BLuAC5 Brushless Universal Servo Amplifier - … motion/amp_packaged_servodrive_bluac5...BLuAC5...
Transcript of BLuAC5 Brushless Universal Servo Amplifier - … motion/amp_packaged_servodrive_bluac5...BLuAC5...
BLuAC5 BrushlessUniversalServo Amplifier
5A Continuous/15A Peak950W Max90-260VAC Input, Single or Three PhaseQuickTunerTM configuration softwareStatus DisplayExternal control options -• Pulse and Direction• Analog Command Signal• Host command via RS232/485.Integral control options -• Si ProgrammerTM - intuitive easy
to use graphical programminglanguage.
• Q - comprehensive high levellanguage with options for controlof all drive features.
Description
The BLu Series servo drives providecompact, reliable solutions for a wide rangeof motion applications in a variety ofindustries. BLu Series drives are designedto offer excellent performance coupled withhardware and software features that makethem easy to integrate, use and maintain.
The BLuAC5 hardware features a powerfuldigital signal processor (DSP) coupled to anefficient IGBT PWM amplifier. Whencombined with the BLuAC5’s sophisticated,yet easy to tune position loop and velocityand acceleration feed-forward, a systemcapable of extremely high performanceresults assuring success in even the mostdemanding of applications.
All BLuAC5 drives are capable of runningbrushless, brush and linear type motors. Atiming wizard automatically configures theencoder and commutation timing forvirtually any brushed or brushless DCmotor. Tuning is easy with ourQuickTuner™ software, which features abuilt-in digital oscilloscope.
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• Drives Brushless sinusoidal, Brushlesstrapezoidal, Brush or Linear type motors
• 2 to 24 Pole Brushless motor compatibility• Speeds to 8000 rpm (Motor and load dependent).
BLuAC5-SBasic drive; Analog, digital and hostcommand input.
• pulse & direction with electronicgearing
• encoder following with electronicgearing
• analog +/-10V. Torque , Velocityand Positioning.
• CW and CCW pulse
• multi-axis Si programming ifused with a SiNet Hub
• “Host” commands for real timecontrol from a host PC or PLCusing RS-232 or RS-485 serialcommunication.
BLuAC5 Features
uAC5S
uAC5Si
uAC5Q
BLuAC5-SiBLuAC5-Si can be programmed for
stand-alone operation with theeasy to use Si Programmer™Windows software with integratedtuning (software and programmingcable included).
Graphical point and click formatcombines motion, I/O, andoperator interface functionality forsimple machine sequencing.
Easily integrates with other deviceson the machine (Sensors, PLCsetc).
BLuAC5-QQ programming. Comprehensiveprogramming language with optionsfor downloading, storing and executingmultiple programs.• Q Programming environment
• Register manipulation• Conditional processing• Math functions• Multi-tasking
• pulse & direction with electronicgearing• encoder following with electronic
gearing• analog +/-10V. Torque , Velocity
and Positioning.• CW and CCW pulse
Drive Models
BLuAC5-S BLuAC5Si BLuAC5-Q
Hub ✔ ✔
Command Inputs Analog +/-10V ✔
Pulse and Direction ✔
CW and CCW Pulse ✔
Master Encoder ✔
Command Modes Host Command Language ✔ ✔
Si Indexer ✔
Q Programming ✔
Logic Input Functions Alarm Reset ✔ ✔
Limit Switches ✔ ✔ ✔
Servo Enable ✔ ✔
Logic Output Functions Alarm ✔ ✔ ✔
Brake ✔ ✔ ✔
In Position ✔ ✔ ✔
Digital Inputs 7 15 7
Digital Outputs 3 7 3
Note - Digital I/O on S and Q models can be increased to 15 inputs and 7 outputswith optional Expansion I/O kit.
• 16 kHz precision PWM amplifier.• 24V Isolated I/O power supply output• 24V Auxilliary logic supply input (“keep alive” input)• Internal “Regeneration clamp” circuit and power resistor
Features Summary
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Features
DC
Bus
Motor
Encoder
IN / OUT 1
IN / OUT 2
PC/MMI
RS-485/422
C B A
GN
DTX
-TX+RX
-R
X+
CO
MM
Status
Regen
GN
D+24V
DC
Input
320V pk
User O
ut+24V
DC
GN
D
CLAMP RESEXTBUS
BRAKING
L1L2/N
L3AC POWER
G
Error CodesPosition Limit
CCW Limit
CW LimitOver Temp
Over Voltage
Under Voltage
Over Current
Current Limit
Hall BadEncoder Bad
Memory Failed
Regen Failed
Comm ErrorPosition Mode
Velocity Mode
Torque Mode
Step Mode
Operating ModesFront View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-GND
GND
A+A-
B+B-
Z+Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
1817
1615
14
1312
1110
9 8 7 6 5 423
1
19202122232425Encoder
Outputs
X6 / CCW Limit
1817161514
131211109876542 3
1 1920
2122
2324
25
+5V
Out 1-
Out 2+Out 1+Ain Com
N/CAin 1
IN 8-
COMIN 5
IN 6IN 7+
IN 8+IN 7-
IN 4
IN 1COM
IN 2
COMIN 3
Out 2-
Out 3+
Out 3-
Out 4+
Out 4-
enabled when
flashing
Drive Disabled
Si Mode
INT
rotating segment indicates Q
program running.
IN/O
UT 2
IN/O
UT 1
S & Q Models - optional expanded I/O connector Si model - standard I/O connection.
Communications.Si model - RS 232
S & Q Models RS 232 & RS 485 multi drop - up
to 32 axes.
Regen Indicator.Shows if drive is
regenerating.
Status Indicator.7 Segment LED for indication of error
codes and operating status .
DC Bus IndicatorShows if the drive has
power
AC Supply Input.Single or 3 phase
90-260VAC
Dynamic Braking.For stopping high
inertia loads if power fails
Regenerative Braking.Select between
internal or external braking resistor
Keep Alive Input.Input 24VDC to keep
logic high if power fails.
Isolated Power Supply.24VDC user output.
100mA Max.
Error CodesPosition LimitCCW LimitCW LimitOver TempOver VoltageUnder VoltageOver Current/Short
Current LimitHall BadEncoder BadMemory ErrorRegen FailedComm Error
Position ModeVelocity ModeTorque ModeStep Mode
Operating Modes
enabled whenflashing
Drive DisabledSi Mode
rotating segment indicates Q program running.
Status Display Codes
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QuickTunerSetup SoftwareThe BLuAC5 servo drives are supplied with
the QuickTunerTM software set-up utility.In this one program the user can config-ure all the aspects of the drive. This in-cludes setting the current, configuring In-puts and Outputs and tuning the drive us-ing the integrated oscilloscope with newtrigger function.
The drive screen allows the user to enterparameters for the drive and select theoperating mode required.
The Inputs/Outputs screen is used toconfigure the functionality of the drive.These functions may include.• Brake output• Alarm Output• Motion Output• Limit Switch inputs
The oscilloscope function can be used todisplay the effects of varying the differentgain parameters. A number of differentdrive parameters can be displayedincluding:• Target Speed• Actual Speed• Current• Position Error• Supply VoltageThe oscilloscope function also features a
trigger function and a monitor, thisdisplays parameter values in real time.
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POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... 3 phase Sinusoidal PWM switching at 16 KHz.CURRENT CONTROL .................................. 4 quadrant “DQ” methodOUTPUT CURRENT .................................... 5 amps continuous. 15 amps peak current, one second max rms.AC INPUT VOLTAGE ................................... 90 - 260VAC 50/60Hz, 1 phase or 3 phaseDC INPUT VOLTAGE ................................... 100 - 340VDCBUILT IN REGENERATION .......................... 50 Watt internal shunt resistor. Connector for high power external
shunt resistor.PROTECTION.............................................. Over-current/short circuit
Over temperature (75°C)Over voltage (400VDC on DC Bus)Under voltage (100VDC on DC Bus)Regeneration Error (Based on Regeneration values)Encoder Failure (When using differential input)Hall sensor Failure
POSITION FEEDBACK................................. Incremental Encoder, A/B Quadrature (50 to 32,000 line), up to2MHz.
POSITION RESOLUTION ............................ Set via software to match encoder resolutions from a minimum of50 lines to a maximum of 32,000 lines per revolution producing aminimum of 200 counts to a maximum of 128,000 counts perrevolution in quadrature.
Max Speed ................................................. Speeds to 8000 rpm. Motor and load dependent.
CONTROLLER SECTION:
MOTION UPDATE ....................................... 16 kHz.SERVO UPDATE ......................................... 4 kHz.SERIAL COMMUNICATION ........................ RS-232 or RS-422/RS-485 programming & control port (RS-485
S & Q versions only). Green and Amber LED’s for Receive andTransmit indication. Each drive is addressable for multi-axis con-trol (S & Q versions only). Selectable Baud rates of 9600, 19200,38400, 57600, 115200.
STATUS INDICATOR ................................... 7-Segment LED for Status, Operation and Error code displayDIGITAL INPUTS AND OUTPUTS ............... All Optically Isolated, 2 high speed inputs for Encoder Following
or Step & Direction input.ANALOG INPUT .......................................... Configurable as single-ended or differential ±10V, ±5V, 0-5V or 0-
10V. This can be read as one differential or two single ended in-puts, dependant on product model. Si;Not Supported , S model;one input Single or Differential, Q; One Single or Differential ortwo Single Ended.
S & Q PARAMETER RANGES ..................... Distance: 1 to 2,147,483,647 (CW or CCW), relative or absolute po-sition in encoder counts.Speed: .0042 to 133 revolutions per second.Acceleration: 0.167 to 5,000 rev/sec/sec.Deceleration: 0.167 to 5,000 rev/sec/sec (set independently fromacceleration).Time Delays: .01 to 320 seconds.
Si PARAMETER RANGES ........................... Distance: 1 to 16,000,000 (CW or CCW), absolute position ± 2 billion.Speed: .025 to 100 revolutions per second.Acceleration: 1 to 3,000 rev/sec/sec.
BLuAC5 Technical Specifications
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Deceleration: 1 to 3,000 rev/sec/sec (set independently from acceleration).Time Delays: .01 to 300 seconds.Output Pulse Widths: 2 to 500 milliseconds.Iterations per loop: 1 to 65,535.
................................................................... Nested loops :50
................................................................... Subroutine calls: 5 deep max
SYSTEM SPECIFICATIONS:WEIGHT ...................................................... 2 lb. 12 oz.AMBIENT TEMPERATURE .......................... 0 to 40 deg C (32 to 104 deg F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power, and motor, HD-15 for encoder/
Hall signals. DB25 for signal and I/O. Si has DB25P for User I/O.RECOMMENDED MOTORS ........................ Can drive AMP BLDC Motors to 950W at full speed.
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BLuAC5 Connections
1817161514
13121110
987654
23
1
19202122232425
+5V
Out 1-Out 2+
Out 1+Ain ComN/CAin 1
IN 8-
COMIN 5
IN 6IN 7+
IN 8+IN 7-
IN 4
IN 1COMIN 2
COMIN 3
Out 2-Out 3+Out 3-Out 4+Out 4-
IN/OUT 2 Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5/ Reset X4 / Alarm Reset
Analog IN-Analog IN+
X2 / DIR-X2 / DIR+
X1 / STEP +X1 / STEP -
GND
GND+5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE
1817161514
13121110987654
23
1
19202122232425
X6 / CCW Limit
IN/OUT 1
Note - this connector is standard on Si version and only on S and Q versions withexpanded I/O.
+5V OUT +12V OUT
GNDGNDAnalog Out 2 Analog Out 1
BLuAC5 Outline Drawings2.70
1.32
7.8
4.85
7.4
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Recommended Motors for use with BLuAC5 Servo Drive
Alpha A Series
Alpha N & M Series
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)RT(euqroTdetaRm.N 72.1 19.1 55.2 20.3
ni.bl 42.11 9.61 75.22 57.62
)PT(euqroTkaePm.N 28.3 37.5 46.7 60.9
ni.bl 8.33 17.05 16.76 91.08
deepSdetaR nim/r 0003 0003
deepSmumixaM nim/r 0005 0005
M.C.D.EfotnerruCerutamrAdetaR smrA 2.5 2.4 6.4 5.4
M.C.D.EfotnerruCerutamrAkaeP smrA 6.51 6.21 8.31 2.31
M.C.D.EfotnatsnoCeuqroTA/m.N %01-/+ 62.0 74.0 75.0 17.0
A/ni.bl 92.2 61.4 50.5 82.6
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000-5-201-0040M000-C-201-0040N
000-5-201-0060M000-C-201-0060N
000-5-201-0570M000-C-201-0570N
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)RT(euqroTdetaRm.N 72.1 72.1 19.1 93.2
ni.bl 42.11 42.11 71 12
)PT(euqroTkaePm.N 28.3 28.3 37.5 61.7
ni.bl 8.33 8.33 05 46
deepSdetaR nim/r 0003 0003
deepSmumixaM nim/r 0005 0005
M.C.D.EfotnerruCerutamrAdetaR smrA 6.5 8.2 4.4 0.5
M.C.D.EfotnerruCerutamrAkaeP smrA 3.61 0.8 9.21 5.41
M.C.D.EfotnatsnoCeuqroTA/m.N %01-/+ 42.0 94.0 54.0 5.0
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Alpha A Series 80mm Motors
Alpha A Series 60mm Motors
L ± 1
30 ± 1 (1.18 ± .04)
ØD
Ø50.0 – 0.03(1.97 + .000)
– .002
4 X Ø5.5 ± .25(.217 ± .01)
ON Ø70 B.C.
2 X 49.50 ± 0.1REF6.0
(.24) 3.00(.118) 2 X 60
(2.36)MAX
Alpha M Series 60mm Motor
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
A0400-101-4-000 128.1 (5.04) 14 (0.551)
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
A0600-102-5-000 128.1 (5.04) 19 (0.748)
A0800-102-5-000 145 (5.71) 19 (0.748)
A0950-102-5-000 160 (6.3) 19 (0.748)
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
M0400-101-4-000 126 (4.96) 14 (0.551)
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10 REF
70.1REF
L ± 1
8.0(.315)
30 ± 1 (1.18 ± .04)
Ø15.875 – 0.013(.6250 + .0000)
–.0005
+0
Ø73.02 – 0.013(2.875 + .000)
4 X Ø5.5 ± .25(.217 ± .01)
–.002
1.6 ± 0.3(.063)
2 X 34.8(1.37)
2 X 69.6 ± 0.1(2.74 ± .004)
2 X 86.0(3.386)
MAX
L ± 1
26
20.6 ± 1 (.81 ± .04)
Ø12.7 –0.011(.500 + .0000)
+0
–.00042 X 47.14 (1.856")
1.52(.060)
6.0(.24) 2 X 56.4
(2.22")(Flange)
4 X Ø5.5 ± .25(.217 ± .01)
Ø38.1 – 0.03(1.50 + .000)
– .002
60 (2.36")(Body)
Alpha N Series NEMA 23 Motor
Alpha N Series NEMA 34 Motor
600W/750W = 35 ± 1 (1.37 ± .04)200W/400W = 30 ± 1 (1.18 ± .04)
Alpha M Series 80mm Motor
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
M0400-102-5-000 103 (4.05) 14 (0.551)
M0600-102-5-000 127 (5.00) 19 (0.748)
M0750-102-5-000 135 (5.31) 19 (0.748)
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
N0400-101-B-000 149 (5.86) 12.7 (0.5)
Model No Dimension "L"mm (inch)
Shaft Dia "D"mm (inch)
N0400-102-C-000 120 (4.72) 15.875 (0.625)
N0600-102-C-000 132 (5.19) 15.875 (0.625)
N0750-102-C-000 140 (5.51) 15.875 (0.625)
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BLuAC5 Torque Curves for Recommended Motors
0 1000 2000 3000 4000 50000
50
100
150
200
250
rpm
lb-i
n
BLuAC5 set at 4.5 amps (12.8 peak)200 VAC Supply
M0400-102-5-000 M Series MotorN0400-102-C-000 N Series Motor
rpm
lb-i
n
BLuAC5 set at 2.7 amps (7.8 peak)200 VAC Supply
A0950-102-5-000, Alpha Motor
rpm
lb-i
n
BLuAC5 set at 4.4 amps (13.2 peak)200 VAC Supply
M0400-101-4-000, M Series MotorN0400-101-B-000, M Series Motor
rpm
lb-i
n
BLuAC5 set at 5.0 amps (15.0 peak)100 VAC Supply
A0600-102-5-000, Alpha Motor
rpm
lb-i
n
BLuAC5 set at 4.2 amps (12.6 peak)200 VAC Supply
A00400-101-4-000, Alpha Motor
rpm
lb-i
n
BLuAC5 set at 5.0 amps (15.0 peak)100 VAC Supply
A0800-102-5-000, Alpha Motor
rpm
lb-i
n
BLuAC5 set at 4.6 amps (13.8 peak)200 VAC Supply
0 1000 2000 3000 4000 50000
10
20
30
40
50
60
70
Peak Continuous
0 1000 2000 3000 4000 50000
20
40
60
80
100
Peak Continuous
rpm
lb.in
BLuAC5 set at 4.9 amps (14.1 peak)200 VDC Supply
M0750-102-5-000 M Series MotorN0750-102-C-000 N Series Motor
M0600-102-5-000 M Series MotorN0600-102-C-000 N Series Motor
0 1000 2000 3000 4000 50000
20
40
60
80
100
Peak Continuous
0 1000 2000 3000 4000 50000
10
20
30
40
50
Peak Continuous
0 1000 2000 3000 4000 50000
10
20
30
40
50
Peak Continuous
0 1000 2000 3000 4000 50000
20
40
60
80
100
Peak Continuous
0 1000 2000 3000 4000 50000
10
20
30
40
50
Peak Continuous
0 1000 2000 3000 4000 50000
20
40
60
80
100
Peak Continuous
0 1000 2000 3000 4000 50000
20
40
60
80
100
Peak Continuous
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BLu AC5 Options
Braking resistor assembly - RA-100
• I/O expansion kit (Part No BLuAC-EXTIO)increases the inputs to 15 and outputs to 7 onthe BLuAC5-S and BLuAC5-Q models.• Multi axis systems can be created using the Hub
444 or Hub8 multi port hubs and the SiNetTM HubProgrammer Software.• External braking resistor module.
Distributed by:
• Man Machine Interface (MMI 01 & MMI 02). Can beused with Si model only to enter variables.• Break Out Board . A DIN rail mounted module that con-
verts the 25 way DIN connectors to screw terminals.
Applied Motion Products404 Westridge Dr. Watsonville, CA 95076Tel: 831-761-6555 Fax: 831-761 -6544www.applied-motion.com
Version 11/19/04
Break Out Board (BOB1 & BOB2)
• BOB1 is for use with all Drives and expands the IN OUT1 connector to screw terminals.• BOB2 is for use with Si version drives and S and Q
models that are fited with the expansion I/O.(supplied with 3’ cable)