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Peak Current 60 A
The B60A40 PWM servo drive is designed to drive
brushless DC motors at a high switching frequency. A Continuous Current 30 A
single red/green LED indicates operating status. The
drive is fully protected against over-voltage, under Supply Voltage 60 - 400 VDC
voltage, over-current, over-heating and short-circuits
across motor, ground and power leads. Furthermore,
the drive can interface with digital controllers or be
used stand-alone, and requires only a single
unregulated DC power supply. Loop gain, current
limit, input gain and offset can be adjusted using 14-
turn potentiometers. The offset adjusting
potentiometer can also be used as an on-board input
signal for testing purposes.
Features
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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10/29/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
Analog Servo Drive B60A40
BLOCK DIAGRAM
US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL
registered under file number E140173. Note that machine components compliant with UL are considered UL
registered as opposed to UL listed as would be the case for commercial products.
Compliant with European CE for both the Class A EMC Directive 89/336/EEC on Electromagnetic Compatibility
(specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and
LVD requirements of directive 73/23/EEC (specifically EN 60204-1), a low voltage directive to protect users from
electrical shock.
RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being
manufactured in electrical and electronic equipment.
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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10/29/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
Analog Servo Drive B60A40
SPECIFICATIONS
Power Specifications
Description Units Value
DC Supply Voltage Range VDC 60 - 400
DC Bus Over Voltage Limit VDC 425
Maximum Peak Output Current1 A 60
Maximum Continuous Output Current A 30
Maximum Power Dissipation at Continuous Current W 600
Minimum Load Inductance (Line-To-Line)2 µH 600
Switching Frequency kHz 15
Control Specifications
Description Units Value
Command Sources - ±10 V Analog
Feedback Supported - ±10 V Analog, Halls, Incremental Encoder, Tachometer
Commutation Methods - Trapezoidal
Current, Encoder Velocity, External/Analog Velocity, Hall Velocity, Open Loop,
Modes of Operation -
Tachometer Velocity
Motors Supported - Brushed, Brushless, Voice Coil
Invalid Commutation Feedback, Over Current, Over Temperature, Over Voltage,
Hardware Protection -
Short Circuit (Phase-Phase & Phase-Ground)
Mechanical Specifications
Description Units Value
Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL
Size (H x W x D) mm (in) 234.7 x 160.2 x 88.9 (9.2 x 6.3 x 3.5)
Weight g (oz) 2560 (90.3)
Heatsink (Base) Temperature Range3 °C (°F) 0 - 75 (32 - 167)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Form Factor - Stand Alone
P1 Connector - 26-pin, high-density, female D-sub
P2 Connector - 15-pin, high-density, female D-sub
P3 Connector - 5-contact, 11.10 mm spaced, tri-barrier terminal block
Notes
1. Maximum duration of peak current is ~2 seconds.
2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements.
3. Additional cooling and/or heatsink may be required to achieve rated performance.
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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10/29/2009 2.00 ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com
Analog Servo Drive B60A40
PIN FUNCTIONS
P1 - Signal Connector
Pin Name Description / Notes I/O
1 +10V 3mA OUT O
±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference
2 SIGNAL GND SGND
ground common with signal ground.
3 -10V 3mA OUT O
4 +REF I
Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input)
5 -REF I
6 VEL INPUT Single ended reference input for external velocity signal, range ±10 V (maximum ±15 V). I
Encoder Velocity Monitor. Analog output proportional to the frequency of encoder lines or,
7 ENC. VEL. MONITOR O
equivalently, to motor speed. Scaling is 25 kHz/V.
Current Monitor. Analog output signal proportional to the actual current output. Scaling is
8 CURR MONITOR OUT 8.9 A/V by default but may be reduced to half this value by setting DIP switch SW1-3 to OFF O
(see Hardware Settings section below). Measure relative to signal ground.
Measures the command signal to the internal current-loop. This pin has a maximum output
9 CURR REFERENCE of ±7.25 V when the drive outputs maximum peak current. Measure relative to signal O
ground.
Open Collector output specific to Hall/Encoder Velocity mode. Internally pulled up to 5V thru
10 AT VEL 10K. This output is low when the speed is within 10% of the commanded speed. Jumpers O
JF6 and JF7 must be set appropriately to enable this output, see jumper settings for details.
TTL level (+5 V) inhibit/enable input. Pull to ground to inhibit drive (SW1-6 ON). Pull to
11 INHIBIT / ENABLE I
ground to enable drive (SW1-6 OFF).
12 +INHIBIT / ENABLE Positive Direction Inhibit (Does Not Cause A Fault Condition) I
13 -INHIBIT / ENABLE Negative Direction Inhibit (Does Not Cause A Fault Condition) I
TTL level (+5 V) output becomes high when power devices are disabled due to at least one
14 FAULT of the following conditions: inhibit, invalid Hall state, output short circuit, over voltage, over O
temperature, power-up reset.
±5 V @ 250 mA low power supply for customer use. Short circuit protected. Referenced to
15 +5V @ 250mA O
signal ground.
16 SIGNAL GND Signal Ground SGND
17 CTLR. POWER Controller Power. Pass-through to Port 2 (P2) for customer use. I/O
18 CTLR. LINE 1 I/O
User Controller Signal. Pass-through to Port 2 (P2) for customer use.
19 CTLR. LINE 2 I/O
20 ENC. CH. A+ O
Differential Encoder Channel A Output. Pass-through from Port 2 (P2).
21 ENC. CH. A- O
22 ENC. CH. B+ O
Differential Encoder Channel B Output. Pass-through from Port 2 (P2).
23 ENC. CH. B- O
24 ENC. CH. INDEX+ O
Differential Encoder Index Output. Pass-through from Port 2 (P2).
25 ENC. CH. INDEX- O
Hall Velocity Monitor. Analog output proportional to the Hall frequency or, equivalently, to
26 HALL VEL. MONITOR O
motor speed. Scaling is 100 Hz/V.
P2 - Feedback Connector
Pin Name Description / Notes I/O
1 HALL A I
2 HALL B Single-ended Hall/Commutation Sensor Inputs (+5 V logic level) I
3 HALL C I
4 ENC. CH. A+ I
Differential Encoder Channel A Input (+5 V Logic Level)
5 ENC. CH. A- I
6 ENC. CH. B+ I
Differential Encoder Channel B Input (+5 V Logic Level)
7 ENC. CH. B- I
8 ENC. CH. INDEX+ I
Differential Encoder Index Input (+5 V Logic Level)
9 ENC. CH. INDEX- I
10 CTLR. LINE 1 I/O
User Controller Signal. Pass-through to Port 1 (P1) for customer use.
11 CTLR. LINE 2 I/O
12 SIGNAL GND Signal Ground SGND
±5 V @ 250 mA low power supply for customer use. Short circuit protected. Referenced to
13 +5V @ 250mA O
signal ground.
14 TACH IN Negative Tachometer Input (Maximum ±60 V). Use signal ground for positive input. I
15 CTLR. POWER Controller Power. Pass-through to Port 1 (P1) for customer use. I/O
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
HARDWARE SETTINGS
Switch Functions
SW1
Setting
Switch Description
On Off
Test/Offset. Switches the function of the Test/Offset pot between
1 an on-board command input for testing or a command offset Test Offset
adjustment. OFF by default.
2 Current loop proportional gain adjustment. ON by default. Decrease Increase
Current scaling. When OFF, increases sensitivity of current sense
thus reducing both peak and continuous current limit by 50%.
3 Full-current Half-current
The scaling of the current monitor output signal becomes ½ its
ordinary value when this switch is OFF.
Current ratio. Used to set continuous-to-peak current ratio.
4 Cont./Peak Ratio = 50% Cont./Peak Ratio = 25%
Default is ON.
Hall sensor phasing. Selects 120°/60° commutation phasing. ON
5 120° 60°
by default.
6 Inhibit logic. Sets the logic level of inhibit pins. Active Low Active High
SW2
Setting
Switch Description
On Off
1 Mode selection. See mode selection table below. - -
2 Mode selection. See mode selection table below. - -
3 Mode selection. See mode selection table below. - -
Velocity feedback polarity. Changes the polarity of the internal
feedback signal and the velocity monitor output signal. Inversion
4 Standard Inverted
of the feedback polarity may be required to prevent a motor run-
away condition.
Outer loop integration. Activates or deactivates integration. OFF,
5 Active Inactive
by default, for current mode and ON for other modes.
Outer loop integral gain adjustment. It is recommended to leave
6 this switch OFF for most applications, but ON for Hall Velocity Decrease Increase
Mode.
Potentiometer Functions
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
Through-hole Components†
Location Description
Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section
CF3*
below on Tuning with Through-hole components for more details.
Current Loop Integrator. Through-hole capacitor that can be added for more precise current loop tuning. See section
CF4*
below on Tuning with Through-hole components for more details.
Tachometer Input Scaling. Through-hole resistor that can be added to change the gain of the tachometer input. See
RF1*
section below on Tachometer Gain for more details.
External Velocity Scaling. Through-hole resistor that can be added to change the gain of the external velocity input. See
RF2*
section below on External Velocity Gain for more details.
RF3 First of two resistors used to set the acceleration rate.
RF4 Second of two resistors used to set the acceleration rate.
RF5 Second of two resistors used to set the deceleration rate.
RF6 First of two resistors used to set the deceleration rate.
Current Loop Proportional Gain. Through-hole resistor that can be added for more precise current loop tuning. See
RF7*
section below on Tuning with Through-hole components for more details.
Tachometer Gain
Some applications may require an increase in the gain of the tachometer input signal. This occurrence will be most common in
designs where the tachometer input has a low voltage to RPM scaling ratio. The drive offers a through-hole location listed in the
above table where a resistor can be added to increase the tachometer gain. Use the drive’s block diagram to determine an
appropriate resistor value.
Acceleration Deceleration
Time (s)
RF3 (kΩ) RF4 (kΩ) RF5 (kΩ) RF6(kΩ)
1 50 50 50 50
2 50 20 50 20
3* 10 10 10 10
4 500 20 500 20
5 50 5 50 5
6 500 10 500 10
7 50 2 50 2
8 50 1 50 1
9 20 0.1 20 0.1
10 100 0.1 100 0.1
* Default setting
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
Jumper Settings
MECHANICAL INFORMATION
P1 - Signal Connector
Connector Information 26-pin, high-density, female D-sub
AMP: Plug P/N 748365-1; Housing P/N 748677-2; Terminals P/N 748333-4 (loose) or 748333-2
Details
Mating Connector (strip)
Included with Drive No
19 CTLR. LINE 2
20 ENC. CH. A+
21 ENC. CH. A-
22 ENC. CH. B+
23 ENC. CH. B-
24 ENC. CH. INDEX+
25 ENC. CH. INDEX-
26 HALL VEL. MONITOR
P2 - Feedback Connector
Connector Information 15-pin, high-density, female D-sub
AMP: Plug P/N 748364-1; Housing P/N 748677-1; Terminals P/N 748333-4 (loose) or 748333-2
Details
Mating Connector (strip)
Included with Drive No
11 CTLR. LINE 2
12 SIGNAL GND
13 +5V @ 250mA
Toll Free Phone: 877-378-0240 14 TACH IN
Toll Free Fax: 877-378-0249 15 CTLR. POWER
sales@servo2go.com
www.servo2go.com
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
P3 - Power Connector
Connector Information 5-contact, 11.10 mm spaced, tri-barrier terminal block
Details Not applicable
Mating Connector
Included with Drive Not applicable
5 HIGH VOLTAGE
4 POWER GND
3 MOTOR C
2 MOTOR B
1 MOTOR A
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
MOUNTING DIMENSIONS
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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Analog Servo Drive B60A40
B 60 A 40 -
Drive Type Additional Options
B or BX: Brushless drive.
BE: Encoder Velocity Mode Available
BD: PWM Command
Revision
BDC: PWM Command, Closed Current Loop Assigned a letter (A through Z) by manufacturer.
S or SX: Commutated Sine Command
Power Supply
Peak Current : DC Power Supply
AC: AC Power Supply
Maximum peak current rating in Amps. FAC: AC Power Connecter Relocated to the
Front
ADVANCED Motion Controls AZ series of servo drives are available in many configurations. All models listed in the selection tables
of the website are readily available, standard product offerings.
ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume
requests. Our Applications and Engineering Departments will work closely with your design team through all stages of
development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick-
turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease
your costs and time-to-market while increasing system quality and reliability.
Feel free to contact Applications Engineering for further information and details.
Available Accessories
ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system.
Visit www.a-m-c.com to see which accessories will assist with your application design and implementation.
Drive(s)
Release Date: Revision: Advanced Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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