Analog Servo Drive

Description The 25A20 PWM servo drive is designed to drive brush type DC motors at a high switching frequency. A single red/green LED indicates operating status. The drive is fully protected against over-voltage, overcurrent, 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. Peak Current Continuous Current Supply Voltage Power Range

25A20

25 A 12.5 A 40 - 190 VDC

Features

Four Quadrant Regenerative Operation DIP Switch Selectable Modes Adjustable Current Limits High Switching Frequency Differential Input Command Digital Fault Output Monitor

On-Board Test Potentiometer Offset Adjustment Potentiometer Adjustable Input Gain Drive Status LED Current Monitor Output Directional Inhibit Inputs for Limit Switches

MODES

OF OPERATION Current Tachometer Velocity Voltage IR Compensation

FEEDBACK SUPPORTED Tachometer COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS

COMMAND SOURCE 10 V Analog

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 1 of 9

Analog Servo Drive BLOCK DIAGRAM

25A20

Information on Approvals and Compliances 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: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 2 of 9

Analog Servo Drive SPECIFICATIONS

Power Specifications Description
DC Supply Voltage Range DC Bus Over Voltage Limit 1 Maximum Peak Output Current Maximum Continuous Output Current Maximum Power Dissipation at Continuous Current 2 Minimum Load Inductance (Line-To-Line) Switching Frequency

25A20

Units
VDC VDC A A W H kHz 40 - 190 195 25 12.5 119 250 22

Value

Control Specifications Description

Command Sources Feedback Supported Modes of Operation Motors Supported Hardware Protection

Units
-

Value
10 V Analog Tachometer Current, IR Compensation, Tachometer Velocity, Voltage Single Phase (Brushed, Voice Coil, Inductive Load) Over Current, Over Temperature, Over Voltage, Short Circuit (Phase-Phase & Phase-Ground)

Mechanical Specifications Description

Agency Approvals Size (H x W x D) Weight Heatsink (Base) Temperature Range3 Storage Temperature Range Form Factor P1 Connector P2 Connector

Units
mm (in) g (oz) C (F) C (F) -

Value
CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL 186.7 x 111.7 x 25.4 (7.4 x 4.4 x 1) 680 (24) 0 - 65 (32 - 149) -40 - 85 (-40 - 185) Stand Alone 16-pin, 2.54 mm spaced, friction lock header 4-contact, 11.10 mm spaced, tri-barrier terminal block

Notes 1. 2. 3. Maximum duration of peak current is ~2 seconds. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. Additional cooling and/or heatsink may be required to achieve rated performance.

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 3 of 9

Analog Servo Drive PIN FUNCTIONS

P1 - Signal Connector Pin
1 2 3 4 5 6 7 8 +10V 3mA OUT SIGNAL GND -10V 3mA OUT +REF IN -REF IN -TACH IN +TACH / GND CURR MONITOR OUT

25A20

Name

Description / Notes
10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference ground common with signal ground. Differential Reference Input (10 V Operating Range, 15 V Maximum Input) Negative Tachometer Input (Maximum 60 V). Use signal ground for positive input. Positive Tachometer Input and Signal Ground Current Monitor. Analog output signal proportional to the actual current output. Scaling is 3.8 A/V by default but may be reduced to half this value by setting DIP switch SW-5 to OFF (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 of 7.25 V when the drive outputs maximum peak current. Measure relative to signal ground. Can be used to reduce the factory-preset maximum continuous current limit without affecting the peak current limit by attaching an external current limiting resistor between this pin and signal ground. See pin details below for resistor values. TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit drive. Inhibit turns off all power devices. Positive Direction Inhibit (Does Not Cause A Fault Condition) Negative Direction Inhibit (Does Not Cause A Fault Condition) TTL level (+5 V) output becomes high when power devices are disabled due to at least one of the following conditions: inhibit, output short circuit, over voltage, over temperature, power-up reset. Used for synchronizing the switching frequency of several amplifier modules. Consult factory for this option.

I/O
O GND O I I I GND O

CURRENT REF OUT

10 11 12 13 14 15 16

CONT CURRENT LIMIT INHIBIT IN +INHIBIT IN -INHIBIT IN FAULT OUT SYNCH IN SYNCH OUT

I I I I O -

P2 - Power Connector Pin

1 2 3 4 -MOT +MOT PWR GND HIGH VOLT

Name

Description / Notes
Negative Motor Output Positive Motor Output Power Ground (Common With Signal Ground) DC Power Input

I/O
O O GND I

Pin Details CONT CURRENT LIMIT (P1-10) This pin can be used to reduce the continuous current limit without affecting the peak current limit by connecting an external current limiting resistor between this pin and signal ground. See table below. 18 k 6.5 k 3.4 k 2.5 k 1.8 k Current Limit Resistor 65% 60% 90% 80% 70% Continuous Current Limit Note: These values are secondary to the continuous/peak ratio set by the DIP switches. 1 k 50% 800 45% 300 40% 0 k 30%

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 4 of 9

Analog Servo Drive HARDWARE SETTINGS

Switch Functions Switch 1 2 3 4 5 Description Voltage feedback. Mode dependent (see mode selection table below). IR compensation. Activates or deactivates IR feedback. ON for IR compensation mode and OFF for other modes. Current loop proportional gain adjustment. ON by default. Inner (current) loop integral gain adjustment. OFF by default. Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. The scaling of the current monitor output signal becomes its ordinary value when this switch is OFF. Current limit ratio. Used to set continuous-to-peak current limit ratio. Default is OFF. Current loop integral gain. Activates or deactivates integration. OFF by default. Outer loop integration. Activates or deactivates integration. ON, by default, for current mode and OFF for other modes. Outer loop integral gain adjustment. It is recommended to leave this switch OFF for most applications. Test/Offset. Switches the function of the Test/Offset pot between an on-board command input for testing or a command offset adjustment. OFF by default. Setting On On On Decrease Decrease Full-current Off Off Off

25A20

Increase Increase Half-current

6 7 8 9 10

Cont./Peak Ratio = 25% Inactive Inactive Decrease Test

Cont./Peak Ratio = 50% Active Active Increase Offset

Mode Selection Table Mode SW1 CURRENT OFF VOLTAGE ON IR COMPENSATION ON TACHOMETER OFF Note: SW7 should be off for most applications Potentiometer Functions Potentiometer Description Turning CW SW2 OFF OFF ON OFF SW3 ON ON ON ON SW4 OFF OFF OFF OFF SW7 OFF OFF OFF OFF SW8 ON OFF OFF OFF SW9 OFF OFF OFF OFF

Loop gain adjustment for voltage/velocity modes. Turn this pot 1 Increases gain fully CCW in current mode. Current limit. It adjusts both continuous and peak current limit 2 Increases limit while maintaining their ratio. Reference gain. Adjusts the ratio between input signal and output 3 Increases gain variables (voltage, current, or velocity). Offset / Test. Used to adjust any imbalance in the input signal or in 4 the amplifier. Can also be used as an on-board signal source for Adjusts offset in negative direction testing purposes. Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end.

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 5 of 9

Analog Servo Drive

Through-hole Components Location C72* C73* R28* R77* R8* Description

25A20

Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section 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 below on Tuning with Through-hole components for more details. Current Loop Proportional Gain. Through-hole resistor that can be added for more precise current loop tuning. See section 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 section below on Tachometer Gain for more details. IR Compensation Scaling. Through-hole resistor that can be added to configure the amplifier for IR Compensation mode. See section below on IR Compensation Notes for more details.

Tuning With Through-hole Components In general, the drive will not need to be further tuned with through-hole components. However, for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches, the drive can be manually modified with through-hole resistors and capacitors as denoted in the above table. By default, the through-hole locations are not populated when the drive is shipped. Before attempting to add through-hole components to the board, consult the section on loop tuning in the installation notes on the manufacturers website. Some general rules of thumb to follow when adding through-hole components are: A larger resistor value will increase the proportional gain, and therefore create a faster response time. A larger capacitor value will increase the integration time, and therefore create a slower response time. Proper tuning using the through-hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through-hole component values for the specific application. 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 drives block diagram to determine an appropriate resistor value. IR Compensation Notes For applications that will use IR Compensation mode, a resistor can be added to the location named in the table above. The combination of the added resistor and correct dipswitch settings will configure the amplifier for IR Compensation mode. While in IR Compensation mode, the amplifier will adjust the duty cycle to compensate for changes in the output current. Consult the amplifiers functional block diagram and the manufacturers website for more information.

Note: Damage done to the drive while performing these modifications will void the warranty.

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 6 of 9

Analog Servo Drive MECHANICAL INFORMATION

P1 - Signal Connector Connector Information Mating Connector Details Included with Drive 16-pin, 2.54 mm spaced, friction lock header Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals) Yes
15 SYNCH IN 13 -INHIBIT IN 11 INHIBIT IN 9 CURRENT REF OUT 7 +TACH / GND 5 -REF IN 3 -10V 3mA OUT 1 +10V 3mA OUT

25A20

2 SIGNAL GND 4 +REF IN 6 -TACH IN 8 CURR MONITOR OUT 10 CONT CURRENT LIMIT 12 +INHIBIT IN 14 FAULT OUT 16 SYNCH OUT

P2 - Power Connector Connector Information Mating Connector Details Included with Drive 4-contact, 11.10 mm spaced, tri-barrier terminal block Not applicable Not applicable
4 HIGH VOLT 3 PWR GND 2 +MOT 1 -MOT

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 7 of 9

Analog Servo Drive MOUNTING DIMENSIONS

25A20

Release Date: 10/10/2012

Revision: 2.00

Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com

Page 8 of 9

Analog Servo Drive PART NUMBERING INFORMATION

25A20

25
Peak Current
Maximum peak current rating in Amps.

A 20

Additional Options Revision

Assigned a letter (A through Z) by manufacturer.

Peak Voltage
Peak voltage rating scaled 1:10 in Volts.

Power Supply
: DC Power Supply AC: AC Power Supply

Isolation Option
I: Optical Isolation

Command
: Analog Command DD: PWM Command

ADVANCED Motion Controls 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 quickturn 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. Examples of Customized Integration of Drive into Motor Housing Mount OEM PCB onto Drive Without Cables Multi-axis Configuration for Compact System Custom PCB and Baseplate for Optimized Footprint RTV/Epoxy Components for High Vibration OEM Specified Connectors for Instant Compatibility OEM Specified Silkscreen for Custom Appearance Increased Thermal Limits for High Temp. Operation Products Integrate OEM Circuitry onto Drive PCB Custom Control Loop Tuned to Motor Characteristics Custom I/O Interface for System Compatibility Preset Switches and Pots to Reduce User Setup Optimized Switching Frequency Ramped Velocity Command for Smooth Acceleration Remove Unused Features to Reduce OEM Cost Application Specific Current and Voltage Limits

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.

To Motor Power Supplies Shunt Regulators Filter Cards

Drive(s)

All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. Release Date: 10/10/2012 Revision: 2.00 Advanced Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012 ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com Page 9 of 9