BLuAC5 Brushless Universal Servo Amplifier - … motion/amp_packaged_servodrive_bluac5...BLuAC5 Brushless Universal Servo Amplifier X 5A Continuous/15A Peak X 950W Max X 90-260VAC

BLuAC5 BrushlessUniversalServo Amplifier

5A Continuous/15A Peak950W Max90-260VAC Input, Single or Three PhaseQuickTunerTM configuration softwareStatus DisplayExternal control options -• Pulse and Direction• Analog Command Signal• Host command via RS232/485.Integral control options -• Si ProgrammerTM - intuitive easy

to use graphical programminglanguage.

• Q - comprehensive high levellanguage with options for controlof all drive features.

Description

The BLu Series servo drives providecompact, reliable solutions for a wide rangeof motion applications in a variety ofindustries. BLu Series drives are designedto offer excellent performance coupled withhardware and software features that makethem easy to integrate, use and maintain.

The BLuAC5 hardware features a powerfuldigital signal processor (DSP) coupled to anefficient IGBT PWM amplifier. Whencombined with the BLuAC5’s sophisticated,yet easy to tune position loop and velocityand acceleration feed-forward, a systemcapable of extremely high performanceresults assuring success in even the mostdemanding of applications.

All BLuAC5 drives are capable of runningbrushless, brush and linear type motors. Atiming wizard automatically configures theencoder and commutation timing forvirtually any brushed or brushless DCmotor. Tuning is easy with ourQuickTuner™ software, which features abuilt-in digital oscilloscope.

22222

BLuAC5 SerBLuAC5 SerBLuAC5 SerBLuAC5 SerBLuAC5 Servo Drivevo Drivevo Drivevo Drivevo Drive

• Drives Brushless sinusoidal, Brushlesstrapezoidal, Brush or Linear type motors

• 2 to 24 Pole Brushless motor compatibility• Speeds to 8000 rpm (Motor and load dependent).

BLuAC5-SBasic drive; Analog, digital and hostcommand input.

• pulse & direction with electronicgearing

• encoder following with electronicgearing

• analog +/-10V. Torque , Velocityand Positioning.

• CW and CCW pulse

• multi-axis Si programming ifused with a SiNet Hub

• “Host” commands for real timecontrol from a host PC or PLCusing RS-232 or RS-485 serialcommunication.

BLuAC5 Features

uAC5S

uAC5Si

uAC5Q

BLuAC5-SiBLuAC5-Si can be programmed for

stand-alone operation with theeasy to use Si Programmer™Windows software with integratedtuning (software and programmingcable included).

Graphical point and click formatcombines motion, I/O, andoperator interface functionality forsimple machine sequencing.

Easily integrates with other deviceson the machine (Sensors, PLCsetc).

BLuAC5-QQ programming. Comprehensiveprogramming language with optionsfor downloading, storing and executingmultiple programs.• Q Programming environment

• Register manipulation• Conditional processing• Math functions• Multi-tasking

• pulse & direction with electronicgearing• encoder following with electronic

gearing• analog +/-10V. Torque , Velocity

and Positioning.• CW and CCW pulse

Drive Models

BLuAC5-S BLuAC5Si BLuAC5-Q

Hub ✔ ✔

Command Inputs Analog +/-10V ✔

Pulse and Direction ✔

CW and CCW Pulse ✔

Master Encoder ✔

Command Modes Host Command Language ✔ ✔

Si Indexer ✔

Q Programming ✔

Logic Input Functions Alarm Reset ✔ ✔

Limit Switches ✔ ✔ ✔

Servo Enable ✔ ✔

Logic Output Functions Alarm ✔ ✔ ✔

Brake ✔ ✔ ✔

In Position ✔ ✔ ✔

Digital Inputs 7 15 7

Digital Outputs 3 7 3

Note - Digital I/O on S and Q models can be increased to 15 inputs and 7 outputswith optional Expansion I/O kit.

• 16 kHz precision PWM amplifier.• 24V Isolated I/O power supply output• 24V Auxilliary logic supply input (“keep alive” input)• Internal “Regeneration clamp” circuit and power resistor

Features Summary

33333


Features

DC

Bus

Motor

Encoder

IN / OUT 1

IN / OUT 2

PC/MMI

RS-485/422

C B A

GN

DTX

-TX+RX

-R

X+

CO

MM

Status

Regen

GN

D+24V

DC

Input

320V pk

User O

ut+24V

DC

GN

D

CLAMP RESEXTBUS

BRAKING

L1L2/N

L3AC POWER

G

Error CodesPosition Limit

CCW Limit

CW LimitOver Temp

Over Voltage

Under Voltage

Over Current

Current Limit

Hall BadEncoder Bad

Memory Failed

Regen Failed

Comm ErrorPosition Mode

Velocity Mode

Torque Mode

Step Mode

Operating ModesFront View

X COMMON

X7 / CW Limit

X3 / Servo Enable

X5

X4 / Alarm Reset

Analog IN-

Analog IN+

X2 / DIR-X2 / DIR+

X1 / STEP / PWM+

X1 / STEP / PWM-GND

GND

A+A-

B+B-

Z+Z-

+5V OUT

Y COMMON

Y3 / ALARM

Y2 / INPOSN

Y1 / BRAKE

1817

1615

14

1312

1110

9 8 7 6 5 423

1

19202122232425Encoder

Outputs

X6 / CCW Limit

1817161514

131211109876542 3

1 1920

2122

2324

25

+5V

Out 1-

Out 2+Out 1+Ain Com

N/CAin 1

IN 8-

COMIN 5

IN 6IN 7+

IN 8+IN 7-

IN 4

IN 1COM

IN 2

COMIN 3

Out 2-

Out 3+

Out 3-

Out 4+

Out 4-

enabled when

flashing

Drive Disabled

Si Mode

INT

rotating segment indicates Q

program running.

IN/O

UT 2

IN/O

UT 1

S & Q Models - optional expanded I/O connector Si model - standard I/O connection.

Communications.Si model - RS 232

S & Q Models RS 232 & RS 485 multi drop - up

to 32 axes.

Regen Indicator.Shows if drive is

regenerating.

Status Indicator.7 Segment LED for indication of error

codes and operating status .

DC Bus IndicatorShows if the drive has

power

AC Supply Input.Single or 3 phase

90-260VAC

Dynamic Braking.For stopping high

inertia loads if power fails

Regenerative Braking.Select between

internal or external braking resistor

Keep Alive Input.Input 24VDC to keep

logic high if power fails.

Isolated Power Supply.24VDC user output.

100mA Max.

Error CodesPosition LimitCCW LimitCW LimitOver TempOver VoltageUnder VoltageOver Current/Short

Current LimitHall BadEncoder BadMemory ErrorRegen FailedComm Error

Position ModeVelocity ModeTorque ModeStep Mode

Operating Modes

enabled whenflashing

Drive DisabledSi Mode

rotating segment indicates Q program running.

Status Display Codes

44444


QuickTunerSetup SoftwareThe BLuAC5 servo drives are supplied with

the QuickTunerTM software set-up utility.In this one program the user can config-ure all the aspects of the drive. This in-cludes setting the current, configuring In-puts and Outputs and tuning the drive us-ing the integrated oscilloscope with newtrigger function.

The drive screen allows the user to enterparameters for the drive and select theoperating mode required.

The Inputs/Outputs screen is used toconfigure the functionality of the drive.These functions may include.• Brake output• Alarm Output• Motion Output• Limit Switch inputs

The oscilloscope function can be used todisplay the effects of varying the differentgain parameters. A number of differentdrive parameters can be displayedincluding:• Target Speed• Actual Speed• Current• Position Error• Supply VoltageThe oscilloscope function also features a

trigger function and a monitor, thisdisplays parameter values in real time.

55555


POWER AMPLIFIER:

AMPLIFIER TYPE ....................................... 3 phase Sinusoidal PWM switching at 16 KHz.CURRENT CONTROL .................................. 4 quadrant “DQ” methodOUTPUT CURRENT .................................... 5 amps continuous. 15 amps peak current, one second max rms.AC INPUT VOLTAGE ................................... 90 - 260VAC 50/60Hz, 1 phase or 3 phaseDC INPUT VOLTAGE ................................... 100 - 340VDCBUILT IN REGENERATION .......................... 50 Watt internal shunt resistor. Connector for high power external

shunt resistor.PROTECTION.............................................. Over-current/short circuit

Over temperature (75°C)Over voltage (400VDC on DC Bus)Under voltage (100VDC on DC Bus)Regeneration Error (Based on Regeneration values)Encoder Failure (When using differential input)Hall sensor Failure

POSITION FEEDBACK................................. Incremental Encoder, A/B Quadrature (50 to 32,000 line), up to2MHz.

POSITION RESOLUTION ............................ Set via software to match encoder resolutions from a minimum of50 lines to a maximum of 32,000 lines per revolution producing aminimum of 200 counts to a maximum of 128,000 counts perrevolution in quadrature.

Max Speed ................................................. Speeds to 8000 rpm. Motor and load dependent.

CONTROLLER SECTION:

MOTION UPDATE ....................................... 16 kHz.SERVO UPDATE ......................................... 4 kHz.SERIAL COMMUNICATION ........................ RS-232 or RS-422/RS-485 programming & control port (RS-485

S & Q versions only). Green and Amber LED’s for Receive andTransmit indication. Each drive is addressable for multi-axis con-trol (S & Q versions only). Selectable Baud rates of 9600, 19200,38400, 57600, 115200.

STATUS INDICATOR ................................... 7-Segment LED for Status, Operation and Error code displayDIGITAL INPUTS AND OUTPUTS ............... All Optically Isolated, 2 high speed inputs for Encoder Following

or Step & Direction input.ANALOG INPUT .......................................... Configurable as single-ended or differential ±10V, ±5V, 0-5V or 0-

10V. This can be read as one differential or two single ended in-puts, dependant on product model. Si;Not Supported , S model;one input Single or Differential, Q; One Single or Differential ortwo Single Ended.

S & Q PARAMETER RANGES ..................... Distance: 1 to 2,147,483,647 (CW or CCW), relative or absolute po-sition in encoder counts.Speed: .0042 to 133 revolutions per second.Acceleration: 0.167 to 5,000 rev/sec/sec.Deceleration: 0.167 to 5,000 rev/sec/sec (set independently fromacceleration).Time Delays: .01 to 320 seconds.

Si PARAMETER RANGES ........................... Distance: 1 to 16,000,000 (CW or CCW), absolute position ± 2 billion.Speed: .025 to 100 revolutions per second.Acceleration: 1 to 3,000 rev/sec/sec.

BLuAC5 Technical Specifications

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Q-5CAuLB 3/7 6

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Deceleration: 1 to 3,000 rev/sec/sec (set independently from acceleration).Time Delays: .01 to 300 seconds.Output Pulse Widths: 2 to 500 milliseconds.Iterations per loop: 1 to 65,535.

................................................................... Nested loops :50

................................................................... Subroutine calls: 5 deep max

SYSTEM SPECIFICATIONS:WEIGHT ...................................................... 2 lb. 12 oz.AMBIENT TEMPERATURE .......................... 0 to 40 deg C (32 to 104 deg F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power, and motor, HD-15 for encoder/

Hall signals. DB25 for signal and I/O. Si has DB25P for User I/O.RECOMMENDED MOTORS ........................ Can drive AMP BLDC Motors to 950W at full speed.

77777


BLuAC5 Connections

1817161514

13121110

987654

23

1

19202122232425

+5V

Out 1-Out 2+

Out 1+Ain ComN/CAin 1

IN 8-

COMIN 5

IN 6IN 7+

IN 8+IN 7-

IN 4

IN 1COMIN 2

COMIN 3

Out 2-Out 3+Out 3-Out 4+Out 4-

IN/OUT 2 Front View

X COMMON

X7 / CW Limit

X3 / Servo Enable

X5/ Reset X4 / Alarm Reset

Analog IN-Analog IN+

X2 / DIR-X2 / DIR+

X1 / STEP +X1 / STEP -

GND

GND+5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE

1817161514

13121110987654

23

1

19202122232425

X6 / CCW Limit

IN/OUT 1

Note - this connector is standard on Si version and only on S and Q versions withexpanded I/O.

+5V OUT +12V OUT

GNDGNDAnalog Out 2 Analog Out 1

BLuAC5 Outline Drawings2.70

1.32

7.8

4.85

7.4

88888


Recommended Motors for use with BLuAC5 Servo Drive

Alpha A Series

Alpha N & M Series

mm06 mm08

ledoMrotoM 000-4-101-0040A 000-5-201-0060A 000-5-201-0080A 000-5-201-0590A

ylppuSrewoP V 001 002 002 002

)RP(tuptuOdetaR W 004 006 008 059

)RT(euqroTdetaRm.N 72.1 19.1 55.2 20.3

ni.bl 42.11 9.61 75.22 57.62

)PT(euqroTkaePm.N 28.3 37.5 46.7 60.9

ni.bl 8.33 17.05 16.76 91.08

deepSdetaR nim/r 0003 0003

deepSmumixaM nim/r 0005 0005

M.C.D.EfotnerruCerutamrAdetaR smrA 2.5 2.4 6.4 5.4

M.C.D.EfotnerruCerutamrAkaeP smrA 6.51 6.21 8.31 2.31

M.C.D.EfotnatsnoCeuqroTA/m.N %01-/+ 62.0 74.0 75.0 17.0

A/ni.bl 92.2 61.4 50.5 82.6

M.C.D.EfotnatsnoCegatloV )nim/r(/V %01-/+ 01x9.62 3- 01x94 3- 01x4.95 3- 01x3.47 3-

aitretnIfotnemoMrotoRmc-g 2 063 0001 0031 0261

ces-ni-zo 2 01x1.5 3- 01x2.41 3- 01x4.81 3- 01x9.22 3-

&mm0632AMEN 43AMEN&mm08

PMAledoMrotoM 000-4-101-0040M000-B-101-0040N

000-5-201-0040M000-C-201-0040N

000-5-201-0060M000-C-201-0060N

000-5-201-0570M000-C-201-0570N

ylppuSrewoP V 001 002 002 002

)RP(tuptuOdetaR W 004 004 006 057

)RT(euqroTdetaRm.N 72.1 72.1 19.1 93.2

ni.bl 42.11 42.11 71 12

)PT(euqroTkaePm.N 28.3 28.3 37.5 61.7

ni.bl 8.33 8.33 05 46

deepSdetaR nim/r 0003 0003

deepSmumixaM nim/r 0005 0005

M.C.D.EfotnerruCerutamrAdetaR smrA 6.5 8.2 4.4 0.5

M.C.D.EfotnerruCerutamrAkaeP smrA 3.61 0.8 9.21 5.41

M.C.D.EfotnatsnoCeuqroTA/m.N %01-/+ 42.0 94.0 54.0 5.0

A/ni.bl 21.2 3.4 4 4.4

M.C.D.EfotnatsnoCegatloV )nim/r(/V %01-/+ 01x8.42 3- 01x8.05 3- 01x24 3- 01x2.25 3-

aitretnIfotnemoMrotoRmc-g 2 043 065 089 0801

ces-ni-zo 2 01x7.4 3- 01x9.7 3- 01x8.31 3- 01x2.51 3-

sliatedrofetisbeWrokoobataDsrotoMovreSotrefer-ekarbgnidlohlanoitpohtiwdeilppusebnacsrotoMseireSM&N

99999


Alpha A Series 80mm Motors

Alpha A Series 60mm Motors

L ± 1

30 ± 1 (1.18 ± .04)

ØD

Ø50.0 – 0.03(1.97 + .000)

– .002

4 X Ø5.5 ± .25(.217 ± .01)

ON Ø70 B.C.

2 X 49.50 ± 0.1REF6.0

(.24) 3.00(.118) 2 X 60

(2.36)MAX

Alpha M Series 60mm Motor

Model No Dimension "L"mm (inch)

Shaft Dia "D"mm (inch)

A0400-101-4-000 128.1 (5.04) 14 (0.551)



A0600-102-5-000 128.1 (5.04) 19 (0.748)

A0800-102-5-000 145 (5.71) 19 (0.748)

A0950-102-5-000 160 (6.3) 19 (0.748)



M0400-101-4-000 126 (4.96) 14 (0.551)

1010101010


10 REF

70.1REF

L ± 1

8.0(.315)

30 ± 1 (1.18 ± .04)

Ø15.875 – 0.013(.6250 + .0000)

–.0005

+0

Ø73.02 – 0.013(2.875 + .000)

4 X Ø5.5 ± .25(.217 ± .01)

–.002

1.6 ± 0.3(.063)

2 X 34.8(1.37)

2 X 69.6 ± 0.1(2.74 ± .004)

2 X 86.0(3.386)

MAX

L ± 1

26

20.6 ± 1 (.81 ± .04)

Ø12.7 –0.011(.500 + .0000)

+0

–.00042 X 47.14 (1.856")

1.52(.060)

6.0(.24) 2 X 56.4

(2.22")(Flange)

4 X Ø5.5 ± .25(.217 ± .01)

Ø38.1 – 0.03(1.50 + .000)

– .002

60 (2.36")(Body)

Alpha N Series NEMA 23 Motor

Alpha N Series NEMA 34 Motor

600W/750W = 35 ± 1 (1.37 ± .04)200W/400W = 30 ± 1 (1.18 ± .04)

Alpha M Series 80mm Motor



M0400-102-5-000 103 (4.05) 14 (0.551)

M0600-102-5-000 127 (5.00) 19 (0.748)

M0750-102-5-000 135 (5.31) 19 (0.748)



N0400-101-B-000 149 (5.86) 12.7 (0.5)



N0400-102-C-000 120 (4.72) 15.875 (0.625)

N0600-102-C-000 132 (5.19) 15.875 (0.625)

N0750-102-C-000 140 (5.51) 15.875 (0.625)

1111111111


BLuAC5 Torque Curves for Recommended Motors

0 1000 2000 3000 4000 50000

50

100

150

200

250

rpm

lb-i

n

BLuAC5 set at 4.5 amps (12.8 peak)200 VAC Supply

M0400-102-5-000 M Series MotorN0400-102-C-000 N Series Motor

rpm

lb-i

n


A0950-102-5-000, Alpha Motor

rpm

lb-i

n


M0400-101-4-000, M Series MotorN0400-101-B-000, M Series Motor

rpm

lb-i

n


A0600-102-5-000, Alpha Motor

rpm

lb-i

n


A00400-101-4-000, Alpha Motor

rpm

lb-i

n


A0800-102-5-000, Alpha Motor

rpm

lb-i

n


0 1000 2000 3000 4000 50000

10

20

30

40

50

60

70

Peak Continuous

0 1000 2000 3000 4000 50000

20

40

60

80

100

Peak Continuous

rpm

lb.in

BLuAC5 set at 4.9 amps (14.1 peak)200 VDC Supply



0 1000 2000 3000 4000 50000

20

40

60

80

100

Peak Continuous

0 1000 2000 3000 4000 50000

10

20

30

40

50

Peak Continuous

0 1000 2000 3000 4000 50000

10

20

30

40

50

Peak Continuous

0 1000 2000 3000 4000 50000

20

40

60

80

100

Peak Continuous

0 1000 2000 3000 4000 50000

10

20

30

40

50

Peak Continuous

0 1000 2000 3000 4000 50000

20

40

60

80

100

Peak Continuous

0 1000 2000 3000 4000 50000

20

40

60

80

100

Peak Continuous

1212121212


BLu AC5 Options

Braking resistor assembly - RA-100

• I/O expansion kit (Part No BLuAC-EXTIO)increases the inputs to 15 and outputs to 7 onthe BLuAC5-S and BLuAC5-Q models.• Multi axis systems can be created using the Hub

444 or Hub8 multi port hubs and the SiNetTM HubProgrammer Software.• External braking resistor module.

Distributed by:

• Man Machine Interface (MMI 01 & MMI 02). Can beused with Si model only to enter variables.• Break Out Board . A DIN rail mounted module that con-

verts the 25 way DIN connectors to screw terminals.

Applied Motion Products404 Westridge Dr. Watsonville, CA 95076Tel: 831-761-6555 Fax: 831-761 -6544www.applied-motion.com

Version 11/19/04

Break Out Board (BOB1 & BOB2)

• BOB1 is for use with all Drives and expands the IN OUT1 connector to screw terminals.• BOB2 is for use with Si version drives and S and Q

models that are fited with the expansion I/O.(supplied with 3’ cable)

Documents

BLuAC5 Brushless Universal Servo Amplifier - … motion/amp_packaged_servodrive_bluac5...BLuAC5 Brushless Universal Servo Amplifier X 5A Continuous/15A Peak X 950W Max X 90-260VAC