Home

User Manual for QuickStart BR3410NI-A03

1. n BL 1 es i 69 Z 5 Wd Qd o cu C Li x gt x Y X d X D 0 F A A p 0 CU fe i AO 1 Ld rS S oc 2 dj oz p t3 lt 0 gt Y N E p N 4 qu E CY si ie 4 an lt a Es lt 02 5 D E gt B Ma E FE LL ro Q _ AL y ut m LJ pe LJ 0 WD CO e EX we 5 a ed Ed lt gt La SY 255 s LJ 9 M gt 1 5 NS D gt lt Ay TN SS m _ i m 1 amp 9 9 n i p FA C2 D r3 CO 7 TN bf u J D 2 D l EE Fa xi O Ml JD Co if 1 a 2 udi E m CO
2. MOTION CONTROLS Analog Servo Drive 30A20AC MECHANICAL INFORMATION 1 Signal Connector Connector Information 16 pin 2 54 mm spaced friction lock header Details Molex P N 22 01 3167 connector and P N 08 50 0114 insert terminals Mating Connector Included with Drive Yes r 15 NC 13 INHIBIT IN r 11 INHIBIT IN r 9 CURRENT REF OUT 7 TACH GND 5 REFIN 10V 3mA OUT r 1 10V 3 OUT E me SIGNAL GND 4 REF IN 6 TACH IN 8 CURR MONITOR OUT 10 NC 12 INHIBIT IN 14 FAULT OUT 16 NON ISO GND P2 Motor Power Connector Connector Information 2 contact 11 10 mm spaced tri barrier terminal block Mating Connector Ee Not Included with Drive Not applicable 2 MOT 1 MOT Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Page 7 of 9 3 2 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com 9 ADVANCED CONTROLS Analog Servo Drive 30A20AC MOUNTING DIMENSIONS
3. 4 Pin AMP Connector Terminals Single Wire P N 1 480703 0 P N 350873 1 DIAGRAM Connector A Leads ing ingle Wires 5 4 ADVANCED MOTION CONTROLS 805 389 1165 805 389 1935 Fax 3805 Calle Tecate Camarillo CA 93012 Tel 5 System Interface Board SIB 12325567 8 9 101112 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Dimensions 72mm x 72mm C1 Connector 15 pin to motor C2 Connector 26 pin to drive C3 Connector 26 pin user interface C3 Pin Functions Pin Function 15 Pin Dsub 1 10V 3mA 1 HD 2 SGND 3 10V 3mA C2 Shell NI 4 Ref In 5 Ref in 6 Tach In 1 7 Tach Gnd PL 8 4 _ _ ___ __ 4 9 2 31 1 1 13 1 gt 10 NC 7 _ 111 LLL 11 Inhibit aoe ot ie m WEE C2 Lh T 2 E 5 14 Fault Out SE Ss 5 ge 15 O a elas 15 NC eo 15 5 55 D 58 16 Non Iso GND i ml eus 5 2 58 _ 21 p 21 D 2 E 2 19 24 mm 24 25 25 20 26 26 21 22 23 24 25 26
4. P N 08 50 0114 NOTE For cables wi Creating a twisted pair from these DIAGRAM Connector A Single Wires Twisted Pairs th only twisted 1COINJIOD IO CBL D01 DRIVE CABLE Single Wire in in in in le le E ire ire _ ire __ ire _ _ _ ire __ ire ire _ ire ire Twisted Pair Twisted Pair Shield 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Current Mon Variable ariable ariable ariable ariable ariable ariable ariabl EF OU REF Shield CABLE 001 black lack white red red black blue blue white purple urple white orange orange white brown brown white yellow ellow black green green white Quick Start Cable ontact ee Orig mi AIOMI 1901O1O airs single wires be paired with other single or unused wires wo wires is recommended for brushless applications Connector 26 Pin AMP D SUB Plug P N 748365 1 Housing P N 748677 2 erminals P N 748333 4 Connector B Quick Start Cable CBL P03 10 POWER CABLE WIRING SPECIFICATIONS CBL P03 10 CABLE Connector T c i o d c Single Wire A
5. Release Date Revision ADVANCED Motion Controls 3805 Calle Tecate Camarillo 93012 11 30 2011 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com ANO IS ADVANCED MOTION CONTROLS Release Date Revision 3 2 2010 2 01 Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 ph 805 389 1935 fx 805 389 1165 www a m c com Analog Servo Drive 2 SPECIFICATIONS Power Specifications Description Units Value AC Supply Voltage Range VAC 45 140 DC Supply Voltage Range VDC 40 190 DC Bus Over Voltage Limit VDC 195 Maximum Peak Output Current A 30 Maximum Continuous Output Current A 15 Maximum Continuous Output Power at Continuous Current W 2707 Internal Bus Capacitance UF 3600 Internal Shunt Resistance 10 Internal Shunt Resistor Power Rating W 50 Internal Shunt Resistor Turn on Voltage VDC 185 Minimum Load Inductance uH 250 Switching Frequency kHz 22 Shunt Fuse A 3 Bus Fuse A 16 Control Specifications Description Units Value Command Sources 10 V Analog Feedback Supported 10 VDC Position Tachometer 60 VDC Commutation Methods Brush Type Modes of Operation Current IR Compensation Velocity Voltage Motors Supported Single Phase Brushed Voice Coil Inductive Load Hardware Protection Over Current Over Temperature Over Voltage Short Circuit Phase Phase amp Phase Ground Primary Logic Level 5V TTL Internal Shunt Regulator Ye
6. SW8 OFF OFF SW9 OFF OFF SW10 OFF OFF Pots Pot 1 Loop Gain 10 5 turns 10 5 turns Pot 2 Current Limit Full CW Full CW Pot 3 Reference Gain Full CW Full CW Pot 4 Offset Mid 7 turns Mid 7 turns Potentiometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click ADVANCED MOTION CONTROLS 01 14 Integrate QuickStart into Your System Configuration The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turn the pot CCW until the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Now turn the pot in the CW direction the number of turns indicated in the Mode Selection Table Loop Gain Potentiometer 1 In Velocity Mode the loop gain increases the responsiveness of the system The loop gain settings in the mode selection table are a good starting point However once the drive is in the system the loop gain will need to be adjusted to match the system dynamics To adjust the Loop Gain e Turn the Loop Gain pot to the full counterclockwise position e En
7. MOTION CONTROLS MNQSA3UM 01 36
8. hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through hole component values for the specific application Tachometer Gain Some applications may require an increase in the gain of the tachometer input signal This occurrence will be most common in designs where the tachometer input has a low voltage to RPM scaling ratio The drive offers a through hole location listed in the above table where a resistor can be added to increase the tachometer gain Use the drive s block diagram to determine an appropriate resistor value Compensation Notes For applications that will use Compensation mode a resistor can be added to the location named the table above The combination of the added resistor and correct dipswitch settings will configure the amplifier for IR Compensation mode While in Compensation mode the amplifier will adjust the duty cycle to compensate for changes the output current Consult the amplifier s functional block diagram and the manufacturer s website for more information t Note Damage done to the drive while performing these modifications will void the warranty Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 3 2 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com Page 41 VANCED
9. system quality and reliability Examples of Customized Products Integration of Drive into Motor Housing Integrate OEM Circuitry onto Drive PCB Mount OEM PCB onto Drive Without Cables Custom Control Loop Tuned to Motor Characteristics Multi axis Configuration for Compact System Custom 1 0 Interface for System Compatibility Custom PCB and Baseplate for Optimized Footprint Preset Switches and Pots to Reduce User Setup RTV Epoxy Components for High Vibration Optimized Switching Frequency OEM Specified Connectors for Instant Compatibility Ramped Velocity Command for Smooth Acceleration OEM Specified Silkscreen for Custom Appearance Remove Unused Features to Reduce OEM Cost Increased Thermal Limits for High Temp Operation Application Specific Current and Voltage Limits aR RED Feel free to contact Applications Engineering for further information and details Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system Visit www a m c com to see which accessories will assist with your application design and implementation 2 e niai z Filter Cards To Motor TE H EL 1 AA Drive s All specifications in this document are subject to change without written notice Actual product may differ from pictures provided in this document Release Date Revision Advanced Motion Controls 3805 Calle T
10. the drive and the controller are referenced to signal ground Without this reference the drive and the controller would not be able to transmit signals to each other To ensure that the signals between the drive and the controller are referenced to the same potential the signal grounds on the controller and the drive must be connected together This is especially important for Single ended command signals e Inhibit line e Other inputs and outputs You will need to identify the signal ground on your controller and connect it to the signal ground on the drive For your convenience the Signal Ground is accessible at two locations on the SIB However to avoid ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds Available Signal Ground Locations on the SIB Controller SIB Signal Ground 3 2 SGND C3 7 Tach GND ADVANCED MOTION CONTROLS MNQSA3UM 01 8 Integrate QuickStart into Your System Wiring 3 1 2 Command Signal Command signal and mode selection are dictated by the capabilities of your controller and the desired operation of your system Analog 10V command signals are suited for torque and velocity modes 10V Command Signal Single Ended Signal SIB Available Drive Modes SGND C3 2 SGND Command C3 4 Ref Torque Mode Velocity Mod
11. v m D 2 2 2 E OU m LH a ij 5 6 O QJ s 7 LI J Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 3 2 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com Page Cre ADVANCED CONTROLS Analog Servo Drive 30A20AC PART NUMBERING I NFORMATI ON 30 A 20 AC Additional Option Peak Current dditional Options Maximum peak current rating in Amps Revision Assigned a letter A through Z by manufacturer Peak Voltage Power Supply Peak voltage rating scaled 1 10 in Volts DC Power Supply AC AC Power Supply Isolation Option Analog Command Optical Isolation DD PWM Command ADVANCED Motion Controls analog series of servo drives are available in many configurations All models listed in the selection tables of the website are readily available standard product offerings ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system Equipped with on site manufacturing for quick turn customs capabilities ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time to market while increasing
12. 2 Additional Requirements Item Notes Power Supply Requirements 120 60 hz Single Phase Acceptable Operating Range 30 125 Feedback this package does not come with feedback an additional encoder or tachometer must be installed for precise position or velocity control Controller 10V Command Signal ADVANCED Z MOTION CONTROLS 01 5 Minute QuickStart Let s Spin the Motor This quick setup procedure will get the motor moving in a short amount of time without the need for a controller The drive has been pre configured in Voltage Mode with a slight offset This will turn the motor at a slow steady speed on power up to demonstrate operation Once the system is shown to be operational the next section Integrate QuickStart into Your System will guide you through the process of integrating the system into your application 2 1 Wiring In Section 2 4 you will find the cables and connections sheet Use this as a reference when following the steps in this section 2 1 1 Drive Connect cable CBL D01 to the P1 connector the drive Connect the other end to the C2 connector on the system interface board SIB 2 1 2 Motor Connect the white connector on the motor to the corresponding connector on cable CBL P03 10 Connect the red and black wires to the P2 connector on the drive Black Motor 1 P2 1 Red Motor 2 P2 2
13. ADVANCED MOTION CONTROLS Everything s possible BR3410NI A03 AC120 gt User Manual Plug n Play Servo System with Analog Drive Brushed Motor and Cables Continuous 10 Ib in 4200 rom 03 20 Thank you for purchasing this QuickStart package QuickStart makes it easy to set up Advanced Motion Controls drives to get your system running quickly The drive and motor have been matched with each other the cables are custom made for this system and an interface board simplifies integration with your controller Remember if you need us we are here for you Our goal is to get you up and running as quickly as possible If at any point you have a question a team of applications engineers and our customer service staff are just a phone call away We are available weekdays from 8am to 5pm Pacific Time at 805 389 1935 We can also be contacted via email through our website www a m c com go to Contact Us 4 Steps to Success 1 2 3 4 Getting Started 5 Minute Integrate Going into QuickStart QuickStart into Production Your System What s included Let s spin the motor Get your machine Transitioning from with QuickStart and working prototype to what to expect production This manual has been laid out in four sections to guide you through the process of setting up and integrating your QuickStart system By following
14. Apply power to the drive If an inhibit switch has been installed enable the drive by toggling the inhibit switch so the LED turns Green The motor should turn at a smooth controlled speed If the motor turns then the system has been hooked up correctly Remove power and continue to the next section If not then go to Troubleshooting To stop the motor from turning turn the Test Offset switch SW10 to the OFF position Then use the offset pot Pot 4 to set the speed to zero 2 6 1 Troubleshooting LED not lit Verify that power has been applied to the drive Motor doesn t have holding torque Verify that the LED is Green LED doesn t turn Green Verify all cables are connected If an Inhibit Switch has been installed toggle the Inhibit switch Motor doesn t turn but has holding torque Turn Pot 4 Test Offset in either direction This will change the amount of offset in the drive Contact Factory If you can t get the motor turning within a few minutes please call and ask for technical support 805 389 1935 We want to get you up and running quickly ADVANCED MOTION CONTROLS 01 Integrate QuickStart into Your system The following instructions are a continuation of the previous chapter This section explains controller wiring drive configuration drive mounting motor mounting SIB mounting and load coupling 31 Wiring 3 1 1 Signal Ground Almost all signals between
15. CBL AC IEC supplies AC to the drive Do not apply power at this time An AC power strip or other switch can be used to make cycling power more convenient during testing ADVANCED MOTION CONTROLS 01 4 5 Minute QuickStart Grounding 2 2 Grounding ________________ Bring all ground wires to central point ground such as a ground bus ground plane single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case 2 2 1 Motor Ground The green wire coming from the motor power cable is the motor chassis ground If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other 2 3 Inhibit Switch optional for this section _____________ eee An inhibit switch not included can be connected between pins 9 and 11 on the Interface Board This switch disables power to the motor until you are ready Opening the switch Enables the drive closing the switch Disables the drive To avoid the motor from jumping unexpectedly and causing damage the motor should be secured either with clamps or bolted down using its mounting holes Caution ADVANCED MOTION CONTROLS 01 5 Minute QuickStart Cables and Connecti
16. FF ON OFF OFF OFF OFF Note SW7 should be off for most applications Potentiometer Functions Potentiometer Description Turning CW 1 2 3 4 Loop gain adjustment for voltage velocity modes Turn this fully CCW in current mode Current limit It adjusts both continuous and peak current limit while maintaining their ratio Reference gain Adjusts the ratio between input signal and output variables voltage current or velocity Offset Test Used to adjust any imbalance in the input signal or in the amplifier Can also be used as an on board signal source for testing purposes Increases gain Increases limit Increases gain Adjusts offset in negative direction Note Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end Release Date 3 2 2010 Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com Page 5 of 9 ADVANCED MOTION CONTROLS Analog Servo Drive 30A20AC Through hole Components Location Description C72 Velocity Loop Integrator Through hole capacitor that can be added for more precise velocity loop tuning See section below on Tuning with Through hole components for more details Current Loop Integrator Through hole capacitor that can be added for more precise current loop tuning See section below on Tuning with Through hole components for more details Current
17. Fi 3 10 OUTPUT SO 0k POTH L aa E TEST 15 5 S0AACSHI lt GROUNDS ARE OPTICALLY ISOLATED CURRENT MONITOR MODE SELECTION TABLE 1 8 Fi 16 LED GREEN NORMAL OPERATION LED FAULT RECOMMENDED SETTING FoR CURRENT MOTE FULLY CCH FULLY CH EST T AMPLIFIERS ARE SHIPPED IM CURRENT MODE WITH MAXIMUM CURRENT SETTINGS FOR OTHER SWITCH FUNCTIONS SEE SWITCH DESCRIPTIONS COMPENSATION OPTIONAL USER INSTALLED THROUGH HOLE COMPONENT SHOWLO BE OFF FOR MOST APPLICATIONS 7 Information Approvals Compliances US and Canadian safety compliance with UL 508c the industrial standard for power conversion electronics UL registered under file number E140173 Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products specifically EN 61000 6 4 2007 and EN 61000 6 2 2005 and LVD requirements of directive 2006 95 EC Compliant with European CE for both the Class A EMC Directive 2004 108 EC on Electromagnetic Compatibility specifically EN 60204 1 2006 a low voltage directive to protect users from electrical shock RoHS Reduction of Hazardous Substances is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment
18. Loop Proportional Gain Through hole resistor that be added for more precise current loop tuning See section below on Tuning with Through hole components for more details Tachometer Input Scaling Through hole resistor that can be added to change the gain of the tachometer input See section below on Tachometer Gain for more details IR Compensation Scaling Through hole resistor that added to configure the amplifier for Compensation mode See section below on IR Compensation Notes for more details C73 77 Tuning With Through hole Components In general the drive will not need to be further tuned with through hole components However for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches the drive can be manually modified with through hole resistors and capacitors as denoted in the above table By default the through hole locations are not populated when the drive is shipped Before attempting to add through hole components to the board consult the section on loop tuning in the installation notes on the manufacturer s website Some general rules of thumb to follow when adding through hole components are larger resistor value will increase the proportional gain and therefore create a faster response time e A larger capacitor value will increase the integration time and therefore create a slower response time Proper tuning using the through
19. Voltage feedback Mode dependent see mode selection table 1 On Off below 2 IR compensation Activates or deactivates feedback for On Off IR compensation mode and OFF for other modes 3 Current loop proportional gain adjustment ON by default Decrease Increase 4 Inner current loop integral gain adjustment OFF by default Decrease Increase Current scaling When OFF increases sensitivity of current sense thus reducing both peak and continuous current limit by 50 5 ds Full current Half current The scaling of the current monitor output signal becomes 72 its ordinary value when this switch is OFF 6 Current limit ratio Used to set continuous to peak current limit Cont Peak Ratio 25 Cont Peak Ratio 50 ratio Default is OFF 7 Current loop integral gain Activates or deactivates integration TE Active OFF by default g Outer loop integration Activates or deactivates integration ON inactive Active by default for current mode and OFF for other modes Outer loop integral gain adjustment It is recommended to leave 9 cc Decrease Increase this switch OFF for most applications Test Offset Switches the function of the Test Offset pot between 10 an on board command input for testing or a command offset Test Offset adjustment OFF by default Mode Selection Table 5 1 SW2 SW3 SW4 SW7 SWS8 SWO9 CURRENT OFF OFF ON OFF OFF ON OFF VOLTAGE ON OFF ON OFF OFF OFF OFF IR COMPENSATION ON ON ON OFF OFF OFF OFF TACHOMETER OFF O
20. able the drive e Turn the Loop Gain pot clockwise e When the system begins to make a loud buzzing noise turn the pot in the counterclockwise direction until the buzzing stops e Turn the pot one more turn in the counter clockwise position Reference Gain Potentiometer 3 The gain of the drive velocity out volts in can be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot clockwise increases the gain while turning the pot counter clockwise decreases the gain ADVANCED MOTION CONTROLS 01 15 4 Going into Production 4 1 Prototype to Production Once you have completed your proof of concept you will be ready to design for production If you decide that the QuickStart drive and motor are perfect for you then you re in luck Both are popular off the shelf items that are readily available Drives can be ordered directly from us and we can put you in touch with the appropriate motor supplier If your servo system requires a drive that better fits your application such as e Additional features e Different power range e Smaller size Different form factor such as plug style drives e Network connectivity Then our applications engineers can help optimize your system by selecting the best drive for your needs ra yy i You will also be in contact with local representative to help you with the selection of motors and other syst
21. al brake shunt resistor FEEDBACK SUPPORTED Tachometer 60 VDC 10 VDC Position COMPLIANCES amp AGENCY APPROVALS UL cUL CE Class A LVD CE Class A EMC RoHS Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 phz 805 389 1935 fx 805 389 1165 www a m c com Page 1 of 9 ADVANCED MOTION CONTROLS Analog Servo Drive 30A20AC BLOCK DIAGRAM BROKEN LINE REPRESENTS pe ee er EN 1 750 OPTICAL ISOLATION 180 SERIES FUNCTIONAL BLOCK DIAGRAM 1 11 1 1 13 1 14 F1 3 1 10 15 uM IHH FAULT CURRENT FEFEREMCE el el ek ck cauTPUTA RESERUET 20 125 INPUT POWER i SWS ow Fuse Ha MMBTZ222 LOK TT HIGH WOLTAGE me 44 P1 4 REF IM 2 EL RX PNE Juv REF IN GAIN 0 01 TE POWER GROUND Too Reet 5k 500K rf 4 eo L gt CURRENT ps 0 01 SHUNT AEN E CH PEGULATOR LOOF ONLY GAIH POT CONTROL MOSFET DRIVE TACH GAIN MOTOR 2 2 5nk P2 1 0 01 COMPENSATION P1 6 TACH VOLTAGE FEEDBACK Pi r GND ISOLATED SIGNAL GROUND LOK een CURRENT FEEDBACK Pi 2 SIGNAL GND OFFSET 154 1 100 OUTPUT
22. but may be reduced to half this value by setting DIP switch SW 5 to OFF O see Hardware Settings section below Measure relative to power ground Measures the command signal to the internal current loop This pin has a maximum output 9 CURRENT REF OUT of 27 25 V when the drive outputs maximum peak current Measure relative to signal ground 10 NC Not Connected Reserved 11 INHIBIT IN TTL level 5 V inhibit enable input Leave open to enable drive Pull to ground to inhibit drive Inhibit turns off all power devices 12 INHIBIT IN Positive Direction Inhibit Does Not Cause A Fault Condition 13 Negative Direction Inhibit Does Not Cause Fault Condition TTL level 5 output becomes high when power devices are disabled due to least one 14 FAULT OUT of the following conditions inhibit output short circuit over voltage over temperature O power up reset 15 NC Not Connected Reserved 16 NON ISO GND Connected to power ground and can be used as a reference point for P1 8 and P1 9 PGND P2 Motor Power Connector Pin Name Description Notes I O 1 MOT Negative Motor Output O 2 MOT Positive Motor Output O Release Date Revision Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Page 4 of 9 3 2 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com 9 ADVANCED MOTION CONTROLS Analog Servo Drive 30A20AC HARDWARE SETTINGS Switch Functions Switch Description 2CEUng On Off
23. e 10V Command Signal Differential Signal SIB Available Drive Modes Command C3 4 Command 3 5 Ref Torque Mode Velocity Mode More Information on Mode Selection Drive modes can be separated into three basic categories Torque Velocity and Position The name of the mode describes what servo loops are being closed in the drive They don t describe the end result of the operation For example a drive in Torque mode can still be in a positioning application if the external controller closes the position loop In fact most high performance positioning systems use a drive in torque mode with the controller closing the velocity and position loops The correct mode is determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Once the command signal and mode have been selected connect the controller to the signals as indicated in the above tables The proper gains and command settings must also be configured This will be explained later in the configuration section 3 1 3 Drive Inhibit Recommended The inhibit line is used to turn off power to the motor while the drive is still powered on Sometimes this is necessary if power to the motor
24. each step in succession you will first be introduced to QuickStart then hook up the system for a simple bench test and then integrate QuickStart into your machine and finally transition into the production stage ADVANCED MOTION CONTROLS 01 Getting Started 1 1 What to Expect What is QuickStart QuickStart is a system offering including a drive a motor all necessary cables and an interface board with screw terminal connections all in one box ready for fast delivery What purpose does QuickStart serve QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and provide a positive first experience Why is Advanced Motion Controls offering a QuickStart package We realize that many OEMs today are faced with trying to get their machinery to market using the fastest possible methods Our solution is to provide a means by which motion control can be quickly proven How does QuickStart benefit potential customers QuickStart is designed to make system prototyping easier to include Advanced Motion Controls servo drives The attraction to OEM s is a savings of time money and the personnel needed to move from conception to production Upon receipt everything will plug in and operate within 5 minutes All systems are initially configured in velocity or voltage mode to turn the motor shaft at 30 20 rpm This is an indication that when put together it works
25. ecate Camarillo CA 93012 3 2 2010 2 01 ph 805 389 1935 fx 805 389 1165 www a m c com Page 9 of 9 System Specifications This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA3UM 01 31 Quick Start Motor MBR3410NI BRUSHLESS SERVO MOTOR FEATURES 3 25 Inch HD NEMA 34 Motor Continuous Torques up to 10 6 Ib in opeeds up to 4200 rpm Voltage Rating up to 90 Vdc 30 Lb Radial Load 1 2 from Front Face omooth low cogging Magnetics SPECIFICATIONS SPECIFICATIONS CONTINUOUS TORQUE PEAK TORQUE SPEED RATED VOLTAGE RATED VOLTAGE CONTINUOUS CURRENT PEAK CURRENT TORQUE CONSTANT VOLTAGE CONSTANT RESISTANCE INDUCTNACE INERTIA WEIGHT 2 195 THRU 4 HOLES EQ SPACED AS SHOWN ON A 2 625 B C 015 DEEP x 63 LONG 812 02 2 25 50 2 31 FRONT FLANGE 4 ADVANCED MOTION CONTROLS Nm Ib in Nm Ib in L 06 DIMENSION L 5 00 44 40 UNC 2B x 20 DEEP MIN 2 EQ SPACED AS SHOWN ON A 21 812 B C 187 x 020 w 18 LEAD WIRES 6 ___ ____ _____76 ____ 56 8 1 2 10 6 3 99 8 2 7 6 0 1757 1 56 MOTOR BRUSH TABS 2 70 03 3805 Calle Tecate Camarillo 93012 Tel 805 389 1935 Fax 805 389 1165 System Specifications This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA3UM 01 33 WIRING SPECIFICATIONS Connector 16 Pin Molex Connector P N 22 01 3167 Terminals
26. em components such as cables gear boxes slides bearings and more Feedback Your feedback is important to us Your comments can make QuickStart better and help us improve our processes technical support customer support and product offering Please go here to provide us your feedback ADVANCED MOTION CONTROLS MNQSA3UM 01 1 6 Going into Production Prototype to Production This page intentionally left blank ADVANCED 24 NOTION CONTROLS MNQSA3UM 01 1 ADVANCE System Specifications Drive Datasheet Motor Datasheet Cable Datasheets System Interface Board D YA MOTION CONTROLS 01 18 ADVANCED 24 NOTION CONTROLS 01 This page intentionally left blank 19 System Specifications System Specifications Torque peak 46 8 lb in 5 27 Nm Torque continuous 10 6 Ib in 1 2 Nm Velocity Maximum 4200 rpm Supply Voltage 120 VAC Speed Torque Curve 03 120 F3 0 c I Ew m 6 C cC 1000 2000 2000 4000 Speed rpm ADVANCED MOTION CONTROLS MNQSA3UM 01 20 System Specifications This page intentionally left blank ADVANCED YA NOTION CONTROLS MNQSA3UM 01 21 ADVANCED MOTION CONTROLS Description The 30A20AC PWM servo drive is designed to drive bru
27. ly if peak performance is demanded of the motor 3 1 6 SIB Mounting Mounting Dimensions can be found in the SIB datasheet in the Appendix The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix Contact If using the mounting holes standoffs must be used to Keep the bottom of the SIB from shorting with the mounting surface 3 1 7 Cable Routing Cable Datasheets can be found in the Appendix QuickStart cables come with excellent shielding and make proper grounding easy This makes proper cable routing less critical however proper routing practices should still be followed Route cables to minimize length and minimize exposure to noise sources The motor power wires are a major source of noise and the motor feedback wires are susceptible to receiving ADVANCED MOTION CONTROLS MNQSA3UM 01 1 0 Integrate QuickStart into Your System Wiring noise This is why it is never a good practice to route the motor power wires close to the motor feedback wires even if they are shielded Although both of these cables originate at the amplifier and terminate at the motor try to find separate paths that maintain distance between the two A rule of thumb for the minimum distance between these wires is 1cm for every 1m of cable length 3 1 8 Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis U
28. needs to be removed quickly or if the user needs to manually move the load in a freewheeling condition If your controller has an inhibit function then we highly recommend that you use it Inhibit Connection Controller SIB Inhibit C3 11 Inhibit Note that the inhibit input is configured to disable the drive when pulled low active low ADVANCED MOTION CONTROLS MNQSA3UM 01 9 Integrate QuickStart into Your System Wiring 3 1 4 Drive Mounting Mounting Dimensions are found in the drive datasheet in the Appendix The drive can be mounted flat against the base plate or along the spine Mounting the drive flat on the base plate against a large thermally conductive surface for cooling will provide the most natural heat dissipation for the drive A metal back plane ina cabinet on the machine often makes a good surface Drives mounted on the spine can be mounted next to each other Maintain a minimum separation of 1 inch between drives to provide adequate convection cooling Additional cooling may be necessary to dissipate the heat generated by the drive depending on ambient temperatures duty cycle and natural ventilation Note 3 1 5 Motor Mounting Mounting Dimensions are found in the motor datasheet in the Appendix The mounting surface must be stiff enough so it does not deflect when radial loads are applied to the motor shaft The mounting surface should also have good thermal conductivity especial
29. ommon units are rpm V and counts per second V Since the two velocity modes in this system don t use direct feedback their performance isn t as accurate as as true velocity mode Voltage Mode This mode does not use any feedback to determine velocity Velocity is estimated by measuring the voltage across the motor terminals Since motor voltage is proportional to the speed the velocity can be controlled IR Compensation Mode This the same as Voltage Mode with the addition of positive current feedback into the voltage loop IR compensation improves on Voltage Mode performance by enabling the amplifier to react to disturbances on the motor shaft When the shaft is stalled the back emf naturally drops which increases the current into the motor The increased current in the form of a voltage signal is injected back into the voltage loop which effectively tells the motor to further increase the output and maintain velocity The disadvantage of this mode is the use of positive feedback that tends to make this mode more unstable and difficult to tune The Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuration Mode Selection Table Voltage Mode current limit with these settings 7 5A continuous 30A peak Voltage IR Comp Switches SW1 ON ON SW2 OFF ON SW3 ON ON SW4 OFF OFF SW5 ON ON SW6 OFF OFF SW7 OFF OFF
30. ons 2 4 Cables and Connections User Power BR341 ONI A03 AC1 20 120VAC Cables and Connections ted 30A20AC USER SUPPLIED CONTROLLER PC Based Controller Stand Alone ae Controller USER INTERFACE _ CBL D01 loop Choose one or the other 4482 System Interface Board SIB i Ground Bring all ground Caution i connections to a central point The motor will move on initial or common plane that has solid power up See the manual to contact with Earth ground r emove offset Note Actual cables are longer than they appear in these images MBR3410NI A ADVANCED MOTION CONTROLS ADVANCED MOTION CONTROLS MNQSA3UM 01 6 5 Minute QuickStart Inhibit Line Test optional 2 5 Inhibit Line Test optional Follow this step only if you installed the inhibit switch described in Section 2 3 This is to verify that the optional inhibit switch is functioning and the drive is initially powered up ina disabled state 1 Disconnect the motor power by unplugging the white connector CBL P03 10 Unplugging this connection allows you to power up the system without the possibility of spinning the motor Apply power to the drive Toggle the inhibit switch and verify that you can cause the LED color to change from Red to Green Set the switch so the LED is Red Remove power from the drive and reconnect the white connector on CBL P03 10 2 6 System Power Up 1 2
31. oop Gain Full CCW Pot 2 Current Limit Full Pot 3 Reference Gain Full CW Pot 4 Offset Mid 7 turns Potentiometer Instructions CW is the clockwise direction CCW is the counterclockwise direction Full CW or Full CCW means the pot has been turned to the end of its travel where it begins to click on every turn These potentiometers have a 14 turn range before they start to click The number of potentiometer turns on the Mode Selection Table is referenced from the full counterclockwise position To maintain consistency in the number of turns the initial starting point is defined as follows 1 Turn the pot CCW until the pot begins to click on every turn 2 Continue to slowly turn the pot CCW until the next click is heard then stop 3 Now turn the pot in the CW direction the number of turns indicated in the Mode Selection Table Gain Setting The gain of the drive amps out volts in can be adjusted using the Reference Gain Potentiometer Pot 3 Turning the pot to the full clockwise position results in a gain of roughly 3A V Turning the pot counter clockwise reduces the gain down to a minimum of zero ADVANCED MOTION CONTROLS MNQSA3UM 01 1 3 Integrate QuickStart into Your System Configuration 3 2 2 Velocity Mode Configuration Velocity mode controls the motor such that the motor velocity is proportional to a given input command The gain can be expressed as output velocity input command C
32. out of the box No pots to tweak or software to configure Are QuickStart program motors available for individual resale Quite simply not from Advanced Motion Controls The motors in these packages are meant to represent what is commonly available from many different manufacturers Your local Advanced Motion Controls representative can handle requests for motor model information for additional purchases How is QuickStart pricing important to me Careful selection of systems incorporate popular Advanced Motion Control s drives in order to maximize exposure and minimize costs What other considerations should you know about QuickStart Although it will be hard to find easy to configure systems like these at lower prices anywhere QuickStart isn t intended for multiple pre packaged system selling Initial exposure to Advanced Motion Controls drives is the key Each project will be followed up by our Sales department to determine overall progress and assist in determining the next step ADVANCED MOTION CONTROLS 01 2 Getting Started What to Expect 1 1 1 Package Contents Brushed Servo Drive 30A20AC Brushed NEMA 34 Motor MBR3410NI LlScrew Terminal Board SIB System Interface Board LI Motor Power Cable 10 foot CBL P03 10 LlDrive Power Cable CBL AC IEC Cable 1 5 foot CBL D01 LlDocumentation Quick Connect Sheet User Manual Brochure 1 1
33. s Internal Shunt Resistor Yes Mechanical Specifications Description Units Value Agency Approvals CE Class CE Class LVD cUL RoHS UL Size H x W x D mm in 186 7 x 107 4 x 62 2 7 4 x 4 2 x 2 4 Weight g 02 1140 40 2 Heatsink Base Temperature Range C F 0 65 32 149 Storage Temperature Range C F 40 85 40 185 Form Factor Panel Mount P1 Connector 16 pin 2 54 mm spaced friction lock header P2 Connector 2 contact 11 10 mm spaced tri barrier terminal block Notes 1 Maximum duration of peak current is 2 seconds 2 Lower inductance is acceptable for bus voltages well below maximum Use external inductance to meet requirements 3 Additional cooling and or heatsink may be required to achieve rated performance Page 3 of 9 ADVANCED MOTION CONTROLS Analog Servo Drive 30A20AC PIN FUNCTIONS P1 Signal Connector Pin Name Description Notes I O 1 10V 3mA OUT O 2 SIGNAL GND 10 V 3 mA low power supply for customer use Short circuit protected Reference SGND ground common with signal ground 3 10V 3mA OUT O EN Differential Reference Input 10 V Operating Range 15 V Maximum Input 6 Negative Tachometer Input Maximum 60 Use signal ground for positive input 7 TACH GND Positive Tachometer Input and Signal Ground SGND Current Monitor Analog output signal proportional to the actual current output Scaling is 8 CURR MONITOR OUT 7 7 by default
34. se the silver screw marked PE on the case Motor Ground The green wire coming from CBL P03 10 is for the motor case ground If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other 3 1 9 Load Coupling A non rigid coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads or misalignment If you feel that the radial load on the motor is excessive you may want to consider connecting the motor to an idler shaft that is supported by pillow block bearings or similar Then the load can be coupled to the idler shaft without risking damage to the motor bearings ADVANCED MOTION CONTROLS 01 11 Integrate QuickStart into Your System Configuration 3 2 Configuration 30A20AC Capabilities Mode Category Mode Name Torque Current Velocity Estimation Voltage IR Compensation Voltage Mode and IR Compensation Mode do not use direct feedback to close the velocity loop therefore they can t be considered a true velocity modes These modes produce velocity that 15 roughly proportional to the input command but are not as precise as using a Tachometer or Encoder The correct mode is determined b
35. sh type DC motors at a high switching frequency A single red green LED indicates operating status The drive is fully protected against over voltage under voltage over current over heating and short circuits across motor ground and power leads Furthermore the drive can interface with digital controllers or be used as a stand alone system The drive requires only a single AC power supply Loop gain current limit input gain and offset can be adjusted using 14 turn potentiometers The offset adjusting potentiometer can also be used as an on board input signal for testing purposes Optical Isolation Between High amp Low Power Signals Four Quadrant Regenerative Operation DIP Switch Selectable Modes Adjustable Current Limits High Switching Frequency Differential Input Command bbb bb Lh Built in Shunt Regulator Circuit MODES OF OPERATI ON Voltage Compensation Velocity COMMAND SOURCE 10 V Analog Revision 2 01 Release Date 3 2 2010 Analog Servo Drive Peak Current Continuous Current Supply Voltage Features bb b bh da 30A20AC Power Range 30A 15A 45 140 VAC ADVANCED fA Mor ION CONTROLS MADE MUSA AM BRUSH TYPE PWM SERVO AMPLIFIER On Board Test Potentiometer Offset Adjustment Potentiometer Adjustable Input Gain Drive Status LED Directional Inhibit Inputs for Limit Switches Built in brake shunt regulator Intern
36. y the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Advanced Motion Controls Analog Servo Drives are configured using Switches and Potentiometers There is no software to download or configure The basic setup of these servo drives is straightforward and user friendly These instructions will walk you through the steps necessary to configure your drive to your system e Configure the drive mode Torque Mode Configuration Velocity Mode Configuration gt Voltage gt Compensation ADVANCED 24 NOTION CONTROLS 01 12 Integrate QuickStart into Your System Configuration 3 2 1 Torque Mode Configuration The terms Torque Mode and Current Mode are synonymous They be interchanged and you may see either of these terms throughout this document and other motion control documents The Switches and Potentiometers set the mode on the drive Use the Mode Selection Table for the correct configuration Mode Selection Table Torque Mode current limit with these settings 7 5A continuous 30A peak Switches SW1 OFF SW2 OFF SW3 ON SW4 OFF SW5 ON SW6 ON SW7 OFF SW8 ON SW9 OFF SW10 OFF Pots Pot 1 L

User Manual for QuickStart BR3410NI-A03

Contents

Download Pdf Manuals

Related Search

Related Contents