AC Servo Motor Controllers

AMC20, AMC21
and AMC22
AMC20, 21 and 22 are a series
of AC Servo Controllers which
can be used to control AC
motors rated up to 3kW.

The Controllers are based on a

16-bit microprocessor and 32-
bit signal processor, and are
characterised by great flexibility
for a wide range of control
applications.

The AMC20/22 controllers can

be controlled directly via the
built-in RS232/RS485 interface,
or indirectly via 6 digital inputs.
The Controllers can be directly
connected to PLCs equipped
with controller modules.
They are specially developed
also for use with linear motors,
with or without hall sensor.
Up to 255 units can be con-
nected to the same RS232/485
bus, and thus a PC or PLC can
function as the controller for a
multi-axis system.
Using JVLs programming
software, MotoWare32, param-
eters such as motor power,
velocity, torque, etc., can be
monitored graphically.
The AMC 20/22 servo control-
lers are developed and manu-
factured in Denmark.
Built-in mains noise filter
EMC tested. CE approved
Built-in RS232/RS485 Inter-
face
Simple programming with
MotoWare32
Facility for graphic monitoring
High-resolution electronic
gearing
Can be used for all 3-phase,
rotating and linear AC Servo
Motors rated up to 3kW
Unique initialization without
hall sensor for no cogging at
start up
Absolute or relative position-
ing
Programmable velocity pro-
files
Driver stage 1, 2 or 3kW
Digital control loop
Fieldbus for external I/O,
Display etc.
11 inputs, 8 outputs
IGBT PWM sine-commuted
driver
Short-circuit and thermal
overload protection
10V, pulse/direction inputs
Versions with JVL-bus,
CANopen, CAM profiles and
automatic program execution
Compact:
BxHxD:105x265x175mm

LD0025-04GB Date: 18-11-04

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Description (continued)
Servo Controllers AMC20, 21 and 22
are equipped with 11 digital inputs. 6 of
these refer to 64 user-defined position
and velocity references which are read
into registers via the built-in RS232/
485 interface. The AMC Controllers can
also be velocity-controlled via an
analogue input of +/- 10V. In addition,
the Controllers can be controlled as a
step motor system using step-pulse and
direction signals.
A special mode of operation enables
electronic gearing at a selectable,
keyed-in ratio (from 0.001 to
9999.999) with a resolution of 1 to
1000.
In the standard model, preset values are
executed in response to external
signals, while in an extended model the
Controller itself can perform sequential
program execution.
8 general-purpose outputs can be
Motor Current
(A)
AMC20 5 1
AMC21 10
AMC22 15
AMC20P 5 1
AMC21P 10
AMC22P 15
Programming and use with MotoWare
Programming of the AC Servo Control-
lers is easily accomplished using JVL's
windows-based programming software,
MotoWare. Controller programs are
written in a very simple, BASIC-like
language and several Controller
programs can be opened and edited at
the same time. Each Controller program
is saved in a separate disk file. Windows
show a complete overview of the
various parameters. Multiple parameter
sets can be saved under their own
unique name and these can be
retrieved, edited and sent to the
Controller. The current set-up of a
specific Controller can also be retrieved
from the unit and displayed on the
screen or saved on the PC. During motor
configured, e.g. to provide a signal
when the motor has reached a required
position, or to give an error signal if
some condition occurs that prevents
motor operation.
The Servo Controllers are very easy to
program. For example, different velocity
profiles can be set by defining accelera-
tion, deceleration (linear or s-curve)
and velocity. The Controllers also
include built-in programmable end-of-
travel limits and a zero-point seek
function.
As a signal from a feedback sensor to
the digital control loop, the Controllers
accept either a balanced or unbalanced
signal, for example from a standard 2-
channel incremental encoder.
A new feature of these Controllers is
the use of FLASH PROM, which enables
their basic firmware program to be
upgraded at a later date if required.
Nominal Power Peak Power
(kW) (kW)
3
2 6
3 9
3 X
2 6
3 9
operation, the current values of motor
power, velocity, torque and deviation in
position are displayed graphically and
can be printed out. This feature can be
used for comparison with previously
recorded curves and is
extremely useful for
troubleshooting and
checking that the system is
operating optimally.
MotoWare is supplied on a
3" diskette, and is easily
installed on a PC with
Windows 3.1 or higher.
Only - 1 MByte of
available disk space is
required for installation in
addition to an available
All inputs and outputs are galvanically
isolated and are voltage-overload
protected to give high immunity to
spurious noise signals. Similarly the
Controllers are also protected against
thermal overload and short-circuits. The
Controllers are designed and con-
structed to fulfil EMC requirements and
are CE-marked. The cabinet is equipped
with flanges for easy mounting in a
control rack.
The P-version further includes the
possibility for automatic sequential
program execution and inteface for
JVL-bus and CANopen bus.
The P-version also includes CAM
profiles where in- and output of the
CAM can be combined between time,
position, velocity, torque, acceleration
or register.
AdvancedProgram JVL-bus
Execution CANopen
X
X X
X X
COM port for connection of the
Controller. The screen display illustrated
below shows a velocity and power
profile for an AC Servo in operation.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com
Modes of Operation
Step-pulse Mode Step-pulse mode Servo Controller
In this mode the Controller functions as in a step motor
Power
Running
Error
SIO
Current
T>80 C

Servo Motor with HM

PL

system. The motor moves one step each time a voltage pulse
NL
IN-
IN8
IN7 ENC

Incremental encoder
IN6

Pulse signal
IN5
IN-
IN4
IN3
IN2

is applied to the step-pulse input. Velocity, acceleration and

IN1
IN-
OE
O+
O8
O7
O6
FA

O5

Encoder signal
FB

Mo tor
O4
O3 FC
O2

deceleration are determined by the external frequency. Use of

O1
O-

A CM
B

Dump
XI BO
XCM
YI PD

Direction signal
YCM
P-

an encoder enables monitoring and adjustment during motor

RS232
RS485
Warning

May Cause
electrical shock
Consult manual
PLC with controller
Motor signal
L3

operation a feature that is not possible with a standard step modules or

Ma ins Su pply
L2

L1

PC

pulse generator
motor system. In addition, the AMC Controllers also provide a
Industri Elektronik

facility for electronic gearing at a keyed-in ratio. Positioning mode Servo Controller
Positioning Mode Servo Motor with
Power
Running
Error
Current
T>80 C

HM
SIO

In this mode the Controller positions the motor via commands

PL
NL
IN-
IN8

Incremental encoder
IN7 ENC
IN6
IN5
IN-
IN4

Operating
IN3

sent over the RS232/485 interface. Various operating

IN2
IN1
IN-
OE
O+

parameters
O8
O7 FA

Encoder signal
O6
O5 FB

M otor
O4
O3 FC

parameters can be changed continuously while the motor is via RS 232/485

O2
O1
O-

A
B
CM

Dump
Interface
XI BO
XCM
YI PD
YCM
P-

running. This mode of operation is used primarily in systems

RS232
RS485 War ning

May Cause
electrical shock

Motor signal
Consult manual

where the Controller is permanently connected to a PC via the

L3

Mains Supp ly
L2

PC, e.g. with JVL editor

L1

PC

interface. This mode is also well suited for setting up and Indus tr i Elektronik

program, MotoWare

testing systems. Register mode Servo Controller

Register Mode Servo Motor with
Power
Running
Error
Current
SIO

Selection of register
T>80 C

In this mode the Controller's registers contain the parameter

HM
PL
NL
IN-

Incremental encoder IN8

IN7
IN6
IN5
IN-
IN4
ENC

via digital inputs

sets, positions, velocities, etc., required for the actual system.
IN3
IN2
IN1
IN-
OE
O+
O8
O7

FA
O6
O5
Encoder signal
FB

M otor
O4

The registers can be addressed via the digital inputs and the
O3 FC
O2
O1
O-


A CM
B

D ump
XI BO
XCM
YI PD
YCM

command executed by activating a start input. This mode

P-

RS232
RS485 Warning

May C ause
electric al shock

Consult manual

Motor signal
provides maximum utilisation of the Controller's features
L3

Mains Su pply
L2

Activation
L1

PC

PLC or
via start/stop
since the Controller itself takes care of the entire positioning Indus tr i Elektronik

similar
sequence. Velocity mode Servo Controller
Velocity Mode Power
Running
Error

Servo Motor with

SIO
Current

In this mode the Controller controls the motor velocity via the
T>80 C

HM
PL
NL
IN-

Incremental encoder
IN8
IN7 ENC

velocity
IN6
IN5
IN-

analogue input. This mode is typically used for simple tasks or

IN4
IN3
IN2
IN1
IN-
OE
O+
O8
O7 FA

O6

Encoder signal
O5

for applications in which an overall unit, such as a PC-board,

FB
M otor

O4

O3 FC
O2
O1

O-

A CM
B
D ump

XI BO

Encoder signal
XCM

controls velocity and positioning.

YI PD
YCM
P-
RS232
RS485 Warning

May C ause

Torque Mode
electric al shock
Consult manual

Motor e.g. PC-board as overall

L3
Mains Supply

L2

L1

signal
PC

controller
In this mode the Controller controls the motor torque using a Indus tr i Elektronik

voltage applied to the analogue input. Typical tasks in this Servo Controller
mode include winding or tensioning foil, cable, etc. Torque mode Power
Running
Error
Current
SIO

T>80 C

Servo Motor with

HM
PL
NL
IN-
IN8
IN7 ENC
IN6

Incremental encoder
IN5
IN-
IN4
IN3

torque with
IN2
IN1
IN-
OE
O+
O8
O7

analogue voltage signal

FA
O6
O5 FB
M otor

O4
O3 FC

Encoder signal
O2
O1
O-

A CM

B
Dump

XI BO
XCM
YI PD
YCM
P-

RS232
RS485 Warning

May C ause
electric al shoc k
Consult manual

L3

Motor
Main s Sup ply

L2

L1

PC

signal Industri Elektronik

System Configuration
The figure below illustrates typical options for building up a
servo system using the AMC Controllers. The PC or PLC is only Keyboard/Display Input/Output Multicounter
necessary for programming or monitoring. Thereafter the Module KDM10
(for keying-in and
Module IOM11
(For extending the
Modul CMO10
(For counting and
Controller itself normally controls program execution, displaying data) number of inputs regulating using
possibly in conjunction with a PLC as an overall controller in and outputs) impulses from
applications where many different units are controlled signal sources)
interdependently.
CANopen connection RS485 Interface connection (2-core twisted pair)
PC with JVL software, (AMC20P/21P/22P) Power
Running Potentiometer for selection of
MotoWare for programming
Error
SIO
Current
T>80 C

HM velocity length etc.

the controller
PL
NL
IN-
IN8
IN7
IN6
ENC
Analogue in
IN5
IN-
IN4
IN3
IN2
IN1
IN-

Start, Stop, Error OE

O+
O8
O7
O6
FA
O5 FB

Encoder signal
Motor

O4
O3 FC
O2
O1
O-

A CM
B

Servo Motor
Dump

XI BO
XCM
YI PD
YCM
P-

RS232
RS485 War ning

PLC
May Cause
electr ical shock
Con sul t manu al

L3
Mains Supply

L2

L1

PC
Inductive sensors, e.g. for
AC Servo Controller Industri Elektronik
mechanical zero-point and
TT2032GB end stops
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Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
AMC20, AMC21 and AMC22 AC Servo Controllers
Block diagram - functional description
100-850VDC

U=Min.
8
115VAC
3 Filter and Digital current 3(2)-phase 3
230VAC Voltage U=Max. Brushless
fuse Power supply
monitoring regulation IBGT
3x200VAC U=Dump Driver Servo
3x400VAC
Current

External Internal Reset and

Short-circuit
A/D converter
Ballast Power Dump power temperature Signal processor protection for digital
Resistor supply monitoring current loop Analogue output
Motor torque

Opto-coupler Balanced
RS232/485 Transceiver
input Encoder input
Daisy-Chain Interface logic Digital Filter
Programming Processor
Interface Hall input

8 Basic inputs Opto-coupler Opto-coupler Secondary

Encoder input
8 Basic outputs (electronic gear)

Program Processor

Opto-coupler Opto-coupler
2 End-of-travel limit inputs
1 Zero-point seek input
Pulse output

Flash PROM
with code
+/- 10V In Opto-coupler protection
Opto-coupler
CANopen
Velocity A/D Converter
10-bit + Sign RS485
Torque JVL-bus

TT2033GB

The above diagram gives a schematic and outputs are available on the front available via a 9-pole SUB-9 connector.
representation of the internal structure panel of the Controllers via plug-in The front panel is also equipped with
of the AMC Servo Controllers. All inputs connectors. The RS232/485 interface is LEDs that indicate Controller status.

Technical Data Accessories

Description Min. Max. Units Description Type
Supply voltage 115 3x400 VAC Keyboard/Display Module KDM10
Power rating: Input/Output Module IOM11
AMC20 1.0 kW Multi-counter Module CMO10
AMC21 2.0 kW Interface cable (9-pole) RS232-9-1
AMC22 3.0 kW Interface cable (25-pole) RS232-25-1
Update time PID-filter 540 s Programming software MotoWare32
Max. power loss in 0 100 W Profibus Gateway FBG10
driver Resolver to Encoder
Motor voltage 150 650 VDC
Converter PA0095
Continous Power - 200 W
Dump
PWM frequency 4.9 19.5 kHz
Encoder frequency 0 1 MHz
Pulse input frequency 0 1 MHz
Supply to encoder 4.8 5.2 VDC
Temperature - 80 C
protection JVL Industri Elektronik A/S
Oprating temperature 0 45 C Blokken 42
User inputs/outputs 4.5 30 VDC DK-3460 Birkerd, Denmark
Weight 4.5 kg
Tel: +45 4582 4440
Fax: +45 4582 5550
E-mail: jvl@jvl.dk www.jvl.dk

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com