Changes between Version 3 and Version 4 of EmoteqBhCopley
- Timestamp:
- 11/13/08 15:16:24 (2 years ago)
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EmoteqBhCopley
v3 v4 5 5 The BH02300E06HE is a single stack 4 pole NEMA23 high speed brushless DC servo motor with a custom E winding and a US Digital [http://www.usdigital.com/products/encoders/incremental/rotary/kit/e3/ E3-1000-250-I encoder]. The original manfacturer was Hathaway, which has since become the Emoteq division of Allied Motion Technologies. It looks like Allied Motion doesn't want to acknowledge the BH series, but the datasheet is still available from them [http://www.alliedmotion.com/Data/Documents/BH_High_Speed_Motors_Selection_Guide2.pdf here] (it took a bit of googling to find it). 6 6 7 The E3 encoder is a 1000 line (4000 count/rev) incremental optical encoder for a 0.25" shaft with index pulse. The standard E3 encoder has single ended outputs; however, the one on the BH02300E06HE has a differential line driver with flying leads. It is not a standard US Digital line drive (PC4 or PC5), since those have a 10 position pin header instead of flying leads.7 The E3 encoder is a 1000 line (4000 count/rev) incremental optical encoder for a 0.25" shaft with index pulse. The standard E3 encoder has single ended outputs; however, the one on the BH02300E06HE has a differential line driver with flying leads. It is not a standard US Digital line driver (PC4 or PC5), since those have a 10 position pin header instead of flying leads. 8 8 9 9 I was able to verify the location of the A+,A-,B+,and B- signals, but I am not positive I have the I+ and I- phases correct.. 37 37 == Encoder Connections == 38 38 39 The motor encoder outputs are the eight flying leads coming from the encoder . Without documentation, it is impossible to tell which signal is the positive signal and which signal is the negative signal. Switching the A+ and A- signals reverses the encoder direction. The Accelnet's encoder inputs are on the J2 Feedback connector. The Copley wire colors are for a Copley ACP-FC-10 Feedback Cable.39 The motor encoder outputs are the eight flying leads coming from the encoder (six on one of my motors - it has no index signal). In general, without documentation it is impossible to tell which signal is the positive signal and which signal is the negative signal; however I was able to verify the A+/A- and B+/B- signals. Switching the A+ and A- signals reverses the encoder direction. The Accelnet's encoder inputs are on the J2 Feedback connector. The Copley wire colors are for a Copley ACP-FC-10 Feedback Cable. 40 40 41 41 ||'''Motor Signal'''||'''Motor Color'''||'''Copley Connector'''||'''Copley Pin'''||'''Copley Color'''||'''Copley Signal'''|| 51 51 == Motor Setup == 52 52 53 Since I do not have the specifications for this winding, I do not know the motor specifications (which can be entered in the ''Motor'' tab of the ''Motor/Feedback'' dialog). Instead, I let CME2 autotune the current loop. The autotuning produced a reasonable starting point. 53 Since I do not have the specifications for this winding ("E"), I do not know the motor specifications (which can be entered in the ''Motor'' tab of the ''Motor/Feedback'' dialog). Instead, I let CME2 autotune the current loop. The autotuning produced a reasonable starting point. 54 55 It looks like the "E" winding is between the "B" (43V) and "C" (130V) windings. My guess is that the "E" winding has a design voltage of ~75V, and a Kb (V/kRPM) of ~7 since I reached about 7500 RPM with a 52V power supply.
