advertisement
▼
Scroll to page 2
of 10
MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS FEATURES • • • • • • Compatible with controllers that output +/-10V analog torque commands for U & V phases I-CONT (A) 15 I-PEAK (A) 50 FAULT PROTECTIONS Short-circuits output to output output to HV (+) output to HV (-) Over / under voltage Over temperature Self-reset or latch-off No Transformer Required! Operates from power supplies that rectify the line directly with full optical isolation between signal and power stages. CURRENT LIMITING 2 User selectable, I T Limit with, indicator signal for control system Greater than 3 kHz Bandwidth Technology 80 5651A PMD MC1231A Chipset Delta Tau PMAC MEI DPS Series Galil DMC-1700 • THE OEM ADVANTAGE • POWER 24~180VDC Reduced offset drift WORKS WITH POPULAR CONTROLLERS • • • • • MODEL 7225X1-50 Internal solderless header configures amplifier for plug and play operation FEATURES The 7225X1-50 model is a PWM servoamplifier for AC Brushless servomotors that are commutated externally by digital control systems that output two +/-10V signals that represent the current command to the motor U and V windings. The amplifier synthesizes the current command for the W winding. Control cards take feedback from an encoder on the motor and use various techniques to determine the rotor position. When this has been done, the controller is able to output two signals that correspond to the current in the U and V windings to produce torque in the motor. The amplifier synthesizes the W winding current from UV signals that are 120 electrical degrees apart. Amplifier adjustments with this system consist of inductance compensation, current limit, transconductance, and offset. Thereafter, the controller does all of the velocity and/or position control of the motor. Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Internal solderless sockets let the user configure the various gain and current limit settings to customize the amplifiers for a wide range of loads and applications. Header components permit compensation over a wide range of load inductance's to maximize bandwidth with different motors. The /Enable input active logic-level is jumper-selectable to ground or +5V to interface with all types of control cards. MOSFET output stage deliver four quadrant power for bi-directional acceleration and deceleration of motors. All models are protected against output short circuits (output to output, output to ground, output to +HV) and heatplate overtemperature. With the /Reset input open the amplifier will latch off until powered-down or the /Reset input is toggled. The amplifier will reset itself automatically from faults if the /Reset input is wired to GND. Tel: 781-828-8090 Fax: 781-828-6547 Page 1 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS TECHNICAL SPECIFICATIONS Test conditions: 25°C. Ambient, Load = 400uH in series with 1Ω, +HV = 180V MODEL 7225X1-50 OUTPUT POWER Peak power 50 A @ 170 VDC Peak time 0.25 sec at peak power independent of polarity reversal Continuous power 15 A @ 180 VDC OUTPUT VOLTAGE On-resistance (Ro, ohms) 0.2 Max PWM Peak Output Voltage ±Vout = (VDC)×(0.97) - (Ro)×(Io) INPUT POWER DC voltage 22~186 VDC Input current @ continuous output rating 15 A LOAD INDUCTANCE Minimum inductance 400 µH. Maximum inductance No maximum. Bandwidth varies with inductance, +HV, and header parts. BANDWIDTH Small signal -3dB @ 3 kHz with minimum load at nominal supply voltage. Varies with load inductance and header values PWM OUTPUTS PWM frequency Modulation 25 kHz Carrier-cancellation, 50% duty cycle at 0 V output Differential, 94 kΩ max. to 47 kΩ min. between inputs, ±20 V maximum REFERENCE INPUT POTENTIOMETERS R14 R26 R49 R41 U Ref Fine Gain V Ref Fine Gain U phase current Zero V phase current Zero Default = Centered Default = Centered INTERNAL JUMPER JP1 /Enable input active polarity Pos. 1-2 (default ) Pos. 2-3 CW increases gain of U output phase current. CW increases gain of V output phase current. Adjusts U output current to zero with U and V inputs = 0 V. Adjusts V output current to zero with U and V inputs = 0 V. Gnd enables amplifier, open or +5 V inhibits. Gnd inhibits, open or +5 V enables LOGIC INPUTS /Enable Default = GND active /Motemp Motor temp sensor. /Reset Default = Open Input resistance Logic threshold voltage Input voltage range LOGIC OUTPUTS /Normal1, /Normal2 GND enables channel open or >2.5V inhibits with JP1 on 1-2. If JP1 on 2-3 then GND inhibits Response time is 1 ms from enable active to amplifier output ON. HI (open) = Motor HOT, amp channel shuts down. Non-latching. LO (gnd) = Motor OK, amp channel will operate. GND resets latching fault condition, ground for self-reset every 1 s. 10kΩ to +5V, R-C filters on inputs 2.5V (Schmitt trigger inputs with hysteresis, 74HC14) 0V to +32VDC HI output voltage LO output voltage /CurrLimit1, /CurrLimit2 HI output voltage LO output voltage AmpOK LO (current sinking) when channel is Enabled AND OK Amp OK = (NOT Short) AND (NOT Over, Undervoltage, or Basetemp) AND (MotorTemp OK) +5V (no load). Output is N-channel MOSFET drain terminal with10kΩ pull-up resistor to +5V On resistance Ro = 5Ω. Max sink current of 250 mA. max off-voltage = 50VDC HI when amplifier is not current limiting; LO when current is limit is active. +5V (No load). Output is LM339 open collector with 10kΩ pullup resistor to +5V Max sink current of 15 mA, max off voltage = 32VDC Opto-isolated signal: opto-transistor output stage of optocoupler Transistor is ON when Amp is OK (see above) One output is connected to pins 7 & 19 of both J1 & J3 Amp OK Normal Fault Latching Fault Power OK, no faults, amp will run when enabled Amplifier OK AND Amp Enabled Amplifier NOT OK (Over voltage OR Undervoltage OR , /Motemp not connected or open) Heatplate ovrtemp or short ckt (output-output, output--HV, output-+HV or internal) STATUS LEDS MONITOR OUTPUTS Current Monitor U Current Monitor V Blinking Green Solid Green Solid Red Blinking Red Motor winding current in U phase: ±10 V @ ±50 A or 5.0 A/V (2.2 kΩ, 4.7 nF R-C filter) Motor winding current in V phase: ±10 V @ ±50 A or 5.0 A/V (2.2 kΩ, 4.7 nF R-C filter) Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 2 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS PROTECTIVE FEATURES Short circuit Overtemperature Under voltage Over voltage Current-limiting Latches unit OFF (Power off/on, or ground at /Reset input resets) Latches unit OFF at 70°C on heatplate (Power off/on, or ground at /Reset input resets) Wire /Reset input to ground for automatic reset after latching fault Shutdown at DC buss < 22 VDC Shutdown at DC buss > 195 VDC (Amplifier operation resumes when internal DC buss is NOT Under voltage or NOT Over voltage) 2 Continuous current and I T limit set by header components 2 Current is reduced to continuous setting when I T limit is reached. |IU|, |IV| are hardware limited to 53A, whereas |IW | = -(IU + IV) at all times 2 Maximum I T setting (H13 = H14 = 0 ohms) will activate latching fault after 50Arms for 0.25s 2 Minimum I T setting (H13 = H14 = Open) will activate latching fault after 50Arms for 11mS Limiting action reduces transconductance so relative amplitude of U,V,W currents is maintained for no loss of phase /CurrLimit output indicates when current limiting is active. Amplifier will shutdown (latching fault)if |IW | > 58A at any time. AMPLIFIER DISSIPATION Watts maximum at Vref = 0, amplifier enabled Watts @ continuous current THERMAL REQUIREMENTS Storage temperature range Operating temperature range Thermal resistance (heatplate to ambient): 7W 60 W -30°C to +85°C 0° to 70°C baseplate temperature No heatsink or fan: 2.7 deg. C/W; With heatsink, no fan: 1.6 deg. C/W No heatsink with fan: 1 deg. C/W; With heatsink and fan: 0.4 deg. C/W MECHANICAL Size Weight 7.35 x 4.4 x 1.40 in. without optional heatsink 1.48 lb. (0.67 kg) CONNECTORS J1 J2 Power & Motor connections Signal connections 6-position Euro connector 25-position female Sub-D type with #M3 standoffs for cable shell lock screws Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 3 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS FUNCTIONAL DIAGRAM CASE GND 1 47k U_REF(+) - 2 U_REF(-) DIFF AMP 100pF + 14 47k H7 1-2 = /ENABLE 2-3 = ENABLE H3 47k 47k 10k - CW 47k 3.01k + 8.25k - V_REF(-) 15 + 47k 20.4k 806 47k 3 47k - 18.2k + U Gain Trim 100pF 100pF V_REF(+) H4 Current Limit DIFF AMP 100pF N.C. N.C. 10k CW V Gain Trim N.C. RESET 22 +5V 10k CURRENT ERROR AMP STATUS 5 & W 3.01k - 12 LOGIC 19 AMP OK (+) 7 AMP OK (-) 6 /NORMAL H11 - H12 + + 8.25k +5V V H6 20.4k CURRENT ERROR AMP 10k ISOLATED CURRENT SENSE V Current Limit 2.2k 11 J1 MOTOR & POWER ISOLATED CURRENT SENSE V +5V 10k CURRENT LIMIT SECTION 9 20 N.C. 8 N.C. ISOLATED CURRENT SENSE U PWM STAGE MOSFET "H" BRIDGE 1 2 3 W V MOTOR U ISOLATED CURRENT SENSE V Gv = +HV 10 4 MOTOR OVER-TEMP SWITCH FRAME GROUND 21 J2 SIGNAL 18.2k 4.7nF /CLIMIT ENABLE GND CONTROL ISOLATED CURRENT SENSE U 4.7nF CURRENT MONITOR V +/-10V @ +/-50A 47k 2.2k 10 +5V H5 806 25 CURRENT MONITOR U +/-10V @ +/-50A MOMENTARY SWITCH RESETS FAULT WIRE RESET TO GROUND FOR SELF-RESET 47k H10 23 U PHASE W GENERATOR 16 24 H9 ISOLATED CURRENT SENSE U GND J2 SIGNAL JP1 Enable Active level select H8 3 21 CONTROL SYSTEM Motor temp sense EARTH OR SAFETY GROUND HV (-) 5 +5 +15 13 DC / DC CONVERTER -15 6 HV (+) NOTE: CIRCUITS WITHIN DASHED LINE ARE ISOLATED FROM SIGNAL CIRCUITS Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 4 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS CONNECTORS J1 POWER AND MOTOR WINDING CONNECTIONS Connector type: Euro style terminal block. PIN SIGNAL FUNCTION 1 Motor W Amplifier output to “W” winding of motor 2 Motor V Amplifier output to “V” winding of motor 3 Motor U Amplifier output to “U” winding of motor 4 Chassis Gnd Chassis safety ground. Also for cable shield of motor cable. 5 HV(-) DC Power Gnd/Return (Note: HV is isolated from 0V signal ground) 6 HV(+) DC Power Input J2 SIGNAL CONNECTIONS Connector type: Female Sub-D, 25-position, #M3 locking standoffs PIN 1 SIGNAL Safety GND (Case) 2 U Ref (+) 3 V Ref (+) 4 5 6 7 8 9 10 11 12 13 1. N.C. /Enable input /Normal output Amp OK (-) output N.C. /CLIMIT Current Monitor U Current Monitor V 0V. 0V. FUNCTION Chassis ground. Use to ground cable shield. Not connected to internal signal ground (J3-12, 13,16). Positive terminal of differential +/-10V analog command input Positive terminal of differential +/-10V analog command input Amplifier enable Mosfet output amp status Opto-isolator emitter (NPN) Current limit status +/-10V @ +/-50 A +/-10V @ +/-50 A Signal ground. Signal ground must be connected to the controller. PIN SIGNAL FUNCTION 14 U Ref (-) 15 V Ref (-) 16 17 18 19 20 21 22 23 24 25 0V. N.C. N.C. Amp OK (+) output N.C. Motemp /Reset input N.C. N.C. N.C. Negative terminal of differential +/-10V analog command input Negative terminal of differential +/-10V analog command input Signal ground. Opto-isolator collector (NPN) (Note 1) The motor temperature sensor input is supported on 7225X1-50. J2-21 must be grounded for amplifier to operate (motor temp sensor should be a normally-closed switch that opens when motor is too hot) Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 5 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS TYPICAL AMPLIFIER CONNECTIONS Chan A Chan B Index U Ref(+) Current Command U Ref(-) Phase U Phase V Shld Ground V Ref(+) V Ref(-) 2 14 1 J2 3 15 Signal ground Note: 13 Amplifier signal ground must be connected to Signal ground 16 controller ground. AmpOK(+) 19 AmpOK(-) 7 /CurrLimit status 9 /Normal output 6 Motor temp sensor 21 J2 12 Signal ground 1 2 Monitor Outputs Current Mon U 10 Current Mon V 11 /Reset 22 3 W V Motor U J1 HV+ Fuse 6 5 /Enable Encoder HV- 5 4 Note: Enable input active level is selectable with internal jumper JP1 Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com 120VAC Note: Circuits within dashed line are HOT! (At mains potential) Tel: 781-828-8090 Fax: 781-828-6547 Page 6 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS PC BOARD LAYOUT J1 = Enable input active level control JP1 LO = enabled ( /Enable ) (default) Header Socket 1 2 3 HI = enabled ( Enable ) H14 H13 Do not adjust, factory set drift potentiometers H11 H10 H8 H7 H5 H3 H2 H1 1 2 3 U Balance JP1 V Balance 6 5 4 3 2 1 U Gain trim J2 Signal V Gain trim Amp Normal Fault J1 Power & Motor HEADER BOARD SOCKET COMPONENTS Part H15 H14 H13 H12 H11 H10 H9 H8 H7 H6 H5 H4 H3 H2 H1 Value N/a 0Ω<short> 0Ω<short> <out> 33.2kΩ 33nF <Out> 33.2kΩ 33nF <Out> 75kΩ <Out> 75kΩ 1.5MΩ 1.5MΩ Remarks No function 2 I T Current Limit select Continuous Current Limit select Ch. V Current Error Amp hi-frequency roll off Ch. V Current Error Amp proportional gain Ch. V Current Error Amp integrator Ch. U Current Error Amp hi-frequency roll off Ch. U Current Error Amp proportional gain Ch. U Current Error Amp integrator Ch. V Continuous Current Limit Ch. V Transconductance Ch. U Continuous Current Limit Ch. U Transconductance Ch. U Balance Range select Ch. V Balance Range select Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 7 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS HEADER SOCKET COMPONENT SELECTION LOAD INDUCTANCE L (mH) phase-to-phase 0.4 1 3 10 30 H8, H11 @ 80V 16.5k 41.2k 124k 249K 750K H8, H11 @ 160V 11k 33.2k 68.1k 124K 392k H7, H10 33nF 33nF 33nF 33nF 33nF Note: Table values apply with components H9 & H12 not installed. Values in bold and italic are factory installed. CURRENT LIMITS 2 2 A micro controller uses an I T algorithm to monitor to protect against overload conditions. The I T overload protection for each channel operates independent of the other. The algorithm detects when the current is any phase exceeds the continuous current limit level set 2 2 2 by the header component H13. The I T algorithm tracks the energy of the overload (A sec) and when the I T limit is reached, the output current is limited to a level set by H4 and H6. The following tables or equations can be used to select header component values to obtain the desired over-current protection setting. Cont. Current (Arms) 15 12 9 6 3 2 H 4,H 6 (Ohm) <out> 1.87k 715 301 75 2 I T Limit (A sec) 600 375 188 139 75 24 H13 (Ohm) 0 Ohms (short) 15.8k 47.5k 143k <Out> H14 (Ohm) 0 (short) 16.9k 57.6k 86.6k 200k <Out> (6.25 H13 = 47.5k ohms (15 - I cont ) * (I cont -3) H14 = 47.5k ohms * ( I 2 T limit ) 15.36 I 2 Tlimit - 1.25) 15.36 2 Example: The I T set point applies only to the energy delivered to the load over and above the continuous rating of the load. The 2 amplifier’s micro controller is informed of the continuous current rating of the load via header resistor H13. The I T set point is set via 2 2 header resistor H14. Using a 0 ohm value for H14 gives an I T set point of 600 A S. If a 0 ohm value is also used for H13, the 2 continuous current setting is 15A. This means that for a 50Arms current on either phase U, V or W, the I T protection will activate after 2 2 2 . a time T = 600 A S/(50 - 15 )= 0.25 seconds Current is then limited to continuous limit set by H4 and H6. BALANCE RANGE AND TRANSCONDUCTANCE SETTINGS Header components H1 & H2 control the offset range. Default value is 1.5Mohm that gives a range of +/-350mA. The ratio between output current, and the reference voltage at the input is the transconductance of the amplifier. It is measured in Amps/Volt, and is controlled by components H3 & H5. The chart below gives some common settings. Gain (A/V) 6.25 5.0 3.75 2.5 1.25 Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com H3 & H5 95.3k 75k 54.9k 36.5k 17.8k Tel: 781-828-8090 Fax: 781-828-6547 Page 8 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS DIMENSIONS Note: Dimensions in inches (mm.) 7.35 (186,7) 1.40 (35.56) 4.40 (111,8) V Balance U Balance V Gain Trim U Gain Trim Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Pots Amp Normal Fault Ph. V Ph. W Ph. U HV(-) HV(+) J2 Signal Leds J1 Motor & Power Tel: 781-828-8090 Fax: 781-828-6547 Page 9 of 10 MODEL 7225X1-50 LINE-ISOLATED AC BRUSHLESS SERVO AMPLIFIER WITH +/-10V ANALOG U-V INPUTS NOTES Rev A 11/02/2001 Copley Controls Corporation. 20 Dan Rd., Canton, MA 02021 www.copleycontrols.com Tel: 781-828-8090 Fax: 781-828-6547 Page 10 of 10
advertisement
* Your assessment is very important for improving the workof artificial intelligence, which forms the content of this project