Kollomorgen motor,amp, & power supplies.

nov 17

Introduction
Specs/settings
    Table with motor,amp,compensation board settings
Documentation:
    amplifier manual
    backlash compensation board manual
    power supply manual
    Jon hagen's memo on amps

Introduction

     Kollmorgen motors and amplifiers/power supplies are used for the azimuth, dome, ch, tiedowns, and rotary floor motion. The amplifiers contain a  compensation board that tailors the amplifier to a particular application. We currently use:

location
 motor
 amp
 compensation board
 Notes
Dome/Ch
 B-606A
 220H
 modified
Azimuth
 B-604A
 220H
 modified
Tiedowns
 M-207C
 220H?
 standard
RotaryFloor
 M-207A
 220H?
 standard
 also uses backlash compensation board

Specifications/settings: (top)

    The specs and settings for the motor, amp, and compensation boards are listed below. They are taken from jon hagens memo: bds4.wp6.
We have 4 separate configurations:
  1. azimuth (604-a motor), modified compBrd (??)
  2. dome, ch (606A motor), modified compBrd.
  3. tiedowns (M207c motor), generic comp board)
  4. turrent (M207A motor), generic comp board.. There is also a backlash module used to share the torques between the two motors that drive the rotary floor.
The differences in the az, dome comp boards 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).


Spec:
 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:

Documentation: (top)

  
home_~phil