Advanced Motion Controls 12A8, Hardware Installation Manual

Page 1: ...derutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective own...

Page 2: ...verything s possible www a m c com Hardware Installation Manual AZ Analog Drives for Servo Systems MNALAZIN 02 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...for the following UL 508c file number E140173 Electromagnetic Compatibility EMC Directive 2004 108 EC EN61000 6 2 2001 EN61000 6 4 2001 EN61000 3 2 2000 EN61000 3 3 1995 A1 2001 Electrical Safety Low Voltage Directive 72 23 EEC EN 60 204 1 IEC 60 204 1 Reduction of Hazardous Substances RoHS 2002 95 EC Trademarks ADVANCED Motion Controls the combined isosceles trapezoid right triangle logo DIGIFLEX...

Page 4: ... Figure 3 4 Updated Pin Layout Diagram Figure 2 4 Added Tachometer Velocity information also see page 10 page 30 and page 33 2008 ADVANCED Motion Controls All rights reserved Note Pertinent information that clarifies a process operation or ease of use preparations regarding the product Notice Required instruction necessary to ensure successful completion of a task or procedure Caution Instructs an...

Page 5: ...Encoder Velocity 7 Tachometer Velocity 7 Feedback Supported 7 Feedback Polarity 8 Hall Sensors 8 Using a Single Phase Motor with a Three Phase Drive 9 Encoder Feedback 10 Tachometer Feedback 10 Pin Layout 11 Single Phase Brushed Voice Coil Inductive Load Drives 12 AZxxA8 12 AZxxA8DDC 12 Block Diagrams 12 Pinouts 12 Three Phase Brushless Drives 13 Artisan Technology Group Quality Instrumentation Gu...

Page 6: ...ring 19 Wire Gauge 19 Motor Wires 20 Power Supply Wires 20 Feedback Wires 20 Input Reference Wires 21 Noise Suppression 22 AC Line Filter 22 Ferrite Suppression Cores 22 Inductive Filter Cards 22 Mounting 23 Mounting Card 23 PCB Mounting Options 24 Mating Connectors 24 Soldering 25 Screw Mounting 25 PCB Design 26 Trace Width and Routing 26 Interface Circuitry Examples 27 DC Power Input 27 Motor Po...

Page 7: ...ut 33 Initial Setup 33 Current Torque Mode Test 33 Connections Test 34 Power Supply 34 Input Command Wiring 34 Hall Sensors 35 Motor 35 Applying a Command Analog Input 35 A Specifications 38 Specifications Tables 38 B Troubleshooting 41 Fault Conditions and Symptoms 41 Over Temperature 41 Over Voltage Shutdown 41 Under Voltage Shutdown 42 Short Circuit Fault 42 Invalid Hall Sensor State Brushless ...

Page 8: ...rrent 42 Motor Problems 43 Causes of Erratic Operation 43 Technical Support 44 Drive Model Information 44 Product Label Description 44 Warranty Returns and Factory Help 45 Index I Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 9: ...ely You are responsible for determining the suitability of this product for the intended application The manufacturer is neither responsible nor liable for indirect or consequential damages resulting from the inappropriate use of this product High performance motion control equipment can move rapidly with very high forces Unexpected motion may occur especially during product commissioning Keep cle...

Page 10: ... connections to any internal circuitry Only connections to designated connectors are allowed Do not make any connections to the drive while power is applied MNALAZIN 02 2 Safety General Safety Overview Do not reverse the power supply leads Severe damage will result Use sufficient capacitance Pulse Width Modulation PWM drives require a capacitor on the high voltage supply to store energy during the...

Page 11: ...idual data sheet specifications If the drive is operated below its maximum rated voltage the minimum load inductance requirement may be reduced Most servo motors have enough winding inductance Some types of motors e g basket wound pancake etc do not have a conventional iron core rotor so the winding inductance is usually less than 50 μH If the motor inductance value is less than the minimum requir...

Page 12: ...powered off a single unregulated DC power supply and provide a variety of control and feedback options The drives accept either a 10V analog signal or a PWM and Direction signal as input A digital controller can be used to command and interact with AZ drives and a number of input output pins are available for parameter observation and drive configuration Drive Datasheet Each AZ analog drive has a ...

Page 13: ...put the type of motor s supported and the feedback available on the drive TABLE 2 1 Power Specifications Power Specifications Description Units AZxx6A8 AZxx12A8 AZxx20A8 DC Supply Voltage Range VDC 20 80 10 80 DC Bus Over Voltage Limit VDC 88 DC Bus Under Voltage Limit VDC 18 9 Maximum Peak Output Current A 6 12 20 Maximum Continuous Output Current A 3 6 12 Maximum Power Dissipation at Continuous ...

Page 14: ...o determine the actual output current All AZ drives are able to operate in Current Torque Mode While in Current Torque Mode the drive will maintain a commanded torque output to the motor based on the input reference command Sudden changes in the motor load may cause the drive to be outputting a high torque command with little load resistance causing the motor to spin rapidly Therefore Current Torq...

Page 15: ...sed to determine the motor RPM through the scaling factor See Velocity Monitor Output on page 33 for the motor RPM equation This mode is available as a DIP switch selectable mode on AZBExxA8 drives The high resolution of motor mounted encoders allows for excellent velocity control and smooth motion at all speeds Encoder Velocity mode should be used for applications requiring precise and accurate v...

Page 16: ... polarity in either Hall Velocity or Encoder Velocity Mode the drive will attempt to correct the error signal by applying more command to the motor With the wrong feedback polarity this will result in a positive feedback run away condition To correct this either change the order that the feedback lines are connected to the drive or change Switch 4 on the DIP switch bank to the opposite setting to ...

Page 17: ...0 1 0 LOW HIGH 0 1 1 0 1 1 LOW HIGH 0 0 1 0 0 1 LOW HIGH 0 0 0 1 0 1 HIGH LOW Invalid 1 0 1 1 1 1 0 1 0 0 0 0 By default AZ drives are always set to 120 degree phasing Three phase Brushless drives do however have a surface mount jumper JE2 on the drive PCB that can be removed to manually set the drive to 60 degree phasing Using a Single Phase Motor with a Three Phase Drive Three Phase Brushless dr...

Page 18: ...is also higher meaning the speed is greater than in Example 1 Encoder Feedback AZBExxA8 drives utilize two single ended incremental encoder inputs for velocity control The encoder provides incremental position feedback that can be extrapolated into very precise velocity information The encoder signals are read as pulses that the AZ drive uses to essentially keep track of the motor s position and d...

Page 19: ...es AZ20 Drives MNALAZIN 02 11 Products and System Requirements Pin Layout Pin Layout The diagrams below show the pin layout and location on AZ drives as seen from the PCB where the drive is mounted Note that AZ20 drives uses a double row for the power header More detailed dimensional information can be found in Physical Dimensions on page 39 and in Mating Connectors on page 24 Artisan Technology G...

Page 20: ...Z12 AZ20 PWM Command Pin Description Description 1 REF IN PWM IN 2 SIGNAL GROUND SIGNAL GROUND 3 REF IN DIR IN 4 CURRENT MONITOR CURRENT MONITOR 5 INHIBIT IN INHIBIT IN 6 RESERVED RESERVED 7 SIGNAL GROUND SIGNAL GROUND 8 RESERVED RESERVED 9 RESERVED RESERVED 10 RESERVED RESERVED 11 CURRENT REF OUT CURRENT REF OUT 12 FAULT OUT FAULT OUT 13 RESERVED RESERVED 14 RESERVED RESERVED 15 RESERVED RESERVED...

Page 21: ...rapezoidal commutation Single ended Hall Sensor feedback for velocity control External potentiometer input pin for command offset adjustment Block Diagrams 10 V Analog Input Current Feedback Current Command Drive Logic Power Stage Hall Sensor Commutation Brushless Motor AZ SERVO DRIVE Controller PWM Input Current Feedback Current Command Drive Logic Power Stage Hall Sensor Commutation Brushless Mo...

Page 22: ... POWER GROUND 5b 5a 6b 6a MOTOR C 7b 7a 8a 8b MOTOR B 9b 9a 10b 10a MOTOR A 11b 11a TABLE 2 6 1 Three Phase Power Connector System Requirements To successfully incorporate an AZ analog servo drive into your system you must be sure it will operate properly based on electrical mechanical and environmental specifications follow some simple wiring guidelines and perhaps make use of some accessories in...

Page 23: ...dwell times The system voltage requirement is based on the motor properties and how fast and hard the motor is driven The system voltage requirement is equal to the motor voltage VM required to achieve the move profile VM KE SM IM RM Where KE motor back EMF constant SM motor speed use the maximum speed expected for the application IM motor current use the maximum current expected for the applicati...

Page 24: ...energy can charge the power supply capacitors to levels above that of the AZ drive over voltage shutdown level If the power supply capacitance is unable to handle this excess energy or if it is impractical to supply enough capacitance then an external shunt regulator must be used to dissipate the regenerated energy The shunt regulator will turn on at a certain voltage level set below the drive ove...

Page 25: ...ilt in over temperature disabling feature if the baseplate temperature rises above 75ºC For a specific output current the graphs below specify an upper limit to the ambient temperature range AZ drives can operate within while keeping the baseplate temperature below 75ºC It is recommended to mount the baseplate of the AZ drive to a heatsink for best thermal management results For mounting instructi...

Page 26: ...ect motor wires power supply wires feedback wires and inputs into the AZ drive Grounding In most servo systems all the case grounds should be connected to a single Protective Earth PE ground point in a star configuration Grounding the case grounds at a central PE ground point reduces the chance for ground loops and helps to minimize high frequency voltage differentials between components All groun...

Page 27: ...tennas for electromagnetic radiation From one part of the circuit to other parts through voltage drops on ground lines Experience shows that the main source of noise is the high DV DT typically about 1V nanosecond of the drive s output power stage This PWM output can couple back to the signal lines through the output and input wires The best methods to reduce this effect are to move signal and mot...

Page 28: ... cable shield at one end only to the mounting card or PCB interface chassis ground When multiple drives are installed in a single application precaution regarding ground loops must be taken Whenever there are two or more possible current paths to a ground connection damage can occur or noise can be introduced in the system The following rules apply to all multiple axis installations regardless of ...

Page 29: ...rce or common to REF IN Connect the shield to the mounting card or PCB interface chassis ground The servo drive s reference input circuit will attenuate the common mode voltage between signal source and drive power grounds In case of a single ended reference signal connect the command signal to REF IN and connect the command return and REF IN to signal ground Long signal wires 10 15 feet and up ca...

Page 30: ...ly end of the filter and all other cables and circuitry to minimize RF coupling Ferrite Suppression Cores If PWM switching noise couples onto the encoder signals or onto the signal ground then a ferrite suppression core can be used to attenuate the noise Take the motor leads and wrap them around the suppression core as many times as reasonable possible usually 2 5 times Make sure to strip back the...

Page 31: ...d at www a m c com The MC1XAZ01 is designed for easy mounting and installation on a standard DIN rail tray available from Phoenix Contact www phoenixcontact com part number 2952020 UM72 10 16 GN6021 The MC1XAZ01 is shipped with the following included connectors TABLE 3 1 MC1XAZ01 Connectors Description Qty Included Manufacturer and Part Number 3 position 5 08mm spaced plug terminal 1 Phoenix Conta...

Page 32: ... AZ Drives 16 Samtec BCS 116 L S PE Power Connector AZ6 and AZ12 11 Samtec BCS 111 L S PE Power Connector AZ20 22 Samtec SSM 111 L DV AZ drives are designed with a common pin layout throughout the entire drive family providing the user with the option of designing only one mounting card or PCB interface that is compatible with every AZ drive For an application that may have different versions with...

Page 33: ...d socket connectors Spacer not included with AZ drive or mounting card Spacer shown is standard 3 16 hex 4 40 thread male female 7 16 length Drive Mounting Screw AZ20 Screw Mount Diagram To clean the PCB and drive after soldering it is recommended to gently apply isopropyl alcohol or a cleaning agent with a soft bristled brush Use care not to apply downward pressure but rather lightly brush the PC...

Page 34: ...r than other mounting options See Ambient Temperature Range and Thermal Data on page 17 for more info PCB Design When designing a PCB board to interface with an AZ drive there are some key features that must be kept in mind to ensure proper operation Trace Width and Routing The proper design and implementation of the PCB traces on an interface card is essential in maximizing drive efficiency and n...

Page 35: ... drive s datasheet or the Pinouts section in Products Covered on page 5 for these pin groupings Interface Circuitry Examples The following sections show examples of how an interface board could be designed to work with an AZ servo drive and also contain general connection rules and instructions FIGURE 3 7 DC Power Input Wiring INTERFACE PCB AZ SERVO DRIVE High Voltage Isolated DC Power Supply Shie...

Page 36: ...connects to a motor through a mounting card interface PCB Both brush type and brushless motors should follow this general setup Notice that the motor wires are shielded and that the motor housing is grounded to the single point system ground PE Ground The cable shield should be grounded at the mounting card or PCB interface side to chassis ground Depending on the power capacity of the AZ drive mod...

Page 37: ...ll Sensor Inputs Brushless AZ drives allow single ended Hall Sensor inputs both for commutation and in the special case of AZBHxxA8 drives for velocity feedback AZ drives provide a 6V low power supply to power the Hall Sensors Below is the recommended circuitry when designing a mounting card to interface with an AZ drive Encoder Inputs AZBExxA8 drives support single ended incremental encoder input...

Page 38: ...ometer for velocity control the tachometer is connected between the Velocity Monitor Output Tachometer Input pin P1 15 and signal ground either P1 7 or P1 2 The tachometer is limited to a feedback voltage range of 60 VDC The diagram below shows the recommended connection method Offset Input For drive models that have an external offset input option a potentiometer can be used in addition to the in...

Page 39: ...ive configuration options Consult the drive datasheet to see which input output pin functions are available for each drive Current Monitor Output The current monitor pin is available on all AZ drive models Measured relative to signal ground it provides an analog voltage output signal that is proportional to the actual current output The scaling factor for each individual drive can be found on the ...

Page 40: ...t will go high and the drive will be disabled Once the DC power supply level is returned to a value below the drive over voltage shutdown level the Fault Output will become low and the drive will automatically become enabled Inhibit Input The inhibit input pin is available on all AZ drive models This pin provides a 5V TTL input that allows a user to enable disable the drive by either connecting th...

Page 41: ...mum input allowed at the tachometer input pin is 60 VDC Initial Setup Carefully follow the grounding and wiring instructions in the previous chapters to make sure your system is safely and properly set up For initial testing purposes it is not necessary to use a controller to provide a command input or to have any load attached to the motor The items required will be AZ Servo Drive attached to Mou...

Page 42: ...to be sure the voltage level is within specifications Once certain that power is being properly applied to the AZ drive turn the DC power supply off FIGURE 4 1 AZ SERVO DRIVE 10V Max Potentiometer 50kO 10V Max REF IN P1 1 VDC Test Power Supply INTERFACE PCB Main DC Power Supply POWER GROUND HIGH VOLTAGE GND HIGH VOLTAGE GND SIGNAL GROUND P1 2 Reference Input Potentiometer Input Command Wiring Foll...

Page 43: ... motor are the Hall Input lines and Hall Power line 2 Turn on the DC power supply to the system 3 Use a digital multimeter or voltmeter to monitor the Fault Output pin see Fault Output on page 32 for more information 4 Manually rotate the motor shaft by hand a few revolutions If all the Hall Sensors are functioning properly the Fault Output signal should stay low If the Fault Output signal goes hi...

Page 44: ...at the three motor wires can be attached to the mounting card or PCB interface All six will have to be tested in order to find the right commutation Before removing the motor wires turn off both the main DC power supply and the test power supply Never remove or make any connections to the drive while power is applied The proper combination of motor wires will yield smooth motion and identical spee...

Page 45: ...ny connections to the drive while power is applied The proper combination of motor wires will yield smooth motion and identical speeds in both directions Improper combinations will cause jerky motion slow movement in one direction and or audible noise Once the proper combination has been found varying the duty cycle should cause the motor shaft to rotate appropriately in response to the input Arti...

Page 46: ...ncoder Velocity Tachometer Velocity Current Open Loop Hall Velocity Tachometer Velocity Motors Supported Single Phase Three Phase Single Phase Single Phase Three Phase Single Phase Three Phase Single Phase Three Phase Single Phase Control Specifications TABLE A 3 Feedback Supported Description AZ AZB AZ_DDC AZBDC AZBE AZBH Hall Sensors for Commutation D D D D Hall Sensors for Velocity Control D Si...

Page 47: ...re Range See Figure A 1 Baseplate Temperature Range 0 75 C Humidity 90 non condensing Mechanical Shock 15g 11ms Half sine Vibration 2 2000 Hz 2 5g Altitude 0 3000m Environmental Specifications 1 The heatsink used in the above tests is a 15 x 22 x 0 65 aluminum plate TABLE A 6 Physical Dimensions Description Units AZ6 AZ12 AZ20 Height mm in 27 51 1 08 33 53 1 32 Length mm in 63 50 2 50 63 50 2 50 D...

Page 48: ...rams dimensions in inches and mm FIGURE A 2 AZ12 and AZ6 Mounting Diagrams dimensions in inches and mm MNALAZIN 02 40 Specifications Tables Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 49: ... in a fault state To remove the fault condition follow the instructions in the sections below describing each possible fault state Over Temperature Verify that the baseplate temperature is less than 75ºC 167º F The drive remains disabled until the temperature at the drive baseplate falls below this threshold Over Voltage Shutdown 1 Check the DC power supply voltage for a value above the drive over...

Page 50: ...ake sure all Hall Sensor lines are connected properly Inhibit Input Check inhibit input for correct polarity that is pull to ground to inhibit or pull to ground to enable Inhibit configuration depends on JE1 on the PCB Also keep in mind that noise on the inhibit line could be a cause for a false inhibit signal being given to the drive Power On Reset All drives have a power on reset function to ens...

Page 51: ...aster in one direction than in the other This is typically caused by improper commutation usually because the motor power wires are connected in the wrong order Try all six combinations of connecting the motor power wires to the drive to find the correct commutation order The proper combination of motor wires will yield smooth motion and identical speeds in both directions Improper combinations wi...

Page 52: ...rder is helpful but not necessary FIGURE B 2 2 1 4 3 AZ Product Label Product Label Description The following is a typical example of a product label as it is found on the drive 1 EIA Date Code The date code is a 4 digit number signifying the year and week that the drive was manufactured The first two digits designate the year and the second two digits designate the week For example the above part...

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Page 54: ..._____________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ ____________________________________________________ Reminders Artisan Technology Group Quality Instrumentation Guarantee...

Page 55: ... DIR IN 12 14 Drive Datasheet 4 14 Dwell Time 15 E EIA Date Code 44 Encoder 8 Encoder Feedback 10 Encoder Inputs 29 Encoder Velocity Mode 7 Environment 17 Shock Vibration 17 Environmental Specifications 39 Error Signal 8 External Filter Card 15 19 F Fault Conditions 41 43 Inhibit Input 42 Invalid Hall Commutation 42 Over Temperature 41 Over Voltage Shutdown 41 Power on Reset 42 Short Circuit Fault...

Page 56: ...e Feedback 8 POWER GROUND 12 14 Power Ground 19 Power Specifications 5 38 Power Supply Capacitance 2 20 Power Supply Output Current 16 Power Supply Specifications 16 Power Supply Wires 20 Power on Reset 41 42 Product Label 44 Products Covered 5 Protective Earth 18 PWM IN 12 14 R REF IN 12 14 21 REF IN 12 14 21 Regeneration 16 Returns 45 Revision History iii S Safety 1 3 Scaling Factor 6 7 Screw Mo...

Page 57: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 58: ...rdware Installation Manual MNALAZIN 02 3805 Calle Tecate Camarillo CA 93012 5068 Tel 805 389 1935 Fax 805 389 1165 www a m c com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

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