Aerotech EDA139 User manual

BAL LINEAR AMPLIFIER SERIES
USER’S MANUAL
P/N: EDA139 (V1.5)
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 BA Linear Amplifier, comments regarding the documentation, or are
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The BAL Linear Amplifier Series User’s Manual Revision History:
Rev 1.0 February 27, 1998
Rev 1.1 June 23, 1998
Rev 1.2 May 9, 2000
Rev 1.3 April 6, 2001
Rev 1.3a July 19, 2001
Rev 1.4 October 11, 2001
Rev 1.5 May 23, 2002
© Aerotech, Inc., 2002

BA Linear Series User’s Manual Table of Contents
Version 1.5 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. BAL Drive Package............................................................................ 1-3
1.4. Hardware Overview and Function...................................................... 1-5
1.4.1. Motor and AC Power Connections....................................... 1-5
1.4.2. DIP Switch........................................................................... 1-6
1.4.3. Potentiometers (POTs)......................................................... 1-7
1.4.4. Connector J6 and Enable Indicator ...................................... 1-7
1.4.5. I/O Circuitry....................................................................... 1-10
1.5. Safety Procedures and Warnings...................................................... 1-12
CHAPTER 2: INSTALLATION AND OPERATION........................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Jumper Selections............................................................................... 2-1
2.3. Wiring Configurations........................................................................ 2-4
2.3.1. Velocity Command Configuration .......................................2-4
2.3.2. Torque Command Configuration (Current).......................... 2-5
2.3.3. Dual-Phase Command Configuration................................... 2-6
2.4. Three Phase Brushless Motors with Unconnected Phases.................. 2-7
2.5. Power and Control Connections.........................................................2-8
2.5.1. Setup – Torque Command Mode (Current).......................... 2-8
2.5.2. Setup – Velocity Command Mode....................................... 2-9
2.5.3. Setup – Dual Phase Command Mode................................. 2-11
2.6. DC Brush Motor Operation.............................................................. 2-12
2.6.1. Single Brush Motor............................................................ 2-12
2.6.2. Multiple Brush Motor ........................................................ 2-13
2.7. Motor Phasing Process..................................................................... 2-14
2.7.1. Determining Phase/Hall Sequence ..................................... 2-14
2.8. Current Regulator Adjustments ........................................................ 2-16
CHAPTER 3: TECHNICAL DETAILS.................................................................. 3-1
3.1. Part Number and Ordering Information.............................................. 3-1
3.2. Electrical Specifications..................................................................... 3-2
3.3. 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 ∇∇∇

Table of Contents BA Linear Series User’s Manual
iv Aerotech, Inc. Version 1.5

BA Linear Series User’s Manual List of Figures
Version 1.5 Aerotech, Inc. v
LIST OF FIGURES
Figure 1-1. BAL Series Amplifier......................................................................... 1-1
Figure 1-2. Functional Diagram............................................................................ 1-4
Figure 1-3. Amplifier Hardware............................................................................ 1-5
Figure 1-4. Fault Output...................................................................................... 1-10
Figure 1-5. Enable/Shutdown Inputs................................................................... 1-10
Figure 1-6. 6Limit Inputs ................................................................................. 1-11
Figure 1-7. Hall and Encoder Inputs................................................................... 1-11
Figure 2-1. BAL Board Assembly with Jumper Locations ................................... 2-3
Figure 2-2. Velocity Command Configuration...................................................... 2-4
Figure 2-3. Torque (Current) Command Configuration........................................ 2-5
Figure 2-4. Dual-Phase Command Configuration................................................. 2-6
Figure 2-5. Connection of Six Wire Motors to BAL Series Amplifiers................ 2-7
Figure 2-6. Command Signal Adjustment Portion of the Pre-amplifier
Circuit............................................................................................... 2-10
Figure 2-7. Single Brush Motor Configuration with Tach .................................. 2-12
Figure 2-8. Multiple Brush Motor Configuration................................................ 2-13
Figure 2-9. 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
∇∇∇

List of Figures BA Linear Series User’s Manual
vi Aerotech, Inc. Version 1.5

BA Linear Series User’s Manual List of Tables
Version 1.5 Aerotech, Inc. vii
LIST OF TABLES
Table 1-1. BAL Models and Voltage Configurations........................................1-2
Table 1-2. DIP Switch Functions.......................................................................1-6
Table 1-3. Potentiometer Functions...................................................................1-7
Table 1-4. Connector J6 Pinouts.........................................................................1-8
Table 2-1. Jumper Selections..............................................................................2-2
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
∇∇∇

List of Tables BA Linear Series User’s Manual
viii Aerotech, Inc. Version 1.5

BA Linear Series User’s Manual Introduction
Version 1.5 Aerotech, Inc. 1-1
CHAPTER 1: INTRODUCTION
In This Section:
•Product Overview..................................................... 1-1
•Models, Options and Packages................................. 1-2
•BAL Drive Package.................................................. 1-3
•Hardware Overview and Function............................ 1-5
•Safety Procedures and Warnings............................1-12
1.1. Product Overview
The BAL Series amplifiers are highly reliable brushless servo amplifiers (refer to Figure
1-1) that are easily adaptable to drive brush or brushless servomotors. The BAL amplifier
package is a complete modular unit that includes heat sink, metal cover, control and bus
power supplies that operate at ±40 VDC or ±80 VDC. The BAL drives provide the
designer with servo drive flexibility for use in applications such as:
½CMM (Coordinate Measurement Machines)
½x-y stages
½inspection and scanning (w/o Air Bearings)
½medical
½ and semiconductor fabrication.
Figure 1-1. BAL Series Amplifier

Introduction BA Linear Series User’s Manual
1-2 Aerotech, Inc. Version 1.5
1.2. Models, Options and Packages
A list of the available models and the voltage configurations is shown in Table 1-1.
Table 1-1. BAL Models and Voltage Configurations
Model Standard Voltage
Configuration Peak Output Current Continuous Output Current (peak)
BAL20-40-X ±40 VDC 20A 10A
BAL10-80-X
±80 VDC 10A 5A
BAL10-40-X
±40 VDC 10A 5A
Where:
X = A for 110 VAC single phase input power.
X = B for 220 VAC single phase input power.
X = C for 100 VAC sinlge phase input power.
The BAL drives feature self-commutation with analog or digital Hall effect feedback
signals. The BAL drives even include a 5 VDC, 250 mA supply to power encoders and
Hall effect devices (HEDs). Each model is jumper selectable, providing the capability to
drive both brush and brushless motors. Complete electrical isolation is provided between
the control stage and the power stage for all models of the BAL Series. This is
accomplished with a transformer isolated control voltage power supply and opto-isolation
of the drive signals, current command signals and fault signal between the control and
power stages. Each drive is fully protected against the following fault conditions:
➤control power supply under voltage
➤RMS current limit exceeded
➤power stage bias supplies under voltage
➤over temperature
➤over current
➤and excessive power transistor dissipation.
Operating modes include current command, velocity command or dual-phase command
(for brushless modes of operation only). For brush modes of operation, the available
operating modes are current command and velocity command. Differential inputs are used
for better noise immunity. 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.