motor, amp, compensation board settings.

jan 08

    The specs and settings for the motor, amp, and compenstation boards are listed below. They are taken from jon hagens memo: bds4.wp6.
We have 3 separate configurations:
  1. azimuth (604-a motor), modified compBrd
  2. dome, ch (606A motor), modified compBrd
  3. tiedowns, rotary floor (606A motor), generic comp board)
The differences in the az, dome comp baords have to do with the motor (max speed,etc).
Jons compensation board notes:
    The bds4 has an internal compensation board. Kollmorgen supplies the amplifier with a compensation board tailored for a given motor model. If a different motor is used, the appropriate compensation board must be installed in the amplifier. One might suspect that , to implement  a velocity loop, the compensation would also depend on the nature of the load - inertia, friction, bias, etc. Indeed, in addition to the generic compensation board for each motor, Kollmorgen has furnished dozens or hundreds of custom boards. Our tie-down and rotary floor drive system use generic compensation boards.  The elevation and azimuth drive system have compensation boards modified by vertex. Vertex made two changes to the generic boards:
  1. They disconnected the velocity feedback by removing R4, R13, and C12.
  2. Instead of lowering the dc gain by simply grounding the torque hold input (pin 14 on connector C1) they permanently lowered the dc gain by shunting a 20K resistor across the op amp. They did this by installing a short (jumper) in place of C2, forcing R9 to bridge the op amp. On the B-604A comp card, R9 was already 20k. On the B-606A comp card, they changed R9 from 14K to 20K.
(end of jon's notes).


setting
azimuth
dome/ch
RotFlr
tieDown
Motor data




model (kollmorgan)
B-604a
B-606A
M207A
M207C
cont.Torque (lb.ft 25C)(stall)
22.2
33
5.09
5.04
maxSpeed (rpm)
2150
1550
1400
4900
rotorInertia (ft.lb.sec^2)
.0015
.00224
.0013
.0013
AmpData




model
220H
220H
220H?

Monitor
spd (rpm/volt)
cur (ampsRms/Volt)

269
5

193.75


193.75
5

curPeak (Amps)
56.5
56.56
56.56

curLimit AmpsRms/phase
40
40
40

maxSystemSpd@nominalSysVolt
2150
1550
1550

Nom.Sys.Volts Vac
230
230
230

bds4-comp1 compensation Brd




auxin
R28
R27
C26

20K
open
open

20K
open
open

20k
open
open

filters
C22
C33

.082 uF
.022 uF

.0082 mf
.022 mf

.082mf
.022mf

R/D tach scaling
R24
R25

7.5K
357K

4.87 K
357K

4.87 K
357 K

SpeedScaling: R23
6.81k
3.65K
3.65 K

V.E scaling R6
2K
2K
2 K

CurLimScaling R7
open
open
open

Velocity loop
R4
R13
C12
R9
R8
C2
R10
C3
C1

open
open
open
20K
open
short
open
open
open

open
open
open
20k
open
short
open
open
open

22.1 K
6.81 K
.27 mf
14 K
open
.15 mf
open
open
open

Current loop:
R15
c16
c14
r29
c30
c31
r32
c35
c36

562K
2700pf
open
562K
2700pf
open
562K
2700pf
open

681k
2200pf
open
681k
2200pf
open
681k
2200pf
open

681 K
2200 pf
open
681 K
2200 pf
open
681 K
2200 pf
open

microProcessor coding:
J17
J18
J19
j20

out
out
in
out

out
out
in
out

out
out
in
out

driveupOption J21
in
in
in

Notes:

 
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