11
Figure 5-12. Motor Rotation (From Mounting Flange End) ................................. 5-12
Figure 5-13. Motor Phase Voltage Observation Scheme ...................................... 5-13
Figure 5-14. Encoder Phase Voltage Observation Scheme................................... 5-13
Figure 5-15. BAS Amplifier Dimensions (10/20/30)............................................ 5-15
Figure 5-16. BAS Amplifier Dimensions (50/75/100).......................................... 5-16
Figure 5-17. BAS Amp Top View (Preferred Mounting, 10/20/30/50)................ 5-17
Figure 5-18. Preferred Mounting of BAS Amplifiers (10/20/30/50)..................... 5-18
Figure 5-19. Preferred Mounting of BAS Amplifiers (75/100)............................. 5-19
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List of Figures BA SineDrive User’s Manual
viii Aerotech, Inc. Version 1.4
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BA SineDrive User’s Manual List of Tables
Version 1.4 Aerotech, Inc. ix
LIST OF TABLES
Table 1-1. COM Port Pinouts............................................................................ 1-12
Table 2-1. Power Board Jumper Selections......................................................... 2-1
Table 2-2. Control Board Jumper Selections....................................................... 2-1
Table 2-3. Bit Patterns......................................................................................... 2-5
Table 3-1. Settings for Proportional Velocity Gain PRM:1................................. 3-2
Table 3-2. Settings for Integral Velocity Gain PRM:2 ........................................ 3-2
Table 3-3. Settings for Electronic Tach PRM:3................................................... 3-2
Table 3-4. Settings for Encoder Resolution PRM:4............................................. 3-3
Table 3-5. Settings for Electrical Cycles/Mechanical Revolution PRM:5........... 3-4
Table 3-6. Settings for Hall Effects Available PRM:6......................................... 3-4
Table 3-7. Settings for Initialization Current PRM:7........................................... 3-5
Table 3-8. Settings for Velocity Update Rate PRM:8.......................................... 3-6
Table 3-9. Settings for Low Pass Filter PRM:9 ................................................... 3-6
Table 3-10. Settings for Filter Cutoff PRM:10...................................................... 3-7
Table 3-11. Settings for Phase Offset PRM:11...................................................... 3-7
Table 3-12. Settings for Input Command Offset PRM:12......................................3-8
Table 3-13. Settings for Position Mode PRM:13, PRM:14 ................................... 3-8
Table 3-14. Settings for Servo Peak Current Limit PRM:15 ................................. 3-9
Table 3-15. Settings for Servo RMS Limit PRM:16.............................................. 3-9
Table 3-16. Settings for Servo RMS Current Timeout PRM:17.......................... 3-10
Table 3-17. Settings for Servo Velocity Trap PRM:18........................................ 3-10
Table 3-18. Settings for Integral Clamp PRM:19................................................ 3-11
Table 3-19. Operating Modes PRM:20................................................................ 3-11
Table 3-20. Settings for Operating Mode PRM:20.............................................. 3-12
Table 3-21. Settings for Thermistor Polarity PRM:21......................................... 3-12
Table 3-22. Settings for Enable Polarity PRM:22 ...............................................3-13
Table 3-23. Settings for Fault Output Polarity PRM:23 ...................................... 3-13
Table 3-24. Settings for Encoder Polarity PRM:24............................................. 3-13
Table 5-1. COM Port Pinouts.............................................................................. 5-4
Table 5-2. I/O Connector Pinouts (P1) ................................................................ 5-6
Table 5-3. Pinouts for the Encoder/Limits/Hall Effects Port ............................... 5-9
Table 5-4. Electrical Specifications................................................................... 5-14
Table 6-1. Amplifier Faults, Causes, and Solutions............................................. 6-1
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