Danaher Precision Systems DPS BDM-6 User manual

DPS BDM-6™ High
Performance Brush &
Brushless Servo
Motor Amplifier
DPS Controllers

Before using any DPS product, please read all materials
shipped with your system. It is sugested that you keep these
materials near the system for troubleshooting and maintenance
assistance.
Always turn off power before connecting or disconnecting
cables or working near system.
This system is to be used only in accordance with the enclosed-
specifications.
Specifications and configurations are subject to change without
notice.
Thank you for selecting Danaher Precision Systems as your
positioning equipment supplier. We understand that you can
choose from a number of competitive suppliers, and are
pleased that you have selected DPS.
This manual addresses the DPS BDM-6™ Servo Amplifier.
As you unpack and begin to use our product, we would
like your conclusions as to our products’ appearance,
quality, precision, and suitability to your ultimate
application. By providing us with feedback in these and
other areas, you can become an active participant in our
on-going program of continuous improvement.
Our Customer Service department can be reached at:
We encourage you to visit our web site at www.NEAT.com.
It includes information on new products, along with our
existing product catalog, a Motion Control Handbook
covering 33 technical topics, and other useful information.
Thank you again for choosing Danaher Precision Systems.
We look forward to serving you in the future.
Overview
DPS BDM-6™ Servo Amplifier Manual
Features, Product Description, Schematic. . . . . . . . . . . . . . . . . . . . . . . . . 2
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Pin Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Potentiometer & Switch Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Commutation Sequence, Operating Mode Selection, Set Up . . . . . . . . . 6
Current Limit Adjustments, Power Supplies . . . . . . . . . . . . . . . . . . . . . . . 7
Typical System Wiring, Mounting Dimensions, Tolerances. . . . . . . . . . . . 8
Warranty & Terms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Contents
phone: [phone] (1.800.227.1066 in the US)
fax: [phone]
e-mail: suppo [e-mail]
Dahaner Precision Systems
7C Raymond Avenue
Salem, NH 03079
Warnings &
Safety
Information

Features &
Description
Features
• Surface-mount technology
• Small size, low cost, easy to use
• DIP-switch selectable: Current, velocity, or open
loop mode
• Four quadrant rgenerative operation
Description
The BDM-6 PWM Servo Amplifier is designed to drive
brush/brushless DC motors at a high switching frequency. A
single red/green LED indicated operating status. The BDM-6
amplifier is fully protected against over-voltage, over-current,
over-heating, and short-circuits. It interfaces with digital con-
trollers or can be used as a stand-alone drive. This model ony
requires a single, unregulated DC power supply. Loop gain,
current limit, input gain, and offset can be adjusted using 15-
turn potentiometers. the offset-adjusting potentiometer can
also be used as an on-board input signal for testing purpose,
when SW-4 (DIP switch) is on.
DPS BDM-6™ Servo Amplifier Manual

Specifications
Models
Power Stage Specifications A6 A8
DC Supply Voltage 20–60V 20–80V
Peak Current (2 second maximum) ±12A ±15A
Maximum Continuous Current ±6A ±7.5A
Minimum Load Inductance 200mH 200mH
Switching Frequency 33kHz ±15%
Heatsink (Base) Temperature Range 0° to +65°C; disables if > 65°C
Power Dissipation at Continuous Current 18W 30W
Over Voltage Shutdown (Self Reset) 62V 86V
Bandwidth (Load Dependent) 2.5kHz 2.5kHz
Mechanical Specifications
Power Connector Screw Terminals
Signal Connector Molex Connector
Size 5.09 x 2.98 x 0.99 inches
129.3 x 75.8 x 25.1 mm
Weight 10 oz.
0.28 kg

Pin Functions
Connector Pin Name Description / Notes I/O
P1 1 +10V @ 3mA OUT For customer use O
2 SIGNAL GND Reference Ground GND
3 -10V @3mA OUT For customer use O
4 +REF IN Differential reference input, maximum ±15V, I
40k input resistance
5 - REF IN See pin 4 I
6 -TACH IN Tachometer input, maximum ±60 VDC, 60k input I
resistance
7 +TACH / GND Ground GND
8 CURRENT MONITOR OUT Current monitor. 1V = 2A O
9 INHIBIT IN This TTL level input signal turns off all power I
devices of the ‘H’ bridge when pulled to the
ground. This inhibit will cause a fault condition
and a red LED.
10 +V HALL OUT Power for HALL sensors short circuit protected, O
+6V @ +30mA.
11 GND See pin 10 GND
12 HALL 1 HALL sensor inputs, TTL logic levels, internal 5 I
K MISSING SYMBOL pull-up. Maximum low level input is 1.5V,
minimum high level input is 3.5V.
13 HALL 2 See pin 12.
14 HALL 3 See pin 12.
15 CURRENT REFERENCE Monitors the input signal connected directly O
OUT to the internal current amplifier. 7.25V = maximum
current. See current limit adjustment information
below.
16 FAULT OUT TTL level output. Becomes high during output O
(red LED) short circuit, over voltage, inhibit, over
temperature and during power on reset. Fault
condition indicated by red LED.
P2 1 MOTOR A Motor phase A connection O
2 MOTOR B Motor phase B connection O
3 MOTOR C Motor phase C connection O
4 POWER GND Power ground GND
5 HIGH VOLTAGE DC power input I

Potentiometer
Switch
Functions
Potentiometer Description Turning CW
Pot 1 Loop gain adjustment in open loop and velocity modes. Increases loop gain
Turn this pot fully CCW in current mode.
Pot 2 Current limit. It adjusts both continuous and peak current Increases current limit
limit while maintaining their ratio (50%).
Pot 3 Reference gain. it adjusts the ratio between input signal Increases reference
and output variables (voltage, current, velocity). input gain
Pot 4 Test / Offset. Used to adjust any imbalance in the input NA
signal or in the amplifier. when SW4 (DIP switch) is ON,
the sensitivity of this pot is greatly increased, thus it can be
used as an on-board signal source for testing purposes.
Switch Function Description Setting
On Off
1 Duty-cycle feedback. Open Loop No Effect
2 60 / 120° commutation phasing setting. 120° 60°
3 Loop integrator. This capacitor normally ensures Shorts out the Velocity/voltage
“error-free” operation in velocity mode by velocity/voltage loop integrator
reducing the error-signal (output of loop integrator capacitor
summing amplifier) to zero. capacitor. operating.
4 Test / Offset. Sensitivity of the “offset” pot. Test Offset
Used as an on-board reference signal in test mode.

Operating Mode Selection
• Current Mode
• Open Loop Mode
• Tachometer Mode
These modes can be selected by the DIP switches according to
the chart in the block diagram.
Set-Up
• Set amplifier in open loop mode, switch TEST-OFFSET
switch on.
• Set current limit according to maximum motor current.
• Check poswer and connect it to amplifier.
• Connect HALL sensor inputs. LED should be green. Hand
turn motor shaft one revolution. LED should remain green.
If not, change 60/120° phasing switch.
• Connect the three motor wires. There are six ways to
connect the three wires to the MOTOR-A, MOTOR-B,
MOTOR-C pins. Try all six combinations and choose the
best one. If the motor runs slower in one direction, or you
have to move the shaft to start the motor, the combination
is incorrect.
• Adjust TEST-POT for zero speed and switch TEST switch
OFF.
• Set mode suitable for your application.
Operating
Mode Selection
commutation
Sequence
Key
1: High TTL level HALL sensor input (+5V)
0: Low TTL level HALL sensor input (0V)
H: Motor output is high or switching
L: Motor output is low
X: Motor output is off (floating)
The last two lines are the invalid commutation states. In these
states, LED red color indicates that the drive is disabled.
To change direction, swap HALL-1 and HALL-3, then MOTOR-A
and MOTOR-B.
60° 120° Motor
HALL 1 HALL 2 HALL 3 HALL 1 HALL 2 HALL 3 A B C
100100HXL
110110KHL
111010LHX
011011LXH
001001KLH
000101HLX
101111XXX
010000XXX

Current Limit
Adjustments
Current Limit Adjustments
The amplifier features separate peak and continuous current
limit adjustments, but the ratio between them is fixed (50%).
The current limit adjustment potentiometer POT2 adjusts both
peak and continuous current limit at the same time, it has ten
turns and is linear. Thus, to adjust the current limit, turn the
“pot” counterclockwise to zero, then turn clockwise to the
appropriate value.
P1-15 is the input to the internal current amplifier stage to the
motor. Since the output current is proportional to P1-15, the
adjusted current limit can easily be observed at this pin without
connecting the motor.
The actual current can be monitored at pin P1-8.
Recommended
Power Supplies
Recommended Power Supplies
For single axis applications: PS300W
For multi-axis applications: PS2X300W

Typical
System Wiring
Mounting
Dimensions
Tolerances:
.xx - ±0.01
.xxx - ±0.005
Scale: 1:1

Warranty and Terms
Terms and
Conditions
Danaher Precision Systems (DPS) warrants to original equip-
ment manufacturers, distributors and industrial and commercial
users of its products that each new product manufactured or
supplied by DPS shall be free from defects in materials and
workmanship. DPS’s sole obligation under this warranty is lim-
ited to furnishing without additional charge a replacement for,
or at its option, repairing or issuing credit for any product
which shall within one year from the date of sale by DPS be
returned freight prepaid to the plant designated by DPS and
which upon inspection is determined by DPS to be defective in
materials or workmanship. Complete information as to operat-
ing conditions must accompany any product returned for
inspection. The provisions of this warranty shall not apply to
any DPS product which has been subjected to misuse, improp-
er operating conditions or which has been repaired or altered.
Seller makes no warranty that its products are fit for the use or
purpose to which they may be put by the buyer, whether or
not such use or purpose has been disclosed to seller in specifi-
cations or drawings previously or subsequently provided seller,
and whether or not seller’s products are specifically designed
and/or manufactured for this purpose. THIS WARRANTY IS IN
LIEU OF ALL OTHER WARRANTIES, EXPRESSED OR
IMPLIED, INCLUDING ANY IMPLIED WARRANTY OF MER-
CHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
DPS’s sole liability on any such claim of any kind, whether in
contract, tort or otherwise, for any loss or damage arising out
of, connected with, or resulting from the manufacture, sale,
delivery or use of the products sold thereunder shall in no case
exceed the cost of replacement or repair as provided herein. IN
NO EVENT SHALL DPS BE LIABLE FOR ANY SPECIAL, INCI-
DENTAL OR CONSEQUENTIAL DAMAGES. There are no other
warranties, expressed or implied, made by DPS except the war-
ranty against defects in materials and workmanship set forth
above and neither assumes nor authorizes any other person or
firm to assume for it any other obligations or liability in con-
nection with its products.
Custom design work performed by DPS will be subject to
engineering charges. Payments are due upon acceptance of
the custom design work. DPS will retain all copyright and
other proprietary rights to the product and any additional cus-
tom work. The Purchaser shall respect the proprietary rights of
DPS and shall take measures to prevent unauthorized disclo-
sure of information relating to the product and any additional
custom design work. DPS shall retain all proprietary rights and
shall have the right and authority to use, sell, market, research,
and utilize for any other purpose at it sole discretion said
product and custom design work without notification or any
liability whatsoever, including but not limited to monetary
remuneration, to the Purchaser.
Prices in this quotation do not include any taxes or charges of
any nature imposed by any governmental authority which
shall become payable by reason of sale, purchase, delivery,
storage, processing, use, consumption, or shipment of equip-
ment hereunder. All such taxes or charges shall be the obliga-
tion of the buyer and may be either billed to the buyer sepa-
rately, or added to the price of the equipment shipped.
Returning
Goods Procedure
Claims for incorrect or defective materials must be received in
writing within thirty (30) days from delivery at buyer’s place
of business. No units or systems may be returned, in or out
of warranty, without first issuing a purchase order and obtain-
ing a return authorization number from the seller, and no
claim will be allowed nor credit given for units or systems
returned without such approval. Buyer will not be allowed to
debit accounts. All credits must be issued by seller. Units
which have been exposed to hazardous or toxic materials
must be decontaminated at the expense of the Purchaser
before being returned. Equipment that has not been deconta-
minated and certified will not be accepted for repair. After
approval from DPS, the defective unit or system is to be
returned to the factory with a written statement of the prob-
lem and transportation prepaid. (No C.O.D. or collect freight
shipments will be accepted). After DPS’s in-plant examina-
tion, warranty or out-of-warranty status will be determined. If
upon examination of such unit or system, warranted defects
exist, then the unit or system will be repaired at no charge
and shipped prepaid back to the buyer, via common carrier.
If an out-of-warranty situation exists, the buyer shall be noti-
fied of the repair cost immediately. At such time, the buyer
must issue a purchase order to cover the cost of the repair or
authorize the unit or system to be shipped back as is, at the
buyer’s cost. Warranty work will be suspended when
owner/user is in default of financial obligation to seller.
Shipping/Risk
of Loss
Unless express shipping instructions are furnished by buyer,
seller will use its discretion. All shipments are F.O.B. seller’s plant. Upon delivery to a common carrier, title and all risk of loss or damage in transit shall pass to buyer.
Field Service
Policy
If the system or unit cannot be made functional by no-charge
telephone assistance or purchased replacement parts, and
cannot be returned to the DPS factory for repair, then the fol-
lowing field service policy will apply: DPS will provide an
on-site field service representative in a reasonable amount of
time, provided that the customer issues a bonafide purchase
order to DPS covering all transportation and subsistence costs
and the prevailing cost per hour (eight hour minimum)
including travel time necessary to complete the repair, regard-
less of warranty determination. If the DPS field service repre-
sentative determines during his on-site repair that the system
or unit’s problem is not warranty-related, then the prevailing
service charge per hour (eight-hour minimum) shall be
assessed against the issued purchase order.
Order
Cancellation Policy
Cancellation of orders consisting of standard products, for any
reason, is subject to a minimum fifteen (15) percent cancella-
tion charge. All standard, non-standard products, custom prod-
ucts, or systems are subject to a cancellation charge to be
determined by DPS.
Blanket Order
Policy
Any order placed with DPS that has more than one delivery
date for the same line item shall be termed a Blanket Order,
and is is subject to the following conditions:
• Specific ship dates must be given for the entire quantity of
each item when an order is placed. DPS must receive writ-
ten confirmation of a purchase order verifying these dates.
• The entire quantity of each item on an order must be
shipped within 12 months of receipt of order.
• DPS reserves the right to refuse any rescheduling of delivery
dates.
• Quantity increases to items on existing orders may not be
subject to the same quantity discount as given on the original
order.
Prices and specifications are subject to
change without notice.

7C RAYMOND AVENUE
SALEM, NEW HAMPSHIRE 03079
TEL: [phone] • 603.893.0588
FAX: [phone] • 603.893.8280
[e-mail] • www.NEAT.com
Moving The World, One Nanometer At A Time.™
PR032/Rev 00/10-01
All tradenames,the Danaher logo,and the NEAT logo are
trademarks of Danaher Corporation or its subsidiaries.
© 2001 Danaher Corporation.All rights reserved.
Specifications subject to change without notice.