Varedan Technologies LA-840, LA-800, LA-835, LA-1535, LA-1545 Technical Reference Manual
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LA Series Linear Servo Amplifier
LA-800 Series
LA-1500 Series
Technical Reference Manual
Manual Revision: D
3870 Del Amo Blvd. Suite 503, Torrance CA, 90503
www.varedan.com
LA Series Linear Servo Amplifier Technical Reference Manual
Original Manual Revision December 5, 2011
Copyright 2011 Varedan Technologies
Corporate Office:
Varedan Technologies
3870 Del Amo Blvd., Suite 503
Torrance, CA 90503
Phone: 310-542-2320
Fax: 310-542-2344
Eastern Region Sales & Support
Phone: 860-295-0048
www.varedan.com
This document contains proprietary and confidential information of Varedan Technologies, LLC
and is protected under Federal copyright law.
The information in this document is subject to change without notice. No part of this document
may be reproduced or transmitted in any form without the express written consent of Varedan
Technologies, LLC.
Document Change History
Revision Description
A Original for new board design from LA manual rev G.
B Add part numbers for LA1500 and VMC-3000
C Transconductance table for different models, Revise mechanical dimensions
D Correct ABSI time in jumper description.
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LA Series Linear Servo Amplifier Technical Reference Manual
CAUTION! READ THIS SECTION BEFORE PROCEEDING.
Warning! Potentially lethal voltages exist within the amplifier when power is
applied. Never attempt to handle or probe the amplifier with power applied.
This product contains static sensitive devices and requires proper handling with
ESD protection.
These amplifiers are capable of producing large amounts of energy. Serious
injury or death can result from improper motor or load movement. The amplifier
requires an external controller for Sinusoidal mode operation to commutate the
motor properly. In Trapezoidal mode operation, the amplifier requires properly
phased Hall sensors for commutation. Verify proper Hall sensor phasing and
motor direction before connecting any load to a motor.
Do not connect the motor to the system load during initial testing and installation.
These amplifiers require customer supplied airflow for proper operation.
Operation of the amplifier without proper cooling will void the warranty. Contact
the factory for information on adequate airflow for your application.
Be sure power is off when inserting or removing connectors or connections.
For motors with a phase to phase inductance of less than 250uH, please consult
the factory. A special set of current loop bandwidth components will need to be
installed for safe operation of the amplifier.
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LA Series Linear Servo Amplifier Technical Reference Manual
Contents
1 INTRODUCTION ...................................................................................................................................7
1.1
SAFE OPERATING AREA ....................................................................................................................7
2 SPECIFICATIONS.................................................................................................................................8
3 MODEL NUMBERING ...........................................................................................................................9
4 PROTECTIVE FEATURES .................................................................................................................10
5 OPERATIONAL DESCRIPTION .........................................................................................................11
6 JUMPER SETTINGS ...........................................................................................................................11
6.1 LA-800 SERIES JUMPER SETTINGS
6.2 LA-1500 SERIES JUMPER SETTINGS
6.3 JUMPER DESCRIPTIONS
7 CONNECTOR CONFIGURATIONS....................................................................................................15
7.1 J1 SIGNAL CONNECTOR
7.2 J2 BIAS POWER CONNECTOR
..............................................................................................................14
..............................................................................................................15
..........................................................................................12
........................................................................................13
....................................................................................................15
7.3 J3 MOTOR FEEDBACK CONNECTOR
7.4 J4 BUS POWER CONNECTOR
7.5 J5 MOTOR CONNECTOR
7.6 J6 INTERFACE P-BOARD CONNECTOR
7.7 J7 INTERFACE P-BOARD CONNECTOR
7.8 J8 STATUS OUTPUT CONNECTOR
7.9 J9 MOTOR TEMPERATURE SWITCH CONNECTOR
7.10
J10 SERIAL COMMUNICATION CONNECTOR
7.11 CONNECTOR PART NUMBERS
8 USER INTERFACES ...........................................................................................................................19
8.1 PUSH BUTTON
8.2 LED DISPLAY
................................................................................................................................19
...................................................................................................................................19
....................................................................................................16
..............................................................................................................16
..................................................................................................18
.......................................................................................15
...................................................................................16
...................................................................................16
............................................................................................17
..............................................................17
........................................................................17
8.3 SOFTWARE VERSION DISPLAY
.................................................................................................19
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LA Series Linear Servo Amplifier Technical Reference Manual
8.4 L.E.D. ERROR CODES AND MEANING
......................................................................................20
8.5 STATUS INDICATOR/REMOTE DISPLAY PORT
8.6 SERIAL PORT
8.6.1
SERIAL COMMANDS..................................................................................................................23
8.6.2
SERIAL PARAMETER SETTINGS .............................................................................................25
8.6.2.1 SOFTWARE PARAMETER SETTING TABLE SUMMARY ........................................................26
9 BALANCING ........................................................................................................................................27
9.1 AUTOBALANCE
9.2 MANUAL BALANCE
10 TEST POINTS .....................................................................................................................................29
APPENDIX A. SERIAL COMMUNICATION MESSAGES...........................................................................37
10.1 SIGN ON MESSAGE
10.2 ALARM MESSAGES
10.3 AUTOBALANCE MESSAGES
...................................................................................................................................22
...............................................................................................................................27
.........................................................................................................................28
......................................................................................................................38
.......................................................................................................................38
.......................................................................................................38
......................................................................22
10.4 ENABLE STATUS MESSAGES
10.5 FACTORY DEFAULT MESSAGE
10.6 HELP MESSAGES
10.7 LIST MESSAGES
..........................................................................................................................39
............................................................................................................................40
10.8 MODE COMMAND MESSAGES
10.9 SAVE PARAMETERS MESSAGE
10.10 FAULT HISTORY MESSAGES
....................................................................................................39
.................................................................................................39
..................................................................................................40
................................................................................................40
..............................................................................................41
10.11 CLEAR FAULT HISTORY MESSAGE
10.12 SOA FAULT HISTORY MESSAGES
..................................................................................41
....................................................................................42
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LA Series Linear Servo Amplifier Technical Reference Manual
List of Figures
Figure 1. Jumper Locations...................................................................................................... 12
Figure 2. Jumper Locations...................................................................................................... 13
Figure 3 – Location of Jumpers, Balance Potentiometers and Test Points ............................... 30
Figure 4. Functional Block Diagram – All Models ..................................................................... 31
Figure 5. Installation Drawing Details ....................................................................................... 32
Figure 6. Typical Connections Single-Phase Models with “S” suffix.......................................... 33
Figure 7. Typical Connections Three-Phase Models with “T” suffix .......................................... 33
Figure 7. Typical Connections Three-Phase Models with “T” suffix .......................................... 34
Figure 8. LA-800 Series Mechanical Dimensions ..................................................................... 35
Figure 9. LA-1500 Series Mechanical Dimensions ................................................................... 36
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LA Series Linear Servo Amplifier Technical Reference Manual
1 Introduction
The LA series of Linear Amplifiers are the perfect choice for systems requiring low
radiated noise and zero distortion from the drive electronics. These high power current mode
linear amplifiers are well suited to drive low inductance/resistance loads such as brushless and
brush servo motors or voice coils. Commutation options include externally commutated 2-phase
sine input, trapezoidal commutation using motor mounted hall sensors, or single-phase control.
With their true class AB linear output stage, their design features pure analog control
from input to output. The on-board DSP only provides monitoring functions and does not get
involved in the current control of the output stage.
The LA amplifiers are both extremely quiet and provide the ultimate in zero cross-over
distortion for smooth output positioning. The design of these amplifiers includes an on board
high speed DSP which monitors all key system functions in real time and provides protection for
the outputs by only allowing output power within the “Safe Operating Area” of the output
transistors. An intelligent user interface allows setup and storage of all system parameters via
the serial interface. Non-volatile memory provides storage of the parameters during power off
conditions.
1.1
Safe Operating Area
The LA amplifiers include a sophisticated algorithm that protects the outputs from over
power conditions. This algorithm is matched to the power characteristics of the output
transistors in each amplifier model. With linear servo amplifiers (as opposed to PWM amplifiers),
it is very important to provide over-power protection (rather than simple over-current protection)
due to the linear nature of the output control. In the case of PWM amplifiers, only over-current
protection is required since the outputs are operating in saturation mode or “full on mode”. This
mode provides very little voltage drop across the output transistors, so simple current monitoring
is sufficient to provide protection of the outputs.
With linear servo amplifiers, the outputs are operating in their linear region, so the
voltage across the output transistors can be a substantial contribution to the total power
dissipated by the device. To properly protect the amplifier from damage, the amplifier must
provide protection by monitoring the power (voltage * current) in the output devices. To put this
in perspective, the outputs used in our LA-415 (5A continuous, 15A peak) can handle 60A under
the proper conditions! It’s the power that has to be kept under control.
The DSP in the LA series amplifiers monitors the power of each output device in real
time as the device is switched on by the control circuitry. This instantaneous power
measurement is compared with the transistor manufactures recommended “safe operating area”
curve (published in all transistor specifications) stored in the DSP memory. The amplifier is shut
down in the event the measured power exceeds the recommended ratings of the output
devices.
Our Safe Operating Area (SOA) algorithm has proven to be very effective in protecting
the amplifier from damage due to over power conditions. While the user may experience
“nuisance” tripping of the SOA protective function during system development and testing, be
aware that the conditions that caused the “nuisance” trip may have very well have destroyed an
amplifier without this SOA protection.
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LA Series Linear Servo Amplifier Technical Reference Manual
2 Specifications
2.1
LA-800 Series
Peak Output Current 30A 35A 40A
Continuous Output Current 15A 18A 20A
Peak Output Power (25°C) 3000W 4500W 6000W
Continuous Power Dissipation (25°C) 800W 800W 800W
Size - Length x Width x Height 8.00 in. x 8.16 in. x 4.8
Motor Bus Voltage – Bipolar +/-12 to +/-150VDC
Bias Supply Voltage - Bipolar +/-14.5 to +/-16.0V (@300mA each)
Max. Heat Sink Temperature 70°C
Current Loop Bandwidth* up to 10kHz
Operating Modes 2-Phase Sine, Trapezoidal, Single-Phase
Absolute Overcurrent Trip Time 50ms
Hall Sensor Supply (+5 Ext.) +5V @ 100mA max.
Command Signal (A and B inputs) +/-10V Single-Ended, +/-20V Differential
2.2
LA-1500 Series
Peak Output Current 35A 45A 55A
Continuous Output Current 20A 25A 30A
Peak Output Power (25°C) 3000W 4500W 6000W
Continuous Power Dissipation (25°C) 1500W 1500W 1500W
Size - Length x Width 8.00 in. x 8.16 in. x 5.75
Motor Bus Voltage – Bipolar +/-12 to +/-150VDC
Bias Supply Voltage - Bipolar +/-14.5 to +/-16.0V (@300mA each)
Max. Heat Sink Temperature 70°C
Current Loop Bandwidth* up to 10kHz
Operating Modes 2-Phase Sine, Trapezoidal, Single-Phase
Absolute Overcurrent Trip Time 50ms
Hall Sensor Supply (+5 Ext.) +5V @ 100mA max.
Command Signal (A and B inputs) +/-10V Single-Ended, +/-20V Differential
*This setting can be customized. Please contact the factory for details.
LA-830 LA-835 LA-840
LA-1535 LA-1545 LA-1555
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LA Series Linear Servo Amplifier Technical Reference Manual
3 Model Numbering
3.1
Amplifier Module
The LA Series Linear Amplifier modules are available in various power options and in either
single-phase or 3-phase models.
800 Series
Model Number Breakdown: LA-830-T
Linear Amplifier
Power Level (see table)
S=Single Phase, T= 3 phase
1500 Series
Model Number Breakdown: LA-1530-T
Linear Amplifier
Power Level (see table)
S=Single Phase, T= 3 phase
3.2
Motion Controller Module
The LA series is designed to accept our VMC-3000 plug-in motion controller module that
transforms the amplifier into a complete single-axis motion controller. For brushless 3-phase
motors, this module provides commutation from a motor-mounted encoder and can perform
position, velocity or torque mode control. For brush motors, this module provides position and
velocity modes using a motor-mounted encoder for position information. Please refer to the
VMC-3000 Technical Reference Manual for more information.
The VMC-3000 option adds a “1” to the part number as shown below:
800 Series Motion Controller
Model Number Breakdown: LA-8130-T
Linear Amplifier
VMC-3000 motion controller
Power Level (see table)
S=Single Phase, T= 3 phase
1500 Series Motion Controller
Model Number Breakdown: LA-15130-T
Linear Amplifier
VMC-3000 motion controller
Power Level (see table)
S=Single Phase, T= 3 phase
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LA Series Linear Servo Amplifier Technical Reference Manual
4 Protective Features
DSP Fault – Set when the internal DSP checksum fails following reset
NVM Fault – Set when NVM checksum fails following reset. Parameter defaults set.
External +5V – Set when on board +5V supply for Halls is out of range
Autobalance Fault – Set when autobalance can’t balance amplifier outputs
ABS Overcurrent – Set when instantaneous overcurrent condition is detected
SOA – Set when Safe Operating Area protection detects an over power condition
5 VDC Reference error – Set when internal +5 reference supply is out of range
Bus Over Voltage – Set when Bus voltage is greater than maximum allowed (75 Vdc)
Hall Error – Set when hall sequence is invalid (0 or 7 value is read on hall inputs)
Fatal Error – Set if the DSP encounters an unidentified problem.
Amplifier Over Temp – Set when amplifier heat sink temperature exceeds 70 C.
Motor Over Temp – Set when motor temperature input is open
Overcurrent – Set when amplifier detects an overcurrent condition
Bus Under Voltage – Set when Bus voltage is less than the minimum allowed (10 Vdc)
Bias error – Set when Bias voltage input +/-15 is outside allowable range
2.5V Reference error – Set when internal 2.5V supply is out of range.
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LA Series Linear Servo Amplifier Technical Reference Manual
5 Operational Description
Upon power up of the +/- 15V bias supply, the amplifier derives all the necessary internal
voltages for operation related to the logic and output drivers. Once the proper levels are
achieved, the DSP is released from reset and begins operation. A series of internal checks are
done to insure the DSP is operating correctly. The I/O is initialized for operation if these checks
pass. The NVM is then read and the stored checksum is verified. If the system is setup to use
jumpers, the jumpers are read; otherwise the parameter information from NVM is used. The
analog balance network is set to the stored balance values. The version and revision number
for the software is flashed on the display and the serial sign on message is sent.
The state of the Enable input is read to determine whether the hardware enable input or
the software serial enable command should be used to enable the drive. If the hardware Enable
input is open (high) the system allows software to control the Enable operation via the E
command. If at anytime during operation the Enable input goes low, the software mode is
cancelled and the hardware Enable input is used for control. The initialization process is now
complete and the software enters main loop processing.
During main loop processing, the software runs in an endless loop performing the tasks
necessary for drive operation. Once per pass in the main loop, the 7-segment LED and status
port are updated, the inputs are scanned and the protective algorithm calculations are
performed. In addition to the main loop processing, interrupts are enabled to handle such
actions as Limit input processing for Hall mode, A/D processing for all system voltages and
currents, and serial communication if used.
If at anytime during operation a fault occurs, the drive will immediately disable the motor
windings, set the Fault output active and display the fault code on the LED display. A message
will also be sent over the serial interface annunciating the fault. The “A” command can also be
used to obtain fault information.
Note that bias power (+/-15V) is always required for the drive to operate. Bus power is
only required if a motor is to be used. This allows the drive to be set up away from the actual
system using only the bias supply.
6 Jumper Settings
The next few pages define the jumper settings for each model amplifier. The settings for the
over current trip levels are different for each model, depending on the number of outputs and
the heatsink configuration. All other settings are identical for each model.
Jumper settings are only updated following a reset or POR of the drive.
If no jumpers are installed on JP1, JP2 and JP3, the parameters will be set via software.
Note 1: If using jumpers in Sine Mode with minimum settings (no jumpers), install a jumper on
JP1-G to force the drive to use the jumper settings. This prevents the drive from using software
settings as described in Note 2.
Note 2: JP1H and JP2-A are not used in single-phase mode models.
Before applying power to the amplifier be sure to read all sections in this document.
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LA Series Linear Servo Amplifier Technical Reference Manual
6.1 LA-800 Series Jumper Settings
JP1 JP2
JP3
Figure 1. Jumper Locations
JP1
Continuous Overcurrent
Trip Level Amps (model specific)
LA-830 LA-835 LA-840 JP1-A JP1-B
5 5 5 Open Open
8 10 10 In Open
12 15 15 Open In
15 18 20 In In
Overcurrent Trip Time
Trip Time JP1-C JP1-D
1.25 Sec Open Open
2.5 Sec In Open
5 Sec Open In
10 Sec In In
Absolute Overcurrent
Trip Level Amps (model specific)
LA-830 LA-835 LA-840 JP1-E JP1-F
10 20 25 Open Open
15 25 30 In Open
25 30 35 Open In
30 35 40 In In
JP1-G, Normally Not Used. See Note 1
Motor Reverse Selection (Hall Mode)
Mode JP1-H
Normal Open
Reverse In
A B C D E F G H A B C D E F
A B
JP2
Sine/Hall Mode Selection*
Mode JP2-A
Sine Mode Open
Hall Mode In
*See Notes 1&2
Input Filter Setting
Filter JP2-B JP2-C
500 Hz Open Open
800 Hz In Open
15 kHz Open In
32 kHz In In
Transconductance Ratio Setting (Amps/Volt)
LA-830 LA-835 LA-840 JP2-D JP2-E
2.0 2.0 2.0 Open Open
3.0 3.0 3.0 In Open
4.0 4.0 4.0 Open In
5.0 5.0 5.0 In In
Input DAC Selection
DAC Input JP2-F
Differential (Bipolar) Open
Single Ended (Unipolar) In
JP3
Current Loop Bandwidth Setting
Bandwidth JP3-A JP3-B
Contact Open Open
Factory In Open
For Open In
Settings In In
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LA Series Linear Servo Amplifier Technical Reference Manual
6.2 LA-1500 Series Jumper Settings
JP1 JP2
JP3
Figure 2. Jumper Locations
JP1
Continuous Overcurrent
Trip Level Amps (model specific)
LA-1535 LA-1545 LA-1555 JP1-A JP1-B
5 10 15 Open Open
10 15 25 In Open
15 20 25 Open In
20 25 30 In In
Overcurrent Trip Time
Trip Time JP1-C JP1-D
1.25 Sec Open Open
2.5 Sec In Open
5 Sec Open In
10 Sec In In
Absolute Overcurrent
Trip Level Amps (model specific)
LA-1535 LA-1545 LA-1555 JP1-D JP1-E
10 15 25 Open Open
15 25 35 In Open
25 35 45 Open In
35 45 55 In In
JP1-G, Normally Not Used. See Note 1
Motor Reverse Selection (Hall Mode)
Mode JP1-H
Normal Open
Reverse In
A B C D E F G H A B C D E F
A B
JP2
Sine/Hall Mode Selection*
Mode JP2-A
Sine Mode Open
Hall Mode In
*See Notes 1&2
Input Filter Setting
Filter JP2-B JP2-C
500 Hz Open Open
800 Hz In Open
15 kHz Open In
32 kHz In In
Transconductance Ratio Setting (Amps/Volt)
LA-1535 LA-1545 LA-1555 JP2-D JP2-E
2.0 2.0 2.0 Open Open
3.0 3.0 3.0 In Open
4.0 4.0 4.0 Open In
5.0 5.0 5.0 In In
Input DAC Selection
DAC Input JP2-F
Differential (Bipolar) Open
Single Ended (Unipolar) In
JP3
Current Loop Bandwidth Setting
Bandwidth JP3-A JP3-B
Contact Open Open
Factory In Open
For Open In
Settings In In
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