Advanced motion controls zbh6a6

Analog Servo Drive ZBH6A6
Features Power Range
Peak Current 6 A (4.2 ARMS)
Continuous Current 3 A (2.1 ARMS)
Supply Voltage 16-60 VDC
Brushless Series
Description
The ZBH6A6 PWM servo drive is designed to drive brushless DC
motors at a high switching frequency. The drive is fully protected
against over-voltage, under-voltage, over-current, over-heating,
and short-circuits at the output. A single digital output indicates
operating status. This drive can interface with any controller that
has analog ±10V output and may be powered by a single
unregulated and isolated DC power supply.
Available Options
Micro size
Low cost
Designed for board-level integration
Ready-for-use mounting card available
Single potentiometer for velocity loop
adjustments
DIP switch selectable modes
Four quadrant regenerative operation
Hall sensor commutation
Mod
oltage)
ƒ Hall Velocity
Com
ƒ ±10V analog input
Feedba ed
ƒ Halls
Inp
ut
ƒ Fault indication output
Prot
ƒ uit (phase-to-phase or phase-to-
ƒ Hall sensor feedback error
CE
es of Operation:
ƒ Current (torque)
ƒ Open Loop (v
mand Source:
ck Support
uts/Outputs
ƒ Current reference output
ƒ Current monitor output
ƒ Velocity monitor output
ƒ Bridge inhibit/enable inp
ection
ƒ Over voltage
ƒ Under voltage
Short circ
ground)
ƒ Over current
ƒ Drive over temperature
ƒ Inverted inhibit/enable logic (-INV)
ƒ Analog positioning (-ANP)
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BLOCK DIAGRAM
P1-14 P1-16
60/120
INHSEL
ALL UNLABELLED HIGHS SHARE AN INTERNAL +5V
CURR/VEL
CURR/VEL
10K 20K
20K
J2 J1
-
+
-
+
40K
40K
NI 500K
-
500K +
500K
15K
SW3
CURRENT
SENSE
10K
-
+
SW2
SW4
SW1
ALL GROUNDS ARE INTERNALLY CONNECTED
INTERNAL POWER-SUPPLY
FOR HALL SENSORS
+VHall
15K POT1
10K 50K
24K 20K 0.01
ELECTROMATE
P2-6
N/C
POWER GND P2-2,3
MOTOR C P2-7,8
CURRENT REFERENCE
FAULT
P1-5
INHIBIT
10K 10K
HIGH VOLTAGE P2-4,5
5K
-1 -REF IN
0.1
FUNCTIONAL BLOCK DIAGRAM
-4
ZBH6A6
OFFSET
-3 +REF IN 10K
CURRENT FEEDBACK
H1
H3
HALL SENSORS
P1-8,9,10
RESERVED P2-1
CURRENT
MONITOR
P1-13
H2
P2-9,10
LOGIC MOSFET CONTROL MOTOR B
P2-11,12
DRIVE
MOTOR A
F/V
10K
CONVERTER HALL 1, 2, 3
VELOCITY
DIRECTION
PWM FEEDBACK
5K
P1-7
P1-6
-2
-15 VELOCITY MONITOR
CW 10K
P1
P1
P1
P1
P1
MODE SELECTION TABLE SW1 SW2 SW3
CURRENT
OPEN-LOOP
HALL VELOCITY
OFF ON ON
ON OFF OFF
OFF ON OFF
NOTES:
- RECOMMENDED SETTING FOR CURRENT MODE: POT 1 FULLY CCW.
- AMPLIFIERS ARE SHIPPED IN CURRENT MODE WITH MAXIMUM CURRENT SETTINGS.
RESERVED P1-11
RESERVED P1-12
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SPECIFICATION SUMMARY
Power Stage Specifications
DC Supply Voltage 16 - 60 V
Peak Output Current ± 6 A (4.2 ARMS)
Maximum Continuous Output Current1 ± 3 A (2.1 ARMS)
Minimum Load Inductance2 100 μH
Switching Frequency 50 kHz
Heatsink (Base) Temperature Range 0 o to + 65o C, disables if > 65o C
Power Dissipation at Continuous Current 10 W
Internal Bus Capacitance 33 μF
Over-Voltage Limit 68 V
Control Specifications
Commutation Method Trapezoidal
Max Hall Frequency3 1 kHz
Mechanical Specifications
Signal Connector: P1 16-pin header, 0.1 in (2.54 mm) pitch
Power Connector: P2 12-pin header, 0.1 in (2.54 mm) pitch
Size (L x W x H)
2.70 x 2.00 x 1.09 in
68.6 x 50.8 x 27.7 mm
Notes
1. Maximum duration of peak current is ~2 seconds.
2. Low inductance motors (such as ‘pancake’ and ‘basket-wound’) require external inductors. The
Minimum Load Inductance provided assumes the highest allowed bus voltage. Lower
inductances are acceptable for lower bus voltages.
3. Measured in electrical cycles per second.
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PIN FUNCTIONS
P1 – Signal Connector
Pin Name Description I/O
1 REF+ IN Positive terminal of differential analog input. I
2 GROUND Reference ground. GND
3 REF- IN Negative terminal of differential analog input. I
4 OFFSET
Connection to external resistance for command offset
adjustments.
-
5 INHIBIT IN Inhibit/enable input. I
6 +VHALL +6 VDC (@ 30 mA) source for Hall sensors. O
7 GROUND Reference ground. GND
8 HALL 1
9 HALL 2
Hall sensor inputs. I
10 HALL 3
11 RESERVED Reserved. -
13 CURRENT MONITOR
Output voltage proportional to motor output current.
Scaling: 2 A/V.
O
14 CURRENT REFERENCE
Monitors the signal at the input of the internal current
amplifier stage.
Scaling: 0.8 A/V.
O
15 VELOCITY MONITOR
When used in current or Hall velocity mode, voltage is
proportional to the speed of the motor. In open-loop
mode, voltage is proportional to the PWM duty cycle.
Scaling: 100 Hz/V
O
16 FAULT OUT Logic output for indication of a drive fault. O
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P2 – Power Connector
Pin Name Description I/O
2
3
GROUND Reference ground (current rating of 3A per pin). GND
4
5
HIGH VOLTAGE DC power input (current rating of 3A per pin). I
6 N/C Not connected. Pin has been removed. -
7
8
MOTOR C Motor phase C connection (current rating of 3A per pin). O
9
10
MOTOR B Motor phase B connection (current rating of 3A per pin). O
11
12
MOTOR A Motor phase A connection (current rating of 3A per pin). O
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SWITCH & POTENTIOMETER FUNCTIONS
Setting
Switch Description
On Off
SW1
Internal voltage/PWM feedback for open-loop
mode.
Feedback active Feedback inactive
SW2 Hall sensor monitor/feedback.
Monitor/feedback
active
Monitor/feedback
inactive
SW3 Current mode selector. Current mode only
Voltage/velocity
modes
SW4 Velocity feedback polarity. Standard Inverted
Refer to the block diagram at the beginning of this datasheet for a mode selection table of valid switch
settings.
Setting
Potentiometer Description
Turning CCW Fully CW
POT1
Loop gain adjustment for
voltage/velocity modes. Turn this pot
fully CCW in current mode.
Decrease loop gain Increase loop gain
The single potentiometer on this drive varies in resistance over 11 turns and has a maximum resistance
of 50 kΩ.
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CONNECTOR INFORMATION
P1 – I/O Connector
Connector Information 16-pin header, 0.1 in (2.54 mm) pitch
Mating Connector Example Samtec P/N: BCS-116-L-S-PE
P2 – Power Connector
Connector Information 12-pin header, 0.1 in (2.54 mm) pitch
Mating Connector Example Samtec P/N: BCS-112-L-S-PE
FAULT OUT 16
CURRENT REFERENCE 14
RESERVED 12
HALL 3 10
HALL 1 8
+VHALL 6
OFFSET 4
GROUND 2
15 VELOCITY MONITOR
13 CURRENT MONITOR
11 RESERVED
9 HALL 2
7 GROUND
5 INHIBIT IN
3 REF- IN
1 REF+ IN
2 GROUND
4 HIGH VOLTAGE
6 N/C
8 MOTOR C
10 MOTOR B
12 MOTOR A
RESERVED 1
GROUND 3
HIGH VOLTAGE 5
MOTOR C 7
MOTOR B 9
MOTOR A 11
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MOUNTING DIMENSIONS
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ORDERING INFORMATION
6 A 6 -
Additional Options
INV = Inverted inhibits
ANP = Analog positioning
Revision
Omit from part number when ordering
(ranges from A through Z)
Peak Current
Peak current rating
Peak Voltage
1/10th peak voltage rating
ZBH
Drive Type
Z indicates mini-series
B indicates a brushless drive
H indicates Hall velocity mode
Notes:
Peak Current
Maximum continuous current rating is approximately ½ of the
peak current rating.
Revision
This letter is not required when placing an order.
Some letters are skipped when assigning revisions.
Additional Options
Options not listed here are for custom drives. Contact an
AMC representative for more information.
Alternative Drives Available Accessories Accessory Part Numbers
Mounting Card MC1XZBHE
Shunt Regulator SRST50
BFC1010
Filter Card
BFC10010
PS16L30 / PS16H30
PS16L36 / PS16H36
PS16L40 / PS16H40
PS16L60 / PS16H60
PS16L80 / PS16H80
PS2X3H24 / PS2X3W24
PS2X3H48 / PS2X3W48
DIGITAL
ZDCR300EE12A8LDC
ZDR300EE12A8LDC
ANALOG
ZBH12A8
ZBE6A6
ZBE12A8
PS300H24 / PS300W24
Bold: mechanically identical drives.
Power Supply
PS300H48 / PS300W48
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Advanced motion controls zbh6a6

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