LA Series Linear Servo Amplifier LA-210 (LA-200) LA-415 (LA-407) LA-525 (LA-508-25) Technical Reference Manual Manual Part Number: 4002-40 Rev. J 3870 Del Amo Blvd. Suite 503, Torrance CA, 90503 www.varedan.
LA Series Linear Servo Amplifier Technical Reference Manual Original Manual Revision October 6, 2004 Copyright 2004 Varedan Technologies Corporate Office: Varedan Technologies 3870 Del Amo Blvd., Suite 503 Torrance, CA 90503 Phone: 310-542-2320 Fax: 310-542-2344 Eastern Region Sales & Support Phone: 860-295-0048 www.varedan.com This document contains proprietary and confidential information of Varedan Technologies, LLC and is protected under Federal copyright law.
LA Series Linear Servo Amplifier Technical Reference Manual ! CAUTION! READ THIS SECTION BEFORE PROCEEDING. Warning! Potentially lethal voltages exist within the amplifier when power is applied. Never attempt to handle or probe the amplifier with power applied. This product contains static sensitive devices and requires proper handling with ESD protection. These amplifiers are capable of producing large amounts of energy. Serious injury or death can result from improper motor or load movement.
LA Series Linear Servo Amplifier Technical Reference Manual Contents 1 SPECIFICATIONS.................................................................................................................................7 2 MODEL NUMBERING ...........................................................................................................................8 3 PROTECTIVE FEATURES ...................................................................................................................
LA Series Linear Servo Amplifier Technical Reference Manual 8.6.1 SERIAL COMMANDS..................................................................................................................23 8.6.2 SERIAL PARAMETER SETTINGS .............................................................................................25 8.6.2.1 SOFTWARE PARAMETER SETTING TABLE SUMMARY ........................................................26 9 BALANCING ...........................................................
LA Series Linear Servo Amplifier Technical Reference Manual List of Figures Figure 1. LA-210, LA-415 Jumper Locations...............................................................................................12 Figure 2. LA-525 Jumper Locations ............................................................................................................13 Figure 3 Location of Jumpers, Balance Potentiometers and Test Points ..................................................30 Figure 4.
LA Series Linear Servo Amplifier Technical Reference Manual 1 Introduction The LA series of Linear Amplifiers are the perfect choice for systems requiring low radiated noise and zero distortion from the drive electronics. These high power current mode linear amplifiers are well suited to drive low inductance/resistance loads such as brushless and brush servo motors or voice coils.
LA Series Linear Servo Amplifier Technical Reference Manual 2 Specifications LA-210 LA-415 LA-525 Peak Output Current 10A 15A 25A Continuous Output Current 2.5A 5A 10A Peak Output Power (25°C) 400W 1200W 1500W Continuous Power Dissipation (25°C) 200W 400W 500W Weight 2.00 lbs 4.25 lbs 4.75 lbs Size - Height 1.50 in. 2.25 in. 2.75 in. Size - Length x Width 8.00 in. x 7.50 in. Motor Bus Voltage – Bipolar +/-12 to +/-75VDC Bias Supply Voltage - Bipolar +/-14.5 to +/-16.
LA Series Linear Servo Amplifier Technical Reference Manual 4 Protective Features DSP Fault – Set when the internal DSP checksum fails following reset NVM Fault – Set when NVM checksum fails following reset. Parameter defaults set.
LA Series Linear Servo Amplifier Technical Reference Manual 5 Operational Description Before applying power to the amplifier be sure to read all sections in this document. Upon power up of the +/- 15V bias supply, the amplifier derives all the necessary internal voltages for operation related to the logic and output drivers. Once the proper levels are achieved, the DSP is released from reset and begins operation. A series of internal checks are done to insure the DSP is operating correctly.
LA Series Linear Servo Amplifier Technical Reference Manual 6 LA-210 Jumper Settings JP1 A JP2 B C D E F G H A B C D E F JP3 Figure 1. Jumper Locations A B JP2 JP1 Overcurrent Trip Level Trip Current JP1-A 1.0 Amps Open 1.5 Amps In 2.0 Amps Open 2.5 Amps In JP1-B Open Open In In Overcurrent Trip Time Trip Time JP1-C 1.25 Sec Open 2.5 Sec In 5 Sec Open 10 Sec In JP1-D Open Open In In Absolute Overcurrent Trip Level Trip Current JP1-E JP1-F 6.0 Amps Open Open 8.0 Amps In Open 10.
LA Series Linear Servo Amplifier Technical Reference Manual 7 LA-415 Jumper Settings JP1 A JP2 B C D E F G H A B C D E F JP3 Figure 2. Jumper Locations A B JP1 JP2 Overcurrent Trip Level Trip Current JP1-A 2.0 Amps Open 3.0 Amps In 4.0 Amps Open 5.0 Amps In JP1-B Open Open In In Sine/Hall Mode Selection* Mode JP2-A Sine Mode Open Hall Mode In *See Note 3 Overcurrent Trip Time Trip Time JP1-C 1.25 Sec Open 2.
LA Series Linear Servo Amplifier Technical Reference Manual 8 LA-525 Jumper Settings JP1 A JP2 B C D E F G H A B C D E F JP3 Figure 3. Jumper Locations JP1 Overcurrent Trip Level Trip Current JP1-A 4.0 Amps Open 6.0 Amps In 8.0 Amps Open 10.0 Amps In Overcurrent Trip Time Trip Time JP1-C 1.25 Sec Open 2.50 Sec In 5.00 Sec Open 10.0 Sec In A B JP2 JP1-B Open Open In In JP1-D Open Open In In Absolute Overcurrent Trip Level Trip Current JP1-E JP1-F 15.0 Amps Open Open 20.0 Amps In Open 25.
LA Series Linear Servo Amplifier Technical Reference Manual 8.1 Jumper Description JP1-A, B – Continuous Overcurrent Level – This setting determines the continuous level of current allowed by the amplifier. Any phase current value above this setting causes an internal timer to run. If the timer reaches the set value for Overcurrent Trip Time, the drive disables and the error is reported. The decimal point on the LED display is lit when any phase current is above the Overcurrent setting.
LA Series Linear Servo Amplifier Technical Reference Manual 9 Connector Configurations 9.1 J1 Signal Connector Pin 1 2 3 4 5 Function DAC Phase A+ Input Used in both Single Ended and Differential modes. DAC Phase A- Input Used only in Differential mode. DAC Phase B+ Input Used in both Single Ended and Differential modes. Not used in Hall Mode. DAC Phase B- Input Used only in Differential mode. Not used in Hall Mode. I Out – Output voltage representing 1V=10A (LA-200/LA-407) or 1V=3.
LA Series Linear Servo Amplifier Technical Reference Manual 9.4 J4 Bus Power Connector Pin 1 2 3 Function +Bus Power Bus Common (Ground) –Bus Power See Figures 4 & 5. 9.5 J5 Motor Phase Connector Pin 1 2 3 4 Function Phase A Output Phase B Output See Figures 4 & 5. Phase C Output Motor Ground (for cable shield and/or FG connection if used) (J5 pin 4 is internally connected to amplifier common or ground) 9.
LA Series Linear Servo Amplifier Technical Reference Manual 9.8 J8 Status Output Connector Pin 1 2 3 4 5 6 7 8 9 10 Function 7 Segment display – A 7 Segment display – B 7 Segment display – C 7 Segment display – D 7 Segment display – E 7 Segment display – F 7 Segment display – G 7 Segment display – DP +5 Volts DC Common (Ground) 9.9 J9 Motor Temperature Switch Connector Pin 1 2 9.10 Function Motor Temperature switch +. Normally Closed to enable amplifier. Internally pulled up to 5vdc.
LA Series Linear Servo Amplifier Technical Reference Manual 9.
LA Series Linear Servo Amplifier Technical Reference Manual 10 User Interfaces 10.1 Push Button The push button is used for both the Reset and Autobalance functions. The DSP measures the amount of time the button is active (pressed). If the button is active for less than 1 second, the drive is reset upon release of the button. If the button is active for more than 1 second, the drive enters Autobalance mode.
LA Series Linear Servo Amplifier Technical Reference Manual 10.4 L.E.D. Error Codes and Meaning The following table lists the L.E.D. error codes and their meaning. If multiple errors are present, the display will cycle through all the error codes, displaying each for ½ second. Amp ok, motor current enabled. This is the “normal” display when enabled. DSP Fault – Set when the internal DSP checksum fails following reset NVM Fault – Set when NVM checksum fails following reset. Parameter defaults are set.
LA Series Linear Servo Amplifier Technical Reference Manual Hall Error – Set when hall sequence is invalid (hall inputs are all 1’s or all 0’s) Fatal Error – Set if the DSP encounters an unidentified problem. Amplifier Over Temp – Set when the heat sink temperature is above 70 C. Motor Over Temp – Set when motor temperature input is open Overcurrent – Set when amplifier detects an overcurrent condition (“L”ow speed circuit breaker) Bus Under Voltage – Set when the Bus voltage is less than +/-10 Vdc.
LA Series Linear Servo Amplifier Technical Reference Manual 10.5 Status indicator/Remote Display Port Connector J8 can be used to monitor system status via a parallel bus or remote display. The data written to this port is the same data used to drive the 7-segment display. An “on” segment results in the corresponding J8 pin to be at +5 volts. The bits are defined as follows: J8 Pin 1 2 3 4 5 6 7 8 9 10 10.
LA Series Linear Servo Amplifier Technical Reference Manual 10.6.1 Serial Commands The following commands are supported over the serial port communications interface. A – Alarm Reset This command allows viewing or resetting the alarm status. “A” with no parameter is used to read the alarm status. “A 1” is used to reset the alarm status. Note: When an alarm is detected by the system, the drive is immediately disabled. B – AutoBalance This command is used to invoke the autobalance algorithm.
LA Series Linear Servo Amplifier Technical Reference Manual M – Mode This command is used to view or set the commutation mode of the drive. M0 sets trapezoidal commutation, M1 sets Sinusoidal 2 phase input commutation. The “M command can only be used to view the commutation setting if jumpers are installed. R – Reset This command causes the drive to perform a power on reset. S – Save Parameters This command saves the user selectable parameters to NVM.
LA Series Linear Servo Amplifier Technical Reference Manual 10.6.2 Serial Parameter Settings The user parameter settings are configured either by jumpers or via the serial interface. When jumpers are used, the serial interface can only be used to read the jumper settings. If no jumpers are installed, the software settings are used. If the configuration when using jumpers results in no jumpers being installed (Sine Mode with all minimum values), place a jumper on JP1-G.
LA Series Linear Servo Amplifier Technical Reference Manual 10.6.2.1 Software Parameter Setting Table Summary P0 – Transconductance switch value P0 Value Transconductance Ratio 0 0.8 1 1.0 2 1.2 3 1.5 4 0.8 5 1.0 6 1.2 7 1.
LA Series Linear Servo Amplifier Technical Reference Manual 11 Balancing Motor phase balancing is performed to minimize torque ripple in the motor caused by impedance variations in the motor windings and to compensate for component tolerance variations in the amplifier drive circuits. The intent of this adjustment is to get the three motor voltages approximately equal taking into account polarity.
LA Series Linear Servo Amplifier Technical Reference Manual 11.2 Manual Balance The procedure to manually balance the phases is shown below. A voltmeter is required to measure the phase voltages. Refer to Figure 2 on the next page for the location of the balance pots. The procedure to manually balance the phases: 1) With power off, connect the Phase A motor lead to J5-1. Connect Phase B motor lead to J5-4 (Common). Leave Phase C motor lead disconnected. 2) Apply power to the system.
LA Series Linear Servo Amplifier Technical Reference Manual 12 Test Points Five user test points are provided on the amplifier, TP1-TP5. They are located at the top of the amplifier, between JP2 and the Pushbutton switch. TP1 – I Out – This test point provides an analog voltage proportional to the current output of the amplifier. The scaling for this output is either 10 amps per volt (LA-200 and LA-407) or 3.3 amps per volt (LA-525).
LA Series Linear Servo Amplifier Technical Reference Manual Figure 4 – Location of Jumpers, Balance Potentiometers and Test Points J10 Serial Connector Jumpers Test Points Reset & Autobalance J1 Main Signal Connector 30
LA Series Linear Servo Amplifier Technical Reference Manual Figure 5.
LA Series Linear Servo Amplifier Technical Reference Manual Balance Pots Test Points JP3 Common 4 JP2 Motor C 3 JP1 Motor B 2 J10 Motor A 1 4 3 2 1 Bus – 3 7-Segment Display Common 2 J8 Bus + 1 Figure 6. Installation Drawing Details S1 Reset & Autobalance 1 J1 Signal 1 J3 Halls 2 1 J9 Motor Temp.
LA Series Linear Servo Amplifier Technical Reference Manual Figure 7.
LA Series Linear Servo Amplifier Technical Reference Manual Figure 8.
LA Series Linear Servo Amplifier Technical Reference Manual Figure 9.
LA Series Linear Servo Amplifier Technical Reference Manual Figure 10.
LA Series Linear Servo Amplifier Technical Reference Manual Figure 11. LA-525 Mechanical Dimensions 0.200 DIA. x 0.
LA Series Linear Servo Amplifier Technical Reference Manual 13 Appendix A. Serial Communication Messages This section describes the details of the serial communication messages. The only white space character used in this protocol is the Space (ASCII 0x20). All lines are terminated with a Carriage Return and Line Feed (cr/lf) followed by a “>” prompt (ASCII 0x3E). The prompt is sent following any message by the amplifier.
LA Series Linear Servo Amplifier Technical Reference Manual 13.1 Sign on Message Upon power up or following a reset, the amplifier sends the following message. “Varedan Technologies, (c) 2007 “>” Ver 4002-11-2.3.0-2” In addition, if any faults are present, the fault status is show following the above message. “Alarm = BUS UV” “>” 13.2 Alarm Messages Sent in response to “A” command or upon detection of alarm condition. 16 possible responses, 14 characters in length.
LA Series Linear Servo Amplifier Technical Reference Manual 13.4 Enable Status Messages In response to the “E” command: If disabled with alarm: “DISABLED” cr/lf “Alarm = BUS UV” “>” If disabled without alarm: “DISABLED” “>” If enabled: “ENABLED” “>” 13.5 Factory Default Message In response to the “F” command: "Loading Default Parameters" “>” 13.
LA Series Linear Servo Amplifier Technical Reference Manual 13.7 List Messages In response to the “L” command: “Bus+= 0 V” “Bus-=-0 V” “Vpha= 0 V” “Vphb= 0 V” “Vphc= 0 V” “Ipha= 0.0 A” “Iphb= 0.0 A” “Iphc= 0.0 A” “+15 = 15.2 V” “-15 =-15.2 V” “+5 = 4.9 V” “+5Ex= 4.9 V” “+2.5= 2.50 V” “-2.5=-2.
LA Series Linear Servo Amplifier Technical Reference Manual 13.10 Fault History Messages In response to the “Y” command: cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “Alarm cr/lf “>” History (Last to First)” = BUS UV” = 15VREF” = 15VREF” = BUS UV” = 15VREF” = ABS OC” = BUS UV” = BUS UV” Note that this is just an example fault history. Actual results may vary, but all messages follow the format for the Alarm messages described earlier.
LA Series Linear Servo Amplifier Technical Reference Manual 13.12 SOA Fault History Messages In response to the “YS” command: cr/lf “Saved SOA History” cr/lf “Cnts= 0” “MaxP= 0 W” “ActP= 0 W” “Bus+= 0.0 V” “Bus-=-0.0 V” “Vpha= 0.0 V” “Vphb= 0.0 V” “Vphc= 0.0 V” “Ipha= 0.0 A” “Iphb= 0.0 A” “Iphc= 0.0 A” “Temp= 0 C” cr/lf “>” Note that this is an example message. Actual results will be displayed in the event of an actual SOA trip.
