Servo Dynamics 1224-BL Manuale utente
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1224-BL
SERVO AMPLIFIER
FOR BRUSHLESS SERVOMOTORS
USER GUIDE
October 2004
DynaDrive 1224-BL User Guide Page 2
Important Notice
This document is subject to the following conditions and restrictions:
• This document contains proprietary information belonging to Servo Dynamics. This
information is provided for the purpose of assisting users of the servo drive in its
installation.
• The text and graphics in this document are for the purpose of illustration and reference
only.
• The information in this document is subject to change without notice.
Revision History:
Version 1.01: October 28, 2004
Version 1.00: October 4, 2000
Contents
DynaDrive 1224-BL User Guide Page 3
1. Introduction........................................................................................................................... 4
1.1 Description...................................................................................................................... 4
1.2 Technical Specifications ................................................................................................. 5
2. Safety Information................................................................................................................ 6
2.1 Electrical Cautions.......................................................................................................... 6
3. Installation............................................................................................................................. 7
3.1 Matching the DynaDrive to the Motor............................................................................ 7
3.2 Mounting Dimensions..................................................................................................... 8
3.3 Connector Information.................................................................................................... 9
3.3.1 J1 – Control I/O Connection ................................................................................................... 9
3.3.2 J4 and J2 - Servomotor Connection ...................................................................................... 10
3.4 Wiring Diagram ............................................................................................................ 11
3.4.1 DynaDrive 1224-BL and Motor with Hall Sensors............................................................... 11
3.4.2 DynaDrive 1224-BL and Motor with Encoder with Hall Tracks.......................................... 12
3.5 Potentiometers -Adjustments........................................................................................ 13
4. Operational Modes.............................................................................................................. 14
4.1 Torque Mode................................................................................................................. 14
4.1.1 Torque Mode – Factory Potentiometer Settings....................................................................14
4.1.2 Torque Mode - Setup ............................................................................................................15
4.2 Velocity Mode .............................................................................................................. 16
4.2.1 Velocity Mode – Factory Potentiometer Setting ................................................................... 16
4.2.2 Velocity Mode- Setup ........................................................................................................... 17
5. Troubleshooting .................................................................................................................. 18
5.1 Diagnostic LEDs........................................................................................................... 18
5.1.1 Green LED ............................................................................................................................ 18
5.1.2 Red LEDs:............................................................................................................................. 18
5.2 Other Conditions........................................................................................................... 19
5.3 Test Points..................................................................................................................... 20
5.4 Contact Information ...................................................................................................... 21
Introduction
DynaDrive 1224-BL User Guide Page 4
1. Introduction
This information manual provides the product specifications, wiring diagram, operational modes
(torque and velocity) and troubleshooting procedures for the brushless DynaDrive 1224-BL.
1.1 Description
The DynaDrive 1224-BL supplies 12 amps continuous current and 24 amps peak current at 300
VDC for a total of 7200 watts of continuous power. The DynaDrive is a current source type
PWM amplifier.
The DynaDrive is a power duplicator of the command signal. A battery, a motion controller, or a
signal generator can be the source of the command signal input.
Please read this manual thoroughly to the end as it contains important system information
and warnings.
Introduction
DynaDrive 1224-BL User Guide Page 5
1.2 Technical Specifications
Performance Characteristics
Peak Power 7.2 kW
Peak Output Voltage ± 300 vdc (shut off @ 450 vdc)
Peak Output Current ± 24 amps (1 sec.)
Max. Continuous Current ± 12 amps (50 °C)
Electrical Characteristics
± 10 vdc (typ.),
Input Signal Voltage
± 35 vdc (max.)
0 to 5,100 amps/volt –velocity mode
System Gain
0 to 10.0 amps/volt – torque mode
Input Impedance 40 k Ohms
Typical Input Drift 10 µV/°C
Bandwidth 2 kHz with 2.4 mHy Inductance
Dead Band Zero
Input Power Requirements
Input Voltage 70 - 360 vdc
Adjustments
Peak Current Limit 0 to 24 amps
RMS Current Limit 0 to 12 amps
Signal Command Input Scaling
Balance Zero velocity/torque offset
Compensation System response
Tachometer Scaling
Diagnostics LED indication
Green LED 1 – RUN GREEN - AMPLIFIER OPERATIONAL
Red LED 2 – BUS OVER VOLTAGE
Red LED 3 – EXCESSIVE RMS CURRENT/ OVER TEMP
Red LED 4 – SURGE/GROUND FAULT
Physical Characteristics
Module Dimensions (L x W x H) 7.6 in. x 1.3 in. x 5.4 in.
Weight 1.8 lbs
Ambient Temperature – Operating 0 °C to 50 °C
Shutdown Temperature 80 °C at heat sink
Relative Humidity 5 - 95% non-condensing
Table 1: Technical Specifications for DynaDrive 1224-BL
Safety Information
DynaDrive 1224-BL User Guide Page 6
2. Safety Information
2.1 Electrical Cautions
Make sure that all voltages and tests are made with battery powered or electrically isolated
instruments.
Installation
DynaDrive 1224-BL User Guide Page 7
3. Installation
3.1 Matching the DynaDrive to the Motor
The factory preset potentiometer settings of the DynaDrive 1224-BL may need to be adjusted to
match the continuous current rating of your motor. To accomplish this, find the continuous
current rating of the motor to be used and adjust the RMS, PEAK CURR LIMIT and SIGNAL
pot per Table 2 below. If the continuous current rating is between the values shown in the table,
you may set to the lower value or use linear interpolation for each pot value. The signal pot
settings are based on +/- 10 vdc input command signal.
Continuous Current
Rating of Motor
(Amps)
RMS
Pot Setting
TP7
K Ohms (Amps)
PEAK CURRENT LIMIT Pot
Setting
TP5
K Ohms (Amps)
SIGNAL
Pot Setting
TP2
K Ohms
3 0.25 (3 Amps) 0.38 (9 Amps) 1.5
6 4.6 (6 Amps) 0.89 (18 Amps) 2.8
9 8.2 (9 Amps) 1.4 (24 Amps) 3.8
12 10.5 (12 Amps) 1.4 (24 Amps) 3.8
Table 2: Motor Specs
Note: All Measurements are with respect to TP1 (Common) with J1 removed.
Installation
DynaDrive 1224-BL User Guide Page 8
3.2 Mounting Dimensions
Note: Units in inch
Installation
DynaDrive 1224-BL User Guide Page 9
3.3 Connector Information
3.3.1 J1 – Control I/O Connection
J1 Label Description
1 +12V, 5mA OUT Auxiliary voltage that has 1K ohm resistor in series with this
output.
2 COMMON Connected to the other commons and connected to the
metalwork of the amplifier mounting plate.
3 -12V, 5mA OUT Auxiliary voltage that has 1K ohm resistor in series with the
output.
4 COMMAND- Differential input. This pin can also be used as a single ended
input. Use J1, Pin 2 as common.
5 COMMAND+ Differential input
6 TACH IN Single ended input that has additional tach filtering and
conditioning.
7 ENCODER to TACH
OUT (option) Jumper to Pin 6 if Encoder to Tach option Is being used.
8 CURR MONITOR OUT Current monitor output. +/- 10 Vdc out equals approx. +/- 24
amps.
9 INHIBIT/RESET Connect to +5Vdc to enable amplifier. Remove +5Vdc to inhibit
and reset amplifier.
10 HALL VOLTAGE OUT +5Vdc to hall sensors (30 mA max)
11 COMMON Common connection for hall sensors. See Pin 2 above.
12 HALL 1 Internally pulled up to +5 Vdc.
13 HALL 2 Internally pulled up to +5 Vdc
14 HALL 3 Internally pulled up to +5 Vdc
15 COMMON See Pin 2 above
16 FAULT OUTPUT
Uncommitted collector output that is high (On) during normal
operation and low (Off) if a fault occurs. Note: Use an external
pull up resistor to 5 – 24 Vdc at 10 mA max.
Installation
DynaDrive 1224-BL User Guide Page 10
3.3.2 J4 and J2 - Servomotor Connection
J4 Label Description
1 N.C. No connection
2 Enc (B) Encoder (B) input for Enc. to Tach
3 N.C. No connection
4 Enc (A) Encoder (A) input for Enc. to Tach
5 Enc. Common Encode Ground
J2 Label Description
1 MOTOR(U) Output power to motor
2 MOTOR(V) Output power to motor
3 MOTOR(W) Output power to motor
4 - DC BUS IN DC Bus Return
5 + DC BUS IN DC Bus High Side
Indice
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