100A Seri es

SERIES 1OOA PWM SERVO AMPLIFIERS

MODELS: 100A8, 100A20
FEATURES:
.
Surface-mount technology
-
Small size, low cost, ease of use
.
Optional input signal isolation for
off-the-rectified 120 VAC line operation
*
DIP switch selectable:
currenl, voltage, velocity,
lR compensation,
position loop control
*
Four quadrant regenerative operation
DESCRIPTION: 100A Series PWM servo amplifiers are designed to drive brush type DC motors at a high switching
{requency. Single red/green LED indicates operating status. All models are fully protected against over-voltage, over-
current, over-heating and short-circuits across motor, ground and power leads. All models interface with digital controllers
or can be used as a stand-alone drive. They require only a single unregulated DC power supply. Loop gain, current limit,
input gain and offset can be adjusted using 15-turn potentiometers. The offset adiusting potentiometercan also be used
as an on-board i nput si gnal f ort est i ng purposes when SW' l 0 (Dl P swi t ch) i s "On".
ADVANCED MOTION CONTROLS
3211 Cort e Mal paso Uni t 407. Camari l l o, CA 93012 Tel : (805) 389-1935, Fax: (805) 389-1165
A-5
--l
l RoKEt l LI NE REPRESENTS oPnof l AL FUNCTI ONAL BLOCK I I A6RAI I
|
750V 0PTI CAL I SoLATI ON (I S0)
I1ODE SELECTIOI1 ]ABLE
LED GREEII
.
IJORI'IAL OPERATIOI{, LED RED
-
FAUL'I
SIIT SI]OULD IE OFF FOR I''OST APPLICATIONS
r OPTIOITAL USER INS'IALLED THROUGH HOLE COI'IPONEIiI
RECONiENDE! SETTII,IG FOR CURREilT NODE
-
POT1 FULLY CCI.J, POT3 FULLY CI.I
sll3
-
REDUCES CURREIIT L00P GAItl, l,lHEf{ Ofl
S!I}
_
INCRIASES THE UALUE OF CURRET1T IIITEGRATOR CAPACITOR. IIHEI] ON
SI,I5
_
REDIJCES BOTH PEAX ATID CONTIHUOUS CURPEIiT LII1IT IY 5O?, IHEN OFF
s!16
-
REDUCES Coi{TTNUoUS CURRENT LI'IIT tY 50:(, lHEfi 0r.{
SI.I9
-
ITTCREASES THE VALUE OF THE INTEGRATOR CNPACITOR, IIIIEII OII
Sl,iIO
-
FUI]CTIOTJ OF POT!+
_
TEST IilPUT, NHEfl Ot], OFFSET ADJUSTI'1EilT, IIHEN OFF
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DS ARE
CURRETIT LINIT
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100A Seri es
MODELS
POWER STAGE SPECIFICATIONS
100A8 100A20
DC SUPPLY VOLTAGE
20-80v 30-200v
PEAK CURRENT (2 sec. max., intemaily timited) +100A
MAX. CONT. CURRENT (internaily timited) +50A
MI NI M UM LOAD I NDUCTANCE'
200uH 250uH
SWI TCHI NG FREQUENCY
33kHZ
HEATSI NK (BASE) TEMPERATURE RANGE
-25o
to +65oC; shuts off if above +65'C
POWER DI SSI PATI ON AT CONT. CURRENT 100w 200w
OVER-VOLTAGE SHUT-DOWN (setf reser)
86V 200v
BANDWIDTH
2.SkHz
OUTPUT SPECIFICATIONS
LOW VOLTAGE POWER SUPPLI ES:
(f or cust omer use) +10V
p1-
1
- 10v
P1_ 3
SmA, short circuit protected
CURRENT REFERENCE: P1- 9 7.5Y =
maximum peak
current
CURRENT MONI TOR: P1- 8
1V =
164, when SW5
=
On;
1V =
8A, when SWS
=
Off
FAULT:
P1- 14 TTL
INPUT SPECIFICATIONS
- l NHl Bl T:
P1- 13
+ll' ,ltJiEiT:
D1-12
ttrtHiB-tr:
p1-1
1
TTL, internal pull-up resistor, pull to
ground to inhibit amplifier
TACHOMETER:
P1- 6 Maximum +60V analog, 60K input
resistance
I NPUT: p1-
4, 5
Differential analog input, maximum
+15V, 50K input resistance
MECHANICAL SPECIFICATIONS
POWER CONNECTOR
Screw terminals
SI GNAL CONNECTOR
Molex connector
SIZE (inches)
5. 06x10. 00x1. 70
WEI GHT
2. 5 t b.
' "Pancake"
and "basket-wound" motors require external inductors
A-6
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100A Series
PIN FUNCTIONS
l e
I
CURRENT
REF
Command signal to the internal current-loop.
The maximum peak
current rating ol the
amplifier equals 7.5V at this pin (see section
D")
P1
Provides regulated voltages of +/-10V
@
5mA
for customer use. Short circuit protectec
Differential pre-amp
+TACH
(GND)
This signal is proportional
to the actual current
in the motor leads. Scaling is 1V=' t6A when
SWS=On (full
current), 1V=8A when SWS=Off
CURRENT
MONI TOR
Can be used to reduce the factory-preset
maximum continuous current limit (see
section
' D")
CONTI NUOUS
CURRENT
LI MI T
I NHI BI T
Inhibit. Turns off all four rnosfets of the "H"
bridge drive when pulled to ground
Inhibits the motor for "+" direction only. This
function can be usefulto drive the motor off
lrom a "limit switch"
Inhibits the motor for "-"
direction only. This
function can be usefulto drive the motor off
from a "limit
switch"
TTL compatible output. lt becomes high if
output short-circu lt, over-voltage, ove r-heating,
inhibit, and during "power-on reset". Fault
condition indicated by red LED
FAULT
(red LED)
Used for synchronizing the switching frequency
of several amplifier modules. Consult factory
for this option. Not applicabte for "tSO"
option.
In the "lSO"
option pin 16 is connected to power
nd and can be used as
ground
with P1- 8,9
SYNCH OUT
A-7
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100A Series
SWITCH FUNCTIONS
swtTcH FUNCTION DESCRIPTION
SETTING
ON OFF
1 Internal voltage feedback
On off
2 l nternal current feedback for l R compensatl on
On off
Current loop gain Decrease Increase
4 Current loop integration
lncrease Decrease
h
Current scaling.
When "Off", increases sensitivity of current sense
thus reducing both
peak and continuous current
limit by 50% (see section
"D")
Half-current
6
Can be used to reduce factory-preset maximum
continuous current limit
(see section "D")
It is recommended to leave SW7 in "Off" position
Shorts out the
current loop
integrator
capacitor
ofl
8
This capacitor normally ensures
"error-free"
operation by reducing the error-signal (output ol
summing amPlifier) to zero
Shorts out the
outer velocity /
voltage loop
i ntegrator
caoacitor
off
9
Adjusts the value o{ the integrator capacitor. lt is
recommended to leave SW9 in "Off" position for
most aPPlications
lncrease Decrease
10
Otfset / test. Sensi trvi ty of the
"offset" pot. Used
as an on-board reference si gnal i n test mode
Increase
Decrease
i
POTENTIOMETER FUNCTIONS
POTENTIOMETER
DESCRIPTION TURNI NG CW
Pot 1
Loop gain adjustment in voltage & velocity modes.
Voltage to current scaling factor adjustment in current
mode
lncreases loop gain
Pot 2
Current limit. lt adjusts both continuous and peak
current limit by maintaininq their ratio
lncreases currenl
l i mi t
Pot 3
Reference gain. lt adjusts the ratio between input
signal and output variables (voltage, current, velocity)
Increases reference
input gain
Pot 4
Offset / test. Used to adjust any imbalance in the
i nput si gnal or i n t he ampl i l i er. When SW10 (Dl P
switch) is "On", the sensitivity of this pot is greatly
increased thus it can be used as an on-board signal
source for testing purposes
N/A
A-8
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100A Series
TEST POINTS FOR POTENTIOMETERS
Once the adjustment of potentiometers is complete, the resistance values can be measured for future
adiustments. Test points of the
potentiometer wipers are provided
and are located next to all four
potentiometers. Measure resistance between
ground and test points (when the power is off).
PLUG.IN.AND-USE TEST MODE
Advanced Motion Controls' 100A
Series amplifiers can operate in a DIP switch selectable "Test Mode"to
facilitate evaluation and installation (SW 1
,10
=
On; SW 2,7, 8,9
=
Off). This is "voltage
amplilier mode"
with on-board potentiometer adjustable reference. See section "D" for powering-up in test mode.
OPTIONAL INPUT SIGNAL ISOLATION
These amplif iers can be ordered with an internally installed analog isolation amplilier which optically isolates
the inputs from the remainder of the amplifier circuitry ("lSO" option). See block diagram on data sheet
(page A-5). This optional input isolation facilitates off-the-rectified-line operation. lsolation is necessary
in transformerless applications to isolate controller signal ground (often the same as earth ground) from
DC power ground. The isolation option may also reduce system noise. This option is generally not
required with isolated power supplies.
OPERATTNG MODE SELECTI ON
These modes can be selected by the DIP switches according to the chart in the block diagram (page A-5):
-
Current Mode
.
Voltage Mode
.
lR Compensation Mode
'
Tachometer Mode
See section "D"
for more information.
CUHRENT LIMIT ADJUSTMENTS
These amplifiers feature separate peak and conlinuous current limit adjustments.
The current limit adjusting Pot 2 adiusts both peak
and continuous current limit at the same time. lt has
15 turns and is linear. Thus, to adjust the current limit, turn the potentiometer
counter-clockwise to zero,
then turn clockwise to the appropriate value. Pin P1- 9 is the input to the internal cunent amplifier stage.
Since the output current is proportionalto P1- 9, the adjusted current limit can easily be observed at this
pin. The maximum peak cunent value equals 7.5V at this pin. The actual current can be monitored at pin
P1- 8. lf the desired limit is, for example,50 amperes, and the servo amplilier peak
current is 100
amperes,
lurn the potentiometer 7.5 turns clockwise from zero.
The continuous current limit can be reduced without affecting the peak current limit by connecting an
ext ernal current
l i mi t i ng resi st or R-l mt bet ween P1-10 and
p1-
2.
CURRENT LI MI TI NG RESI STOR 40K 20K 3K 1K OK
CONTI NUOUS CURRENT LI MI T 90% 80% 50% 30% 10%
A-9
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100A Series
SW6 (DlP switch) will reduce the continuous current limit to 50% of the maximum value, when switched
"On". SWS (DlP switch)will reduce the current feedback (monitor) scaling by 50%, thereby reducing both
the peak and the conlinuous current limit by 50%, when switched "Off".
See section "D" for more information
TYPICAL SYSTEM WIRING
t
I
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EROKEN LI I 1E REPRESENTS
OPTIONAL ANALOG AIID DIGITAL
OPTICAL ISOLATIOIi
t , . I I RI NG l l AGRAl ' ' 1 l ^I I TH Ft 0ATI NG C0NTR0LLf R GR0UND
EROKEN LI I ] E REPRESENTS
OPTI ONAL ANALOG AND DI G1TAL
OPTI CAL I SOLATI OI ]
Er,nTRuLER-------l
I ^ I I Ri NG D] AGRAN t , . ] I TH CHOSSI S GROUNDI N CONTROLLI R GROUND
A- 10
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100A Seri es
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