Aerotech BA50 Series User manual

Revision:1.6
BA50/75/100 Series Hardware
Manual

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101 Zeta Drive
Pittsburgh, PA 15238-2897
www.aerotech.com
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This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the
express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and
may be trademarks of their respective companies.
Copyright © 2006-2017, Aerotech, Inc., All rights reserved.

BA50/75/100 Hardware Manual Table of Contents
Table of Contents
BA50/75/100 Series Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Conformity 7
Agency Approvals 8
Safety Procedures and Warnings 9
Chapter 1: Introduction 11
1.1. Product Overview 11
1.2. BA Drive Package 13
1.3. Hardware Overview and Function 14
1.3.1. Motor and AC Power Connections 15
1.3.2. DIP Switch 15
1.3.3. Potentiometers (POTs) 17
1.3.4. Connector P1 and Enable Indicator 17
1.3.5. I/O Circuitry 20
Chapter 2: Installation and Configuration 23
2.1. Jumper Selections 23
2.2. Wiring, Grounding, and Shielding Techniques 25
2.2.1. Minimizing EMI Interference 25
2.2.2. Minimizing 50/60 Hz Line Interference 27
2.3. Integrated Configurations 29
2.3.1. Velocity Command Configuration 29
2.3.2. Current Command Configuration 30
2.3.3. Dual-Phase Command Configuration 31
2.4. Control Connections 32
2.4.1. Setup - Torque Command Mode (Current) 32
2.4.2. Setup - Velocity Command Mode 32
2.4.3. Setup - Dual-Phase Command Mode 34
2.5. Motor Phasing Process 35
2.5.1. Determining Phase/Hall Sequence 35
2.6. Current Regulator Adjustment 37
Chapter 3: Technical Details 39
3.1. Electrical and Environmental Specifications 39
3.2. BA Amplifier Dimensions 43
Chapter 4: Troubleshooting 47
4.1. Amplifier Related Problems 47
4.2. Fuse Replacement 49
4.3. Cleaning 49
Appendix A: Warranty and Field Service 51
Appendix B: Revision History 53
Appendix C: Cable Drawings 55
Index 57
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Table of Contents BA50/75/100 Hardware Manual
List of Figures
Figure 1-1: BA50/75/100 Series Amplifiers 11
Figure 1-2: Functional Diagram 13
Figure 1-3: Amplifier Hardware 14
Figure 1-4: Fault Output 20
Figure 1-5: Enable/Shutdown Inputs 20
Figure 1-6: ± Limit Inputs 20
Figure 1-7: Hall and Encoder Inputs 21
Figure 2-1: BA50/75/100 Board Assembly (Jumpers Shown in Default) 24
Figure 2-2: Wiring to Minimize EMI and Capacitive Coupling 26
Figure 2-3: Back-Propagation Line Filter Connection 27
Figure 2-4: Isolation Transformer Connection (eliminates torque disturbance) 28
Figure 2-5: Velocity Command Configuration 29
Figure 2-6: Current Command Configuration 30
Figure 2-7: Dual-Phase Command Configuration 31
Figure 2-8: Command Signal Adjustment Portion of the Pre-Amplifier Circuit 33
Figure 2-9: Motor Phasing 36
Figure 2-10: Three-Phase Current Regulator Circuit 37
Figure 3-1: BA50 Dimensions (Front View) 44
Figure 3-2: BA50 Preferred Mounting (Side View) 45
Figure 3-3: BA75/100 Dimensions (Front View) 46
Figure C-1: BA Feedback Cable (PFC) 55
Figure C-2: BA Series Light Duty Brushless Motor Cable (PMC) (BA 50 only) 55
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BA50/75/100 Hardware Manual Table of Contents
List of Tables
Table 1-1: BA Models 12
Table 1-2: BA Models and Voltage Configurations 12
Table 1-3: DIP Switch Functions 15
Table 1-4: Potentiometer Functions 17
Table 1-5: Connector P1 Pinouts 18
Table 2-1: Jumper Selections 23
Table 3-1: Electrical Specifications per Model 39
Table 3-2: Additional Electrical Specifications 40
Table 4-1: Amplifier Faults, Causes, and Solutions 48
Table 4-2: Fuse Replacement Part Numbers 49
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Table of Contents BA50/75/100 Hardware Manual
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BA50/75/100 Hardware Manual Hardware Manual Declaration of Conformity
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2897
USA
Product Brushless Servo Amplifier (BA50/75/100)
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/35/EU Low Voltage Directive LVD
2011/65/EU RoHS2 Directive
and has been designed to be 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
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Declaration of Conformity BA50/75/100 Hardware Manual Hardware Manual
Agency Approvals
Aerotech, Inc. BA50/75/100 Series Amplifiers have been tested and found to be in accordance to the
following listed Agency Approvals:
Approval / Certification: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 17 04 68995 024
Standards: UL 61010-1:2012; CAN/CSA-C22.2 No. 61010-1:2012; EN 61010-
1:2010
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Electrical Safety BA50/75/100 Hardware Manual
Safety Procedures and Warnings
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
N O T E : Read this manual in its entirety before installing, operating, or servicing this product. If you do
not understand the information contained herein, contact an Aerotech representative before proceeding.
Strictly adhere to statements given in this section and other handling, use, and operational information
given throughout the manual to avoid injury to you and damage to the equipment.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Disconnect electrical power before servicing equipment.
2. Disconnect electrical power before performing any wiring.
3. Access to the BA Amplifier and component parts must be restricted while connected to a
power source.
4. Residual voltages greater than 60V may be present inside BA Amplifier chassis for more
than 10 seconds after power has been disconnected.
5. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
6. Install the BA Amplifier inside a rack or enclosure.
7. The shunt resistor temperature can exceed 70°C during normal operation and contains
lethal voltage on its terminals and surface. It must be properly enclosed and shielded to
avoid risk of fire and operator shock.
8. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
9. All components must be properly grounded in accordance with local electrical safety
requirements.
10. Operator safeguarding requirements must be addressed during final integration of the
product.
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W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Use of this equipment in ways other than described by this manual can cause personal
injury or equipment damage.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to
avoid potential hazards.
4. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
6. Operators must be trained before operating this equipment.
7. All service and maintenance must be performed by qualified personnel.
8. This product is intended for light industrial manufacturing or laboratory use. Use of this
product for unintended applications can result in injury and damage to the equipment.
BA50/75/100 Hardware Manual Electrical Safety