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amp_compbrd_settings

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:

azimuth (604-a motor), modified compBrd
dome, ch (606A motor), modified compBrd
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:

They disconnected the velocity feedback by removing R4, R13, and C12.
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 5	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:

The dome/ch/az have been modified to run in purely torque mode by the opens in R4, R13,C12, the short at C2, and the 20K resistor at R9. The tiedowns, rotary floor do not have these mods.

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