Analog Servo Drive B12A6 Description Power Range Peak Current 12 A The B12A6 PWM servo drive is designed to drive brushless DC motors at a high switching frequency. A Continuous Current 6 A single red/green LED indicates operating status. The drive is fully protected against over-voltage, under Supply Voltage 20 - 60 VDC 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 stand-alone, and requires only a single unregulated DC 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. Features � On-Board Test Potentiometer � Four Quadrant Regenerative Operation � Offset Adjustment Potentiometer � DIP Switch Selectable Modes � Adjustable Input Gain � Adjustable Current Limits � Selectable 120/60 Hall Commutation Phasing � High Switching Frequency � Drive Status LED � Differential Input Command � Current Monitor Output � Digital Fault Output Monitor MODES OF OPERATION COMPLIANCES & AGENCY APPROVALS � Current � UL � Open Loop � cUL � Tachometer Velocity � CE Class A (LVD) � CE Class A (EMC) COMMAND SOURCE � RoHS � ±10 V Analog FEEDBACK SUPPORTED � Halls � Tachometer Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 1 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 BLOCK DIAGRAM Information on Approvals and 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. Compliant with European CE for both the Class A EMC Directive 2004/108/EC on Electromagnetic Compatibility (specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1), 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. Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 2 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 SPECIFICATIONS Power Specifications Description Units Value DC Supply Voltage Range VDC 20 - 60 DC Bus Over Voltage Limit VDC 67 1 Maximum Peak Output Current A 12 Maximum Continuous Output Current A 6 Maximum Continuous Output Power at Continuous Curret W 342 Maximum Power Dissipation at Continuous Current W 18 2 Minimum Load Inductance (Line-To-Line) µH 200 Switching Frequency kHz 33 Control Specifications Description Units Value Command Sources - ±10 V Analog Feedback Supported - Halls, Tachometer Commutation Methods - Trapezoidal Modes of Operation - Current, Open Loop, Tachometer Velocity Motors Supported - Three Phase (Brushless), Single Phase (Brushed, Voice Coil, Inductive Load) Invalid Commutation Feedback, Over Current, Over Temperature, Over Voltage, Hardware Protection - Short Circuit (Phase-Phase & Phase-Ground) Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL Size (H x W x D) mm (in) 129.3 x 75.8 x 25.1 (5.1 x 3 x 1) Weight g (oz) 280 (9.9) 3 Heatsink (Base) Temperature Range °C (°F) 0 - 65 (32 - 149) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Stand Alone P1 Connector - 16-pin, 2.54 mm spaced, friction lock header P2 Connector - 5-port, 5.08 mm spaced, screw terminal 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. Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 3 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 +10V 3mA OUT O ±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference 2 SIGNAL GND GND ground common with signal ground. 3 -10V 3mA OUT O 4 +REF IN I Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input) 5 -REF IN I 6 -TACH IN Negative Tachometer Input (Maximum ±60 V). Use signal ground for positive input. I 7 +TACH / GND Positive Tachometer Input and Signal Ground GND Current Monitor. Analog output signal proportional to the actual current output. Scaling is 2 8 CURRENT MONITOR O A/V. Measure relative to signal ground. TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit 9 I INHIBIT IN drive. Inhibit turns off all power devices. Low Power Supply For Hall Sensors (+6 V @ 30 mA). Referenced to signal ground. Short 10 +V HALL 30mA OUT O circuit protected. 11 GND Signal Ground GND 12 HALL 1 I 13 HALL 2 Single-ended Hall/Commutation Sensor Inputs (+5 V logic level) I 14 HALL 3 I Measures the command signal to the internal current-loop. This pin has a maximum output 15 CURR REF OUT O of ±7.2 V when the drive outputs maximum peak current. Measure relative to signal ground. TTL level (+5 V) output becomes high when power devices are disabled due to at least one 16 FAULT OUT of the following conditions: inhibit, invalid Hall state, output short circuit, over voltage, over O temperature, power-up reset. P2 - Power Connector Pin Name Description / Notes I/O 1 MOTOR A Motor Phase A O 2 MOTOR B Motor Phase B O 3 MOTOR C Motor Phase C O 4 POWER GND Power Ground (Common With Signal Ground) GND 5 HIGH VOLTAGE DC Power Input I Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 4 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 HARDWARE SETTINGS Switch Functions Setting Switch Description On Off 1 Open-loop mode selector. Activates internal PWM feedback. Open-loop mode Other modes 2 60/120 degree commutation phasing setting 120 degrees 60 degrees Outer loop integration. Activates or deactivates integration. ON, 3 Inactive Active by default, for current mode and OFF for other modes. Test/Offset. Switches the function of the Test/Offset pot between 4 an on-board command input for testing or a command offset Test Offset adjustment. OFF by default. Mode Selection Table Mode SW1 SW3 Tachometer CURRENT OFF ON Not Connected OPEN LOOP ON OFF Not Connected TACHOMETER VELOCITY OFF OFF Connected Potentiometer Functions Potentiometer Description Turning CW Loop gain adjustment for open loop / velocity modes. Turn this pot 1 Increases gain fully CCW in current mode. Current limit. It adjusts both continuous and peak current limit 2 Increases limit while maintaining their ratio. Reference gain. Adjusts the ratio between input signal and output 3 Increases gain variables (voltage, current, or velocity). Offset / Test. Used to adjust any imbalance in the input signal or in 4 the amplifier. Can also be used as an on-board signal source for Adjusts offset in negative direction testing purposes. Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end. † Through-hole Components Location Description Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section C8* 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 R158* section below on Tachometer Gain for more details. 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: • A larger resistor value will increase the proportional gain, and therefore create a faster response time. • A larger capacitor value will increase the integration time, and therefore create a slower response time. Proper tuning using the through-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. † 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 Page 5 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 MECHANICAL INFORMATION P1 - 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 15 CURR REF OUT 13 HALL 2 11 GND 9 INHIBIT IN 7 +TACH / GND 5 -REF IN 3 -10V 3mA OUT 1 +10V 3mA OUT 2 SIGNAL GND 4 +REF IN 6 -TACH IN 8 CURRENT MONITOR 10 +V HALL 30mA OUT 12 HALL 1 14 HALL 3 16 FAULT OUT P2 - Power Connector Connector Information 5-port, 5.08 mm spaced, screw terminal Details Not applicable Mating Connector Included with Drive Not applicable 1 MOTOR A 2 MOTOR B 3 MOTOR C 4 POWER GND 5 HIGH VOLTAGE Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 6 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 MOUNTING DIMENSIONS Release Date: Revision: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012 Page 7 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com Analog Servo Drive B12A6 PART NUMBERING INFORMATION B 12 A 6 - Drive Type Additional Options* B or BX: Brushless drive. -HSI: Heat Sink Installed and Inverted Inhibit BE: Encoder Velocity Mode Available -INV: Inverted Inhibit BD: PWM Command BDC: PWM Command, Closed Current Loop S or SX: Commutated Sine Command Revision Peak Current Assigned a letter (A through Z) by manufacturer. Maximum peak current rating in Amps. Peak Voltage Power Supply Peak voltage rating scaled 1:10 in Volts. DC Power Supply : AC: AC Power Supply Isolation Option FAC: AC Power Connecter Relocated to the Front I: Optical Isolation *Options available for orders with sufficient volume. Contact ADVANCED Motion Controls for more information. ADVANCED Motion Controls 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 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 I/O 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 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. Filter Cards To Motor Power Supplies Shunt Regulators 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 Tecate, Camarillo, CA, 93012 Page 8 of 8 10/28/2011 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com