Servo Amplifier 4-Quadrant PWM for Brushless DC - Q-TECH
Contents
1. 8 1 2 Enable 13 high potential at the input enable will activate speed torque control and voltage will be applied to the motor winding Leaving this input without connection or pulling it tho GND potential will result in disabling the unit Input circuit enable 5V O 2K2 2K2 ENABLE Da In SS 3909 9 Specifications subject to change without notice ZZ FAULHABER Description of function of inputs and outputs 8 1 3 Encoder A 7 8 1 4 Encoder B 8 the inputs encoder A B are to be connected to the corresponding outputs of the encoder in operating mode speed control with encoder feedback Input circuit encoder 5V 5V oO oO 1K 1K ENCODER NL 8 1 5 Hall A 10 8 1 6 Hall B 11 8 1 7 Hall C 12 Inputs for the Hall effective sensors of the motor The correct connection regarding phase sequence and phase relation is essential Input circuit hall effective sensors 5V 5V ENCODER RL 8 1 8 Power gnd 5 8 1 9 Vcc 4 power supply connection Caution do not connect Vcc or Power GND to the outputs Motor A B or C 10 Specifications subject to change without notice YZ FAULHABER 82 Outputs 8 2 1 Current monitor Monitor I 19 a current monitor for supervisional purposes is integrated to the servo am2. PWM Yes Yes 11 70 10 Catalogue Brushless Qussrant runs No Yes 12 28 10 r request Brushless 4Quadrant PUMA No Yes 12 36 3 Eleze Key Brushless 4 Quadrant PWM No Yes 12 50 0 Besko We create motion Munster SA 6980 Crogio Saitzerland Tal 41 0191 611 31 00 Fax 41 0 91 611 31 10 Email inlo Drrinirrotcr ch J EEA For direct Download http www minimotor ch minicatalog pdf DriveCircuits Manuals IM_e_BLD_7010 pdf SS FX FAULHABER Chapter page ile Description 2 2 Illustration 2 3 Specification 3 4 Dimensions 3 5 Safety notes 4 5 1 Skilled personnel 4 5 2 Laws 4 5 3 Remove load 4 5 4 Additional safety components 4 5 5 Repair 4 5 6 Danger 4 5 7 Maximum input voltage 4 5 8 ESD 4 5 9 EMC 4 6 Preparing 5 6 1 Operating mode 5 6 2 Connecting diagrams 5 6 3 Input for set value 6 6 4 Timing 6 6 5 Phasing 6 6 6 Speed range 6 7 Commission 7 7 1 Selection of power supply 7 7 2 Function of potentiometers 7 7 3 Presetting of potentiometers 7 7 4 Adjustment 7 7 5 Commissioning 8 8 Description of function of inputs and outputs 9 8 1 Inputs 9 8 2 Outputs 11 9 Troubleshooting 13 Uy SZ FAULHABER 4 G Linf l The Servo Amplifier BLD 7010 is a powerful PWM module for brushless DC Servomotors with an output range up to 700 Watt Three operation modes are integrated E Torque control E Speed control by digital encoder feedback E Speed control by Hall sensors The required operation mode is
3. to be selected from the front side of the module by setting jumpers This BLD 7010 servo amplifier is protected against over current overheat and short circuit of the output stage against each other or to the power supply By the usage of advanced technology and power MOSFETs a high efficiency up to 95 Due to the wide range of power supply voltage between 11 to 70 VDC the BLD 7010 can be used very flexible with different kinds of power supplies within many applications The robust aluminum case has been constructed for different methods of mounting it therefor a fast integration is Screw terminals and a durable controller design allow a fast and straightforward commissioning 2 Illustration e BLD 7010 Grae Gon es Fon cone mO map Figure 1 2 Specifications subject to change without notice Uy gt 72 FAULHABER 4 3 Specification BLD 7010 SCAP Power supply 11 70 VDC Switching frequency 49 kHz Continuous output current TA 22 C 10 A Peak current limit 20 A Analog input command Voltage range 10 VDC Logic input Encoder TTL level A B channel Encoder frequency 100 kHz Enable 8 30 VDC Output voltage for external use Positive max 20 mA 15 VDC max 100 mA 5 VDC Negative max 20 mA 15 VDC Maximum controllable speed with Hall Sensor 5000 40000 rpm Minimum controllable speed with Hall Sensor 250 2000 rpm Maximum controllable speed w
4. Connecting diagrams Jumper setting OREN NO Active potentiometers Gain Nmax Imax Offset Gain Nmax Imax Offset Imax Offset Minimal connection of control inputs 6 9 13 17 18 6 9 13 17 18 6 13 17 18 Block diagram of the Servo Amplifier BLD 7010 for speed contol with Hall sensor feedback or torque control Pin Connector A 1 Motor A 2 Motor B 3 Motor C 4 VCC 5 Power GND Pin Connector B 6 5V 100mA 7 Encoder A 8 Encoder B 9 GND signal 10 Hall sensor A 11 Hall sensor B 12 Hall sensor C 13 Enable brown orange yellow Power supply 11 70 VDC Brushless DC Servomotor Jumper vosnouPrwmn x x Torque control Speed control x Pin Connector C AAAA 14 15 16 17 18 19 20 21 bille 15 V 20 mA GND signal 15 V 20 mA Set value Set value Monitor n Monitor Ready Error 5 Specifications subject to change without notice ZZ FAULHABER Block diagram of the Servo Amplifier BLD 7010 for speed contol with Encoder feedback Pin Connector A brown 1 Motor A e 1 orange 2 MotorB 2 x yellow 3 Motor Cc e 3 4 VCC lt a e Power supply 4 5 Power GND o 11 70 VDC 5 x 6 x 7 x Brushless 8 DC Servomotor 9 6 5 V 100 mA 7 Enodera 8 Encoder B 14 15V 20mA 9 GND signal e green
5. Servo Amplifier 4 Quadrant PWM for Brushless DC Servomotors BER GROUF Operating Instructions We create motion yer COs Na gt yo Miniature Drive Systems a Micro Drives gt DC Micromotors Precision Gearheads 5 Servo Components 5 Drive Electronics Surf to the following Internet address and you will find the latest edition of the instruction manual on line SSS www minimotor ch uk pr Netscape MINIMOTOR SA gt gt gt Miniature drive system 08 A r 2 Es 0 T lt 4a a 8 Back Reload Home Search Netscape Print Security Shop Location J http www minimotor ch uk pr Gal what s Related SER Company profile System Type Motoctype Function Operating Current Speed Powersupply Curent Emit Instiuction manual FAULHABER mode contol contol voc A Donload Le 3002 Brush comm amp Quasrant Linear Yes Yes 12 32 2 I ese Key Product design WCDC 2805 Brush comm Quadrant PWM No Yes 12 28 10 Ela B Product range Brush comm 4 Quadrant PWM Ho Yes 12 38 2 Zlezs ko Brush comm 4Quasrant Pin No Yes 12 50 w Elezo Applications Brushless 2 Quadrant PWM No Yes 12 35 3 El eer co FAULHABER reese ara le Fe Daa Brushless 4Quadrant PIM Yes Yes 14 56 4 Elez Key Sales network Brushless Z Quadrant PWM No Yes 10 56 Bram Exhibitions Brushless Quadrant Pla Yas Yes 14 56 2 932 Ke Brushless 2 Duadrant PUMA No Yes 10 36 a NEN Brushless 4 Quadrant
6. ULHABER W The FAULHABER Group DR FRITZ FAULHABER GMBH amp CO KG Daimlerstra e 23 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 Email info faulhaber de www faulhaber de MINIMOTOR SA 6980 Croglio Switzerland Tel 41 0 91 611 31 00 Fax 41 0 91 611 31 10 Email info minimotor ch www minimotor ch MicroMo Electronics Inc 14831 Evergreen Avenue Clearwater FL 33762 3008 USA Phone 1 727 572 0131 Fax 1 727 573 5918 Toll Free 800 807 9166 Email info micromo com www micromo com MINIMOTOR SA Switzerland MA15002 english 1 issue 11 10 2001
7. X r 15 GND signal 10 HallsensorA 4 EINE 16 15V 20 mA 11 HallsensorB q 17 Set value grey 12 HallsensorC lt Beda Le 18 Set value 13 Enable 4 19 Monitor n red 7 20 Monitor 21 Ready Error 6 3 Input for set value at use of external potentiometer min 10 kQ for set value the wiper has to be connected to pin 17 the others to pins 14 and 16 Pin 15 and 18 have to be connected and J3 is to be removed at use of the internal set value via offset potentiometer pin 15 and 18 are left without connection and J3 is to be set 6 4 Timing jumper J2 sets the timing of the hall sensor logic to reach an adaptation to several motor types The setting belongs to the direction of the phases J2 changes the rotation sense of the electrical field For the brushless DC Servomotors 4490 J2 must to be set 6 5 Phasing jumper J1 is for setting the phase shift of the signals of the Hall sensors The correct value is to provide by the manufacturer of the motor see datasheet of motor For 4490 motors J1 must be removed 6 6 Speed range the speed range is to be set by jumper J10 and J11 One of four speed ranges is to be set The best result of speed control can be reached by setting the lowest acceptable range because of the resolution 6 Specifications subject to change without notice 4 SZ FAULHABER 7 Commission 7 1 Selection of power supply Any power supply can be used as long the minimal requirements list
8. ed below are fulfilled We recommend to remove the motor from the mechanical construction to avoid damage and danger by uncontrolled movements of Requirements to the power supply output voltage min 11 VDC max 70 VDC residual voltage lt 5 output current 10 A nominal 20 A peak 7 2 Function of potentiometers Potentiometer Function Turning CCW Turning CW Gain coarse gain adjustment decreasing increasing Gain fine gain adjustment decreasing increasing Nmax maximum speed decreasing speed increasing speed at set value of 10V Imax current limitation decreasing increasing min 0 3 A max 10 A Offset adjustment n 0 motor turns CW motor turns CCW at set value 0 7 3 Presetting of potentiometers Original delivered servo amplifiers are adjusted to uncritical values and for easy adjustment by the user 7 4 Adjustment Hall control 1 adjust max set value e g 10 V and turn potentiometer Nmax CW Digital Encoder til the required speed is reached regelung 2 adjust potentiometer Imax to required value of current limitation Important Refer to motor manufacturer s data sheet 3 turn potentiometer Gain slowly CW until the required gain is reached Important If the motor turns rough is vibrating or makes noise turn potentiometer CCW again until the instability of the system is obsolete The potentiometers Gain coarse and Gain fine work in an additive way 4 adjust set value OV and adjus
9. es wrong handling cable disruption and other cases of any kind of malfunction 5 5 Repair Repairs have to be done only by authorized distributors or at the manufacturer Unauthorized opening and improper repairs of the device may cause danger to the user and the plant 5 6 Danger Care about having no power supply voltage all around the plant during installation of the device Never touch any voltage carrying components 5 7 Maximum input voltage The input power supply voltage must not exceed 70 VDC Voltages exceeding 70 V or reversed connection will destroy the unit 5 8 ESD Do not touch any of the contacts of the device 5 9 EMC The BLD 7010 corresponds to the EC directives standards and regulations 89 336 EWG article 10 and appendix 1 EMV amended by 92 31 EWG and 93 68 EWG and meet the requrements with standard EN 61800 3 1996 if the following directions are observed usage of a zinc plated mounting plate well connected to earth mounting of the drive by usage of toothed washers usage of shielded cables to and from the unit large area contact of the shielding with zinc plated mounting plate motor housing properly connected to earth 4 Specifications subject to change without notice SE WZ FAULHABER 6 Preparing Required selection of E operating mode input for set value H timing E phasing speed range 6 1 Operating mode Operating mode Torque control Hall Encoder 6 2
10. ith Encoder with 1000 lines per revolution 1250 10000 rpm Minimum controllable speed with Encoder 5 40 rpm External inductance 100 300 HH Temperature range Operating temperature 10 45 E Storage temperature 40 80 aC N Analog input command may be set by an external potentiometer or an external voltage 2 The maximum controllable speed depends on the power supply the motor type the load and the feedback 3 The minimum controllable speed depends on the motor type the load and the feedback The appropriate value depends on the operating cycle and working conditions 4 Dimensions and weight Scale reduced 28 14 4x04 5 Mounting hole jar M Weight 650 g Figure 2 3 Specifications subject to change without notice ZZ FAULHABER Safety notes 5 Safety notes 5 1 Skilled personnel Installation and commissioning have to be done only by skilled personnel 5 2 Laws The user has to ensure the correct installation of the servo amplifier and additional equipment according to valid laws and rules 5 3 Remove load For first commissioning the motor should run with free shaft which means without load 5 4 Additional safety components Electronic components are not free of failure or damage Therefore plants have to be installed with additional device and installation protecting components A safe and stable state has to be ensured in the case of damage of some devic
11. plifier The output provides an analog signal voltage which is proportional to the motor current the monitor output is short circuit proof Output range 10 V 10 V Output impedance 10 kQ Output proportionality 0 5V A Output circuit current monitor 5V 5V oO oO 1K 1K ENCODER AL E 8 2 2 Speed monitor Monitor n 20 a speed monitor for supervisional purposes is integrated to the servo amplifier The output provides an analog signal voltage which is proportional to the motor speed It can be used for qualitative weighting of the dynamic of the drive system Output range 10 V 10 V Output impedance 10 kQ Output proportionality 10V at maximum speed Output circuit speed monitor MONITOR N gt 11 Specifications subject to change without notice ZZ FAULHABER Description of function of inputs and outputs 8 2 3 Supervision signal Ready Error 21 The ready signal is to show the status of the drive and can be used to provide a feedback signal to other devices and controls The open collector output is normally turned off which means the output is pulled to a positive level by an external connected resistor if there is no fault within the drive system In the case of a fault like under voltage overvoltage overheat or overcurrent the internal transistor is on the outp
12. t potentiometer Offset until the motor stops to speed 0 Torque control 1 adjust potentiometer Imax to required value of current limitation Important Refer to motor manufacturer s data sheet 7 Specifications subject to change without notice ZZ FAULHABER c ng 7 5 Commissioning select the required operating mode by setting the according jumpers on the left side of the unit Refer to the printing on the front plate Required selection of E operating mode E input for set value E timing phasing E speed range Connect motor control inputs e g set value enable and if necessary an additional encoder to the drive Connect power supply enabling and adjustment referring to manual Potentiometer Imax Brushless DC Servomotors Series 5A 4490 H 048 B 6A 4490 H 036 B 8A 4490 H 024 B 8 Specifications subject to change without notice YZ FAULHABER 8 Description of function of inputs and outputs In the pin number 8 1 Inputs 8 1 1 Set value 17 18 the input for set value is internally connected to an differential amplifier input range of set value 10 V 10 V input impedance 20 kQ definition of polarity positive set value Set value gt Set value negative set value Set value lt Set value Input circuit set value 11K 11K SOLL 11K 11K SOLL t 10nF 10nF 22K
13. ut is pulled to GND Input range max 30 VDC load current lt 20 mA any fault is stored and can be reset by enable off and on Output circuit ready error signal ERROR 8 2 4 Motor C 3 8 2 5 Motor B 2 8 2 6 Motor A 1 motor connection 8 2 7 5 V 100 mA 6 auxiliary voltage source for power supply of hallsensors and or incremental encoder 8 2 8 15 V 20 mA 14 8 2 9 15 V 20 mA 16 auxiliary voltage source for use as reference voltages by setting the set value by the means of an external potentiometer 12 Specifications subject to change without notice Troubleshooting FAULHABER 9 Troubleshooting Symptom motor does not turn no speed control Operating mode all speed control encoder feedback speed control hall feedback Causes E power supply voltage lt 11 V E enable not active E set value 0V E current limitation adjusted too low E speed range too low E wrong operation mode E bad connections E wrong wiring E encoder signals E gain adjusted too low 13 Repair check power supply check level at pin 14 check set value check potentiometer adjustment Imax check potentiometer adjustment nmax check jumper setting check connectors check wiring check signals and sequence check potentiometer adjustment gain coarse and gain fine Specifications subject to change without notice H AA FA
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