1. DL manuals
  2. Varedan Technologies
  3. Amplifier
  4. VSA-1530-1
  5. Product User Manual

Varedan Technologies VSA-1530-1 Product User Manual

Manual is about: VSA Series, PWM Servo Amplifiers

Summary of VSA-1530-1

  • Page 1

    Varedan technologies vsa series pwm servo amplifiers product user guide revision c vsa-1530-1 module vsa-1530-sa stand alone vsa-1530-2 module.

  • Page 2

    Vsa series product user guide page 2 record of revisions rev date valid for description a1 1/4/2011 beta units initial release b 4/19/11 production added commands and drawings c 9/14/11 production added stand alone information technical changes to improve performance may be made at any time without ...

  • Page 3

    Vsa series product user guide page 3 contents 1 introduction .......................................................................................................................................... 5 1.1 model part numbering ............................................................................

  • Page 4

    Vsa series product user guide page 4 10.3.1.1 2-phase sine mode settings................................................................................................... 34 10.4 three-phase torque mode ...................................................................................................

  • Page 5

    Vsa series product user guide page 5 1 introduction this manual describes the operation and installation of the vsa series pwm servo amplifiers manufactured by varedan technologies. This is the section most people skip over, but it does have some useful information, so please take the time to read i...

  • Page 6

    Vsa series product user guide page 6 1.1 main parts 1.1.1 module parts usb/rs232connection dsp program switch status led signal connector reset switch feedback connector dc bus connector motor connector baseplate.

  • Page 7

    Vsa series product user guide page 7 1.1.2 stand alone parts usb/rs232connection dsp program switch status led signal connector reset switch feedback connector motor connector baseplate ac power input.

  • Page 8

    Vsa series product user guide page 8 2 model part numbering the following table illustrates the various part numbers used to define the available model configurations. 2.1 modules vsa - 1530 - 170 - 1 - 1 varedan switching amplifier continuous power peak power maximum dc bus voltage hardware configu...

  • Page 9: Caution

    Vsa series product user guide page 9 3 safety information you really need to read this information before operating this amplifier. 3.1 hazardous voltage information caution hazardous voltages are present at the motor output terminals, input power connection, and within the sheet metal enclosure. Di...

  • Page 10

    Vsa series product user guide page 10 4 module specifications 4.1 mechanical & environmental size 7.125 x 4.60 x 1.45 inches weight 0.94 lb (0.43 kg) ambient temperature 0 to +45 °c operating, -40 to +85 °c storage humidity 0% to 95%, non-condensing contaminants pollution degree 2 environment iec68-...

  • Page 11

    Vsa series product user guide page 11 5 stand alone specifications 5.1 mechanical & environmental size 7.125 in x 4.60 in x 2.50 inches weight 0.94 lb (0.43 kg) ambient temperature 0 to +45 °c operating, -40 to +85 °c storage humidity 0% to 95%, non-condensing contaminants pollution degree 2 environ...

  • Page 12

    Vsa series product user guide page 12 6 electrical specifications module stand alone model vsa-1530 vsa-2050 vsa-1530-sa vsa-2050-sa input voltage 70-340 vdc 70-340 vdc 80-240 vac single-phase motor bus = ac input volts * 1.414 output power peak current 30 50 30 50 amps peak time 1 1 1 1 seconds con...

  • Page 13

    Vsa series product user guide page 13 6.1 i/o interface drawings 6.1.1 digital inputs the following drawing shows the circuitry for enable, reset, fault and the user i/o pins when configured as inputs. Fault, enable, reset, user1,2,3,4 configured as inputs input voltage range 0-5 vdc internal pull-u...

  • Page 14

    Vsa series product user guide page 14 6.1.4 regen output the following drawing shows the circuitry for regen output. This output can be used to control an external relay when the bus voltage exceeds a preset level. The relay should have a dumping resistor connected in a manner that will safely handl...

  • Page 15

    Vsa series product user guide page 15 6.1.7 encoder inputs and outputs the following drawing shows the typical encoder input circuit. Jumper jp3 controls the encoder load. With the jumpers all in, 100-ohm resistors are place across the encoder inputs as shown. When encoder type is set to “s” in soft...

  • Page 16: Danger

    Vsa series product user guide page 16 6.2 stand alone ac input power wiring the following drawing shows the recommended connection for the ac input to the stand alone package. Connect the ac mains and earth ground to the appropriate pins on the mating connector and double check the wiring before plu...

  • Page 17

    Vsa series product user guide page 17 6.3 stand alone motor wiring 6.3.1 three-phase motor wiring 6.4 single-phase brush motor wiring brush servo motor + - case ground a c brushless servo motor a b c case ground a b c.

  • Page 18

    Vsa series product user guide page 18 6.5 module motor and bus connections 6.5.1 three-phase motor and bus connections 6.5.2 single-phase motor and bus connections brushless servo motor a b c case ground a b c dc bus supply + brush servo motor a c case ground a c dc bus supply +.

  • Page 19

    Vsa series product user guide page 19 7 connector descriptions 7.1 main signal connector there are 2 different connector options for the main signal connector, a 15-pin molex or a high density db-26. The 15-pin molex is typically used for 2-phase external current mode configurations. The signals for...

  • Page 20

    Vsa series product user guide page 20 7.1.2 j1 main signal connector db-26hd type: db-26hd female typical mate norcomp: 180-m26-103l031 digikey: 180-m2631mn-nd pin signal name description 1 earth ground provides electrical connection to the chassis and heatsink of the amplifier 2 dac a- input 3 dac ...

  • Page 21

    Vsa series product user guide page 21 7.2 j2 motor feedback connector type: db-15hd female typical mate norcomp: 180-m15-103l031 digikey: 180-m1531mn-nd pin signal name description 1 earth ground provides electrical connection to the chassis and heatsink of the amplifier 2 +5vdc output 1 provides en...

  • Page 22

    Vsa series product user guide page 22 1 2 3 4 pin 5 1 2 pin 3 7.3 motor and power connectors the motor and power connections for the module can be one of three types; plug-in, screw terminal or spring clamp, as shown below. The stand alone uses separate connectors for the motor and power connections...

  • Page 23

    Vsa series product user guide page 23 3 2 pin 1 7.3.3 ac power connector for stand alone model (rear of stand alone case) type: on shore technology edstlz960/3 typical mate on shore technology: edz960/3 digikey: ed1734-nd pin signal name description 1 line ac line input 2 neutral ac neutral input 3 ...

  • Page 24

    Vsa series product user guide page 24 8 amplifier input power requirements 8.1 module dc input power the vsa amplifier module requires a single dc input voltage in the range of 70-340 vdc (motor bus voltage) connected to the b+ and b- inputs. All internal voltages are derived from this dc input volt...

  • Page 25

    Vsa series product user guide page 25 9 user intefaces 9.1 serial interface the vsa amplifier communicates with a host via a rs232 or usb connection at 115,200 baud. Any “dumb terminal” serial communications program such as hyperterminal can be used for communications. The standard settings are 8 da...

  • Page 26

    Vsa series product user guide page 26 9.1.3 communication format once the host communication program is properly configured and the host cable is connected, apply power to the vsa amplifier. The vsa amplifier should respond with the sign-on message which should look like the following text in the te...

  • Page 27

    Vsa series product user guide page 27 d2 9.2 pusbutton switch s1 the pushbutton switch on the front panel (between the encoder connector and amplifier i/o connector) is used to reset the amplifier. A quick press and release of the button should result in a full system reset. As the amplifier comes o...

  • Page 28

    Vsa series product user guide page 28 9.4 status led the 7-segment led display on the front panel shows the status of the amplifier in real-time. The amplifier should display an “8” and then a “c” when first powered or after a reset in the disabled state with no errors. The amplifier should display ...

  • Page 29

    Vsa series product user guide page 29 10 protection functions the amplifier has a number of built-in protective functions that disable the amplifier in the event of a sensed fault. The fault conditions are explained in the following sections. 10.1 i 2 t over current protection this function protects...

  • Page 30

    Vsa series product user guide page 30 10.2 internal protection the amplifier has multiple internal protective functions that check for error conditions. If an error is found, the amplifier is disabled and the appropriate error code(s) is displayed on the 7-segment led and reported over the serial in...

  • Page 31

    Vsa series product user guide page 31 11 modes of operation this amplifier is basically a device that outputs and controls current (torque in the motor) to its motor phase connections in either a single-phase or three-phase configuration. How that current gets commanded and where the command comes f...

  • Page 32

    Vsa series product user guide page 32 11.1 single-phase or brush motor torque mode in this mode the output current is proportional to the applied +/-10 vdc analog voltage or serial command current. The amplifier controls the current in phase a with the positive current command value and the current ...

  • Page 33

    Vsa series product user guide page 33 11.2 single-phase veolcity mode in this mode, the amplifier uses either a motor mounted encoder or a tachometer to provide speed control of the motor. The motor speed is controlled by the amplifier’s pid velocity loop, which in turn provides the current (torque)...

  • Page 34

    Vsa series product user guide page 34 11.3 2-phase sine mode (external sine commutation) in this mode, an external motion controller provides commutation and supplies two current commands (sine waves 120 degrees apart) to the dac a and dac b inputs. The amplifier internally generates the current com...

  • Page 35

    Vsa series product user guide page 35 11.4 three-phase torque mode in this mode, the amplifier uses the motor’s encoder to provide commutation. The current in the motor is controlled by the amplifier’s pi current loops and is proportional to the current (torque) command. The torque command can come ...

  • Page 36

    Vsa series product user guide page 36 11.5 three-phase veolcity mode in this mode, the amplifier uses the motor’s encoder to provide commutation and speed control. The motor speed is controlled by the amplifier’s pid velocity loop, which in turn provides the current (torque) command to the current l...

  • Page 37

    Vsa series product user guide page 37 11.6 three-phase position mode in this mode, the amplifier uses the motor’s encoder to provide commutation and position control. The motor position is controlled by the amplifier’s position pid loop, which in turn provides the velocity command and current (torqu...

  • Page 38

    Vsa series product user guide page 38 11.7 three-phase commutation phase finding for three phase modes (torque, velocity and position), the motor will perform an initial phase finding when first enabled. The type of algorithm used for the phase finding is determined by the type=n command. When n is ...

  • Page 39

    Vsa series product user guide page 39 12 command list the following commands can be entered over the serial interface and are not case sensitive. When a string of n’s (nnnnn) are shown the data is an integer value. When a string of f’s (ffff) are shown the data is a floating point value. When a stri...

  • Page 40

    Vsa series product user guide page 40 cclimit:nn sets the allowable continuous motor current. Range is 0 to continuous rated current, depending on model. When the sensed motor current exceeds this setting, the over current protection algorithm begins timing for a trip. Ccw sets the commanded spindle...

  • Page 41

    Vsa series product user guide page 41 defaults do not use this command unless instructed to do so by the factory. Important calibration values are cleared by this command. Sets the factory defaults for all parameters as shown below. Note that the ampmode is set to 2-phase sine after executing this c...

  • Page 42

    Vsa series product user guide page 42 dir? Returns the actual motor direction as “cw” or “ccw”. Dis disables the amplifier (kills motor power). No deceleration is performed. Disable same as dis. Disfaults:nnnn creates a bit mask for maskable faults within the amplifier. See disfaults? For the bit de...

  • Page 43

    Vsa series product user guide page 43 encodertype:n set the encoder electrical type as either “s” for single ended, or “d” for differential. Extenable:n configures the amplifier to use the external enable input. Setting this value to “1” enables the external enable input as the enable source. A sett...

  • Page 44

    Vsa series product user guide page 44 inputs? Returns a binary word that is bit encoded with the state of the inputs. Bit 0 = fault (lsb) bit 1 = enable bit 2 = ext. Reset bit 3 = user1 bit 4 = user2 bit 5 = user3 bit 6 = user4 bit 7 = reserved bit 8 = hall a bit 9 = hall b bit 10 = hall c bit 11 = ...

  • Page 45

    Vsa series product user guide page 45 overspeed:nnnnn sets the speed in rpm for an overspeed fault condition. Range is 1 to 50000. Pklimit:nnn sets the allowable peak motor current in amps for the i2t protection. Range is 0 to peak rated current, depending on model. Pktime:f.Ff sets the time out val...

  • Page 46

    Vsa series product user guide page 46 stop if running, the amplifier decelerates the motor to 0 rpm. Stophold if running, the amplifier decelerates the motor to 0 rpm and goes into positioning mode. See the goto command. Stops:nnnnn sets the stop speed in rpm. Range is 1 to the topspeed setting. Sve...

  • Page 47

    Vsa series product user guide page 47 13 appendix a – sending and receiving setup files 13.1 capturing settings the current settings can be captured to a file then loaded into another unit or saved and downloaded for future reference. 1. Configure the amplifier with the desired settings to capture. ...

  • Page 48

    Vsa series product user guide page 48 13.3 edit the captured settings 1. Navigate to the file specified in step 4 above. 2. Open the file using a text editor. Wordpad is recommended. 3. The first few lines of the file should look similar to the following: dumpall >speed:1100 > >ccw > 4. Remove the f...

  • Page 49

    Vsa series product user guide page 49 14 appendix b – firmware updates it may become necessary to update the firmware in the amplifier if a new release of code becomes available, or if additional features are added. Updates are easily done in the field using a personal computer with a usb or rs-232 ...