Aerotech BA10 SERIES User manual

BA10/20/30 SERIES
USER’S MANUAL
P/N: EDA121 (V1.6)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax [phone]
Product Service: [phone]; [phone] (Fax)
www.aerotech.com

If you should have any questions about the BA10, 20, or 30 and/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 and special pricing on
selected products.
The BA Series User’s Manual Revision History:
Rev 1.0a February 21, 1995
Rev 1.1 July 27, 1995
Rev 1.1a November 1995
Rev 1.2 May 23, 1996
Rev 1.3 May 15, 1997
Rev 1.3a September 30,1997
Rev 1.4 February 11, 1998
Rev 1.4a March 8, 2000
Rev 1.5 December 13, 2000
Rev 1.5a February 13, 2001
Rev 1.6 February 5, 2002
© Aerotech, Inc., 2002

BA10/20/30 Series User’s Manual Table of Contents
Version 1.6 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Product Overview............................................................................... 1-1
1.2. Models, Options and Packages........................................................... 1-2
1.3. BA Drive Package.............................................................................. 1-3
1.4. Hardware Overview and Function...................................................... 1-4
1.4.1. Motor and AC Power Connections....................................... 1-4
1.4.2. DIP Switch........................................................................... 1-5
1.4.3. Potentiometers (POTs)......................................................... 1-6
1.4.4. Connector P1 and Enable Indicator...................................... 1-6
1.4.5. I/O Circuitry......................................................................... 1-9
1.5. Safety Procedures and Warnings...................................................... 1-11
CHAPTER 2: INSTALLATION AND OPERATION........................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Jumper Selections............................................................................... 2-1
2.3. Wiring, Grounding, and Shielding Techniques .................................. 2-4
2.3.1. Minimizing EMI Interference............................................... 2-4
2.3.2. Fusing and Inrush Limiting .................................................. 2-5
2.3.2.1. 40 Volt Option.................................................... 2-6
2.3.3. Minimizing 50/60 HZ Line Interference .............................. 2-7
2.4. Integrated Configurations................................................................... 2-9
2.4.1. Velocity Command Configuration .......................................2-9
2.4.2. Current Command Configuration....................................... 2-10
2.4.3. Dual-Phase Command Configuration................................. 2-11
2.5. Control Connections......................................................................... 2-12
2.5.1. Setup - Torque Command Mode (Current) ........................2-12
2.5.2. Setup - Velocity Command Mode...................................... 2-12
2.5.3. Setup - Dual-phase Command Mode................................................ 2-14
2.6. Motor Phasing Process..................................................................... 2-15
2.6.1. Determining Phase/Hall Sequence ..................................... 2-15
2.7. Current Regulator Adjustment.......................................................... 2-17
CHAPTER 3: TECHNICAL DETAILS.................................................................. 3-1
3.1. Part Number and Ordering Information.............................................. 3-1
3.2. Electrical Specifications..................................................................... 3-2
3.3. BA Amplifier Dimensions.................................................................. 3-5
3.4. 40/80 VDC Power Transformers........................................................ 3-7
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

Table of Contents BA10/20/30 Series User’s Manual
iv Aerotech, Inc. Version 1.6
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BA10/20/30 Series User’s Manual List of Figures
Version 1.6 Aerotech, Inc. v
LIST OF FIGURES
Figure 1-1. BA Series Amplifier........................................................................... 1-1
Figure 1-2. Functional Diagram............................................................................ 1-3
Figure 1-3. Amplifier Hardware............................................................................ 1-4
Figure 1-4. Fault Output........................................................................................ 1-9
Figure 1-5. Enable/Shutdown Inputs..................................................................... 1-9
Figure 1-6. 6Limit Inputs ................................................................................. 1-10
Figure 1-7. Hall and Encoder Inputs................................................................... 1-10
Figure 2-1. BA Board Assembly........................................................................... 2-3
Figure 2-2. Wiring to Minimize EMI and Capacitive Coupling............................ 2-5
Figure 2-3. Fusing and Inrush Limiting................................................................. 2-5
Figure 2-4. 40 Volt Option.................................................................................... 2-6
Figure 2-5. Back-propagation Line Filter Connection .......................................... 2-7
Figure 2-6. Isolation Transformer Connection (eliminates torque
disturbance) ........................................................................................ 2-8
Figure 2-7. Velocity Command Configuration...................................................... 2-9
Figure 2-8. Current Command Configuration ..................................................... 2-10
Figure 2-9. Dual-Phase Command Configuration............................................... 2-11
Figure 2-10. Command Signal Adjustment Portion of the Pre-Amplifier
Circuit............................................................................................... 2-13
Figure 2-11. Motor Phasing .................................................................................. 2-16
Figure 2-12. Three-Phase Current Regulator Circuit ............................................ 2-18
Figure 3-1. BA Amps Side View .......................................................................... 3-5
Figure 3-2. BA Amp Top View (Preferred Mounting)..........................................3-6
Figure 3-3. Preferred Mounting of BA Amplifiers................................................ 3-6
Figure C-1. BA Feedback Cable (PFC).................................................................C-1
Figure C-2. BA10/20/30 Light Duty Brushless Motor Cable (PMC) ....................C-2
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List of Figures BA10/20/30 Series User’s Manual
vi Aerotech, Inc. Version 1.6

BA10/20/30 Series User’s Manual List of Tables
Version 1.6 Aerotech, Inc. vii
LIST OF TABLES
Table 1-1. BA Models and Voltage Configurations.............................................1-2
Table 1-2. DIP Switch Functions......................................................................... 1-5
Table 1-3. Potentiometer Functions..................................................................... 1-6
Table 1-4. Connector P1 Pinouts......................................................................... 1-7
Table 2-1. Jumper Selections............................................................................... 2-2
Table 3-1. Ordering Information.......................................................................... 3-1
Table 3-2. Electrical Specifications.....................................................................3-2
Table 4-1. Amplifier Faults, Causes, and Solutions............................................. 4-1
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List of Tables BA10/20/30 Series User’s Manual
viii Aerotech, Inc. Version 1.6

BA10/20/30 Series User’s Manual Regulatory Information
Version 1.6 Aerotech, Inc. ix
DECLARATION OF CONFORMITY
Manufacturer’s Name and Address
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2897
Declares that the product:
Product Name: Brushless Servo Amplifier (BA Series)
Conforms to the following product specifications:
EMC: EN 55011: 1991 Class B Emissions
EN 50082-1: 1992 Immunity
IEC 801-2: 1984
IEC 801-3: 1984
IEC 801-4: 1988
LVD: IEC 204-1
and complies with EMC directive 89/336/EEC.
Pittsburgh, PA David F. Kincel_________________________
February, 1998 Quality Assurance Manager
Robert Novotnak__________________________
Engineer Verifying Compliance
General notes concerning the test setup.
This product was tested at Washington Laboratories, LTD. in Gaithersburgh, MD on
October 19, 1995. The report number is WLL 2956F.
The brushless amplifier was tested with a brushless servomotor. To ensure that the
product passes the conducted emissions tests, a line filter and common mode choke must
be connected to the main inputs. The filter is a Schaffner FN 2070-10-06 and the common
mode choke is a Renco Electronics RL-1329-1200. Ferrite must be added to each line of
the main inputs but not earth ground. In order for the product to conform to the radiated
emission standards, the motor cable must be shielded and the shield must be tied to the
earth ground. Ferrite must also be added (in common mode) to the motor cable but not
around the shield. Finally, a metal 25-pin connector with a metal backshell must be used
when making a connection to the 25-pin receptacle on the amplifier. The shield of the
feedback cable must be tied to the metal backshell. Failure to follow the described
procedures may cause the amplifier/motor to exceed emission limits.
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Regulatory Information BA10/20/30 Series User’s Manual
xAerotech, Inc. Version 1.6