Aerotech BL 20-40 User manual

BL
Hardware Manual
(Revision 2.02.00)
Dedicated to the Science of Motion
Aerotech, Inc.
101 Zeta Drive,
Pittsburgh, PA, 15238
Phone: [phone]
Fax: [phone]
www.aerotech.com

Product Registration Register online at www.aerotech.com/prodreg.cfm
Technical Support United States
Phone: [phone]
Fax: [phone]
Email: [e-mail]
United Kingdom
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Germany
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Japan
Phone: [phone]
Fax: [phone]
Email: [e-mail]
China
Phone: [phone]
Email: [e-mail]
Revision History 2.02.00 11/11/10
2.01.00 6/22/10
2.00.00 3/16/10
1.08 8/11/09
1.07 12/4/06
1.06 2/27/06
1.05 12/12/05
1.04 11/1/04
1.03 8/6/04
1.02 6/7/04
1.01 11/4/03
1.00 1/7/03
This product is intended for light industrial manufacturing or laboratory use.
Product names mentioned herein are used for identification purposes only and may be trademarks of
their respective companies.
Copyright © 2003 - 2010 Aerotech, Inc. All rights reserved.

Table of Contents BL
Table of Contents
List of Figures v
List of Tables vii
EC Declaration of Conformity ix
Chapter 1: Introduction 1
1.1. Electrical Specifications 3
1.2. Mechanical Design 4
1.3. Environmental Specifications 5
Chapter 2: Installation and Configuration 7
2.1. Safety Procedures and Warnings 8
2.2. Power Connections 9
2.2.1. Control Supply Connections 9
2.2.2. Motor Supply Connections 10
2.3. Motor Output Connections (TB101) 11
2.4. DIP Switch 12
2.5. Potentiometers (POTs) 14
2.6. Control Interface Connector (J101) 15
2.6.1. Encoder Inputs (J101) 16
2.6.2. Hall-Effect Inputs (J101) 17
2.6.3. +/- Input 18
2.6.4. Limit Inputs (J101) 19
2.6.5. Current Command Inputs (J101) 20
2.6.6. Tach Input (J101) 21
2.6.7. Shutdown Input (J101) 22
2.6.8. Fault Output (J101) 23
2.7. Motor and Feedback Phasing 24
Chapter 3: Wiring Configurations 29
3.1. Three-Phase Brushless Motors with Unconnected Phases 30
3.2. Velocity Command Configuration 31
3.3. Torque Command Configuration (Current) 33
3.4. Dual-Phase Command Configuration 35
3.5. Differential Dual-Phase Command Configuration 36
3.6. Single Brush Motor 37
3.7. Multiple Brush Motor (requires -TP Option) 38
3.8. Cables 39
Chapter 4: Maintenance 45
4.1. Control Board Assembly 46
4.1.1. Fuse Replacement 49
4.2. Preventative Maintenance 50
Appendix A: Warranty and Field Service 51
Appendix B: Current Changes 53
Index 55
Reader's Comments 57
www.aerotech.com iii

BL Table of Contents
iv www.aerotech.com

List of Figures BL
List of Figures
Figure 1-1: BL Linear Amplifier Connection Overview 1
Figure 1-2: Functional Diagram 2
Figure 1-3: Dimensions 4
Figure 2-1: Control Supply Connections 9
Figure 2-2: Motor Bus Input Connections 10
Figure 2-3: Command Signal Adjustment of the Pre-Amplifier Circuit 14
Figure 2-4: Encoder Inputs 16
Figure 2-5: Hall-Effect Inputs 17
Figure 2-6: ±Input 18
Figure 2-7: Limit Inputs 19
Figure 2-8: Current Command Inputs 20
Figure 2-9: Tach Input 21
Figure 2-10: Shutdown Input 22
Figure 2-11: Fault Output 23
Figure 2-12: Motor Phasing Oscilloscope Example 25
Figure 2-13: Hall Phasing with Oscilloscope 26
Figure 2-14: Brushless Motor Phasing Goal 27
Figure 3-1: Connection of Six Wire Motors to BL Series Amplifiers 30
Figure 3-2: Velocity Command Configuration 31
Figure 3-3: Torque (Current) Command Configuration 33
Figure 3-4: Dual-Phase Command Configuration 35
Figure 3-5: Differential Dual-Phase Command Configuration 36
Figure 3-6: Single Brush Motor Configuration with Tachometer 37
Figure 3-7: Multiple Brush Motor Configuration 38
Figure 4-1: BL Control Board Assembly 46
www.aerotech.com v

BL List Of Figures
vi www.aerotech.com

List of Tables BL
List of Tables
Table 1-1: Amplifier Options 2
Table 1-2: Electrical Specifications 3
Table 1-3: Physical Specifications 4
Table 2-1: Control Supply ACInput Wiring 9
Table 2-2: Control Supply TerminalBlock Mating Connector 9
Table 2-3: Motor Supply Input Wiring 10
Table 2-4: Motor Output Connection 11
Table 2-5: Control Supply TerminalBlock Mating Connector 11
Table 2-6: DIPSwitch Functions 12
Table 2-7: Potentiometer Functions 14
Table 2-8: Connector J101 Pin Assignment 15
Table 3-1: Velocity Command Mode BL Configuration 32
Table 3-2: Torque Command Mode (Current) BL Configuration 34
Table 3-3: Dual-Phase Mode BL Configuration 35
Table 3-4: Differential Dual Phase Mode BL Configuration 36
Table 3-5: Single Brush Motor Mode BL Configuration 37
Table 3-6: Multiple Brush/Torque Command Mode BL Configuration 38
Table 3-7: Motor Cables for Linear Stages 39
Table 3-8: Motor Cables for Combination Stages 41
Table 3-9: Motor Cables for Rotary Stages 42
Table 4-1: Troubleshooting 45
Table 4-2: LEDDescription 45
Table 4-3: Control Board Jumper Selections 47
Table 4-4: Control Board Test Points 48
Table 4-5: BL Fuse Replacement Part Numbers 49
Table 4-6: Line VoltageFuse Information 49
Table 4-7: Preventative Maintenance 50
Table B-1: Revision 2.02.00 Manual Changes 53
Table B-2: Recent Manual Changes 54
www.aerotech.com vii

BL List of Tables
viii www.aerotech.com

Declaration of Conformity BL
EC Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238
USA
Product BL
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the fol-
lowing Directive(s):
2006/95/EC Low Voltage Directive
2004/108/EC Electromagnetic Compatibility Directive
and is in conformity with the applicable requirements of the following documents when installed and used in
accordance with the manufacturer’s supplied installation instructions.
EN 61010-1:2001 Safety requirements for electrical equipment
Name / Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date September 2010
www.aerotech.com ix
2011/65/EU RoHS 2 Directive

x www.aerotech.com
BL Declaration of Conformity