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Analog Servo Drive 16A20AC 
Description 
Power Range 
The 16A20AC PWM servo drive is designed to drive brush type DC motors at a high switching frequency. A single red/green LED indicates operating status. The drive is fully protected against over-voltage, over- current, over-heating and short-circuits across motor, ground and power leads. Furthermore, the drive can interface with digital controllers or be used as a stand- alone system. The drive requires only a single AC power supply. Loop gain, current limit, input gain and offset can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes. 
See Part Numbering Information on last page of datasheet for additional ordering options. 
Peak Current 16 A 
Continuous Current 8 A 
Supply Voltage 30 - 125 VAC 
Features 
 Optical Isolation Between High & Low Power Signals 
 Four Quadrant Regenerative Operation 
 DIP Switch Selectable Modes 
 Adjustable Current Limits 
 High Switching Frequency 
 Differential Input Command 
 Digital Fault Output Monitor 
 On-Board Test Potentiometer 
 Offset Adjustment Potentiometer 
 Adjustable Input Gain 
 Drive Status LED 
 Directional Inhibit Inputs for Limit Switches 
MODES OF OPERATION 
 Current 
 Voltage 
 IR Compensation 
 Velocity 
COMMAND SOURCE 
 ±10 V Analog 
FEEDBACK SUPPORTED 
 Tachometer (±60 VDC) 
COMPLIANCES & AGENCY APPROVALS 
 UL 
 cUL 
 CE Class A (LVD) 
 CE Class A (EMC) 
 RoHS 
ELECTROMATE 
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Analog Servo Drive 16A20AC 
BLOCK DIAGRAM 
Information on Approvals and Compliances 
US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E140173. Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products. 
Compliant with European CE for both the Class A EMC Directive 2004/108/EC on Electromagnetic Compatibility (specifically EN 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1:2006), a low voltage directive to protect users from electrical shock. 
RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment. 
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Analog Servo Drive 16A20AC 
SPECIFICATIONS 
Power Specifications 
Description 
Units 
Value 
AC Supply Voltage Range 
VAC 
30 - 125 
DC Supply Voltage Range 
VDC 
40 - 190 
DC Bus Over Voltage Limit 
VDC 
195 
Maximum Peak Output Current1 
A 
16 
Maximum Continuous Output Current 
A 
8 
Maximum Continuous Output Power 
W 
1444 
Maximum Power Dissipation at Continuous Current 
W 
76 
Internal Bus Capacitance 
μF 
3600 
Minimum Load Inductance (Line-To-Line)2 
μH 
250 
Low Voltage Supply Outputs 
- 
±10 VDC (3 mA) 
Switching Frequency 
kHz 
22 
Bus Fuse 
A 
16 
Control Specifications 
Description 
Units 
Value 
Command Sources 
- 
±10 V Analog 
Feedback Supported 
- 
Tachometer (±60 VDC) 
Commutation Methods 
- 
Brush Type 
Modes of Operation 
- 
Current, IR Compensation, Velocity, Voltage 
Motors Supported 
- 
Single Phase (Brushed, Voice Coil, Inductive Load) 
Hardware Protection 
- 
Over Current, Over Temperature, Over Voltage, Short Circuit (Phase-Phase & Phase-Ground) 
Primary I/O Logic Level 
- 
5V TTL 
Mechanical Specifications 
Description 
Units 
Value 
Agency Approvals 
- 
CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL 
Size (H x W x D) 
mm (in) 
186.7 x 107.4 x 62.2 (7.4 x 4.2 x 2.4) 
Weight 
g (oz) 
1140 (40.2) 
Heatsink (Base) Temperature Range3 
°C (°F) 
0 - 65 (32 - 149) 
Storage Temperature Range 
°C (°F) 
-40 - 85 (-40 - 185) 
Form Factor 
- 
Panel Mount 
P1 Connector 
- 
16-pin, 2.54 mm spaced, friction lock header 
P2 Connector 
- 
2-contact, 11.10 mm spaced, tri-barrier terminal block 
AC Power Connector 
- 
Standard IEC 60320-C14 AC Receptacle (male pins) 
Notes 
1. Maximum duration of peak current is ~2 seconds. Peak RMS value must not exceed continuous current rating of the drive. 
2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 
3. Additional cooling and/or heatsink may be required to achieve rated performance. 
ELECTROMATE 
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Analog Servo Drive 16A20AC 
PIN FUNCTIONS 
P1 - Signal Connector 
Pin 
Name 
Description / Notes 
I/O 
1 
+10V 3mA OUT 
±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference ground common with signal ground. 
O 
2 
SIGNAL GND 
SGND 
3 
-10V 3mA OUT 
O 
4 
+REF IN 
Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input) 
I 
5 
-REF IN 
I 
6 
-TACH IN 
Negative Tachometer Input (Maximum ±60 V). Use signal ground for positive input. 
I 
7 
+TACH / GND 
Positive Tachometer Input and Signal Ground 
SGND 
8 
CURR MONITOR OUT 
Current Monitor. Analog output signal proportional to the actual current output. Scaling is 4.2 A/V by default but may be reduced to half this value by setting DIP switch SW-5 to OFF (see Hardware Settings section below). Measure relative to power ground. 
O 
9 
CURRENT REF OUT 
Measures the command signal to the internal current-loop. This pin has a maximum output of ±7.25 V when the drive outputs maximum peak current. Measure relative to signal ground. 
O 
10 
NC 
Not Connected (Reserved) 
- 
11 
INHIBIT IN 
TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit drive. Inhibit turns off all power devices. 
I 
12 
+INHIBIT IN 
Positive Direction Inhibit (Does Not Cause A Fault Condition) 
I 
13 
-INHIBIT IN 
Negative Direction Inhibit (Does Not Cause A Fault Condition) 
I 
14 
FAULT OUT 
TTL level (+5 V) output becomes high when power devices are disabled due to at least one of the following conditions: inhibit, output short circuit, over voltage, over temperature, power-up reset. 
O 
15 
NC 
Not Connected (Reserved) 
- 
16 
NON-ISO GND 
Connected to power ground and can be used as a reference point for P1-8 and P1-9. 
PGND 
P2 - Motor Power Connector 
Pin 
Name 
Description / Notes 
I/O 
1 
-MOT 
Negative Motor Output 
O 
2 
+MOT 
Positive Motor Output 
O 
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Analog Servo Drive 16A20AC 
HARDWARE SETTINGS 
Switch Functions 
Switch 
Description 
Setting 
On 
Off 
1 
Voltage feedback. Mode dependent (see mode selection table below). 
On 
Off 
2 
IR compensation. Activates or deactivates IR feedback. ON for IR compensation mode and OFF for other modes. 
On 
Off 
3 
Current loop proportional gain adjustment. ON by default. 
Decrease 
Increase 
4 
Inner (current) loop integral gain adjustment. OFF by default. 
Decrease 
Increase 
5 
Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. The scaling of the current monitor output signal becomes ½ its ordinary value when this switch is OFF. 
Full-current 
Half-current 
6 
Current limit ratio. Used to set continuous-to-peak current limit ratio. Default is OFF. 
Cont./Peak Ratio = 25% 
Cont./Peak Ratio = 50% 
7 
Current loop integral gain. Activates or deactivates integration. OFF by default. 
Inactive 
Active 
8 
Outer loop integration. Activates or deactivates integration. ON, by default, for current mode and OFF for other modes. 
Inactive 
Active 
9 
Outer loop integral gain adjustment. It is recommended to leave this switch OFF for most applications. 
Decrease 
Increase 
10 
Test/Offset. Switches the function of the Test/Offset pot between an on-board command input for testing or a command offset adjustment. OFF by default. 
Test 
Offset 
Mode Selection Table 
Mode 
SW1 
SW2 
SW3 
SW4 
SW7 
SW8 
SW9 
CURRENT 
OFF 
OFF 
ON 
OFF 
OFF 
ON 
OFF 
VOLTAGE 
ON 
OFF 
ON 
OFF 
OFF 
OFF 
OFF 
IR COMPENSATION 
ON 
ON 
ON 
OFF 
OFF 
OFF 
OFF 
TACHOMETER 
OFF 
OFF 
ON 
OFF 
OFF 
OFF 
OFF 
Note: SW7 should be off for most applications 
Potentiometer Functions 
Potentiometer 
Description 
Turning CW 
1 
Loop gain adjustment for voltage/velocity modes. Turn this pot fully CCW in current mode. 
Increases gain 
2 
Current limit. It adjusts both continuous and peak current limit while maintaining their ratio. 
Increases limit 
3 
Reference gain. Adjusts the ratio between input signal and output variables (voltage, current, or velocity). 
Increases gain 
4 
Offset / Test. Used to adjust any imbalance in the input signal or in the amplifier. Can also be used as an on-board signal source for testing purposes. 
Adjusts offset in negative direction 
Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end. ELECTROMATE 
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Analog Servo Drive 16A20AC 
Through-hole Components† 
Location 
Description 
C72* 
Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section below on Tuning with Through-hole components for more details. 
C73* 
Current Loop Integrator. Through-hole capacitor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. 
R28* 
Current Loop Proportional Gain. Through-hole resistor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. 
R77* 
Tachometer Input Scaling. Through-hole resistor that can be added to change the gain of the tachometer input. See section below on Tachometer Gain for more details. 
R8* 
IR Compensation Scaling. Through-hole resistor that can be added to configure the amplifier for IR Compensation mode. See section below on IR Compensation Notes for more details. 
Tuning With Through-hole Components 
In general, the drive will not need to be further tuned with through-hole components. However, for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches, the drive can be manually modified with through-hole resistors and capacitors as denoted in the above table. By default, the through-hole locations are not populated when the drive is shipped. Before attempting to add through-hole components to the board, consult the section on loop tuning in the installation notes on the manufacturer’s website. Some general rules of thumb to follow when adding through-hole components are: 
• A larger resistor value will increase the proportional gain, and therefore create a faster response time. 
• A larger capacitor value will increase the integration time, and therefore create a slower response time. 
Proper tuning using the through-hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through-hole component values for the specific application. 
Tachometer Gain 
Some applications may require an increase in the gain of the tachometer input signal. This occurrence will be most common in designs where the tachometer input has a low voltage to RPM scaling ratio. The drive offers a through-hole location listed in the above table where a resistor can be added to increase the tachometer gain. Use the drive’s block diagram to determine an appropriate resistor value. 
IR Compensation Notes 
For applications that will use IR Compensation mode, a resistor can be added to the location named in the table above. The combination of the added resistor and correct dipswitch settings will configure the amplifier for IR Compensation mode. While in IR Compensation mode, the amplifier will adjust the duty cycle to compensate for changes in the output current. Consult the amplifier’s functional block diagram and the manufacturer’s website for more information. 
†Note: Damage done to the drive while performing these modifications will void the warranty. 
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Analog Servo Drive 16A20AC 
MECHANICAL INFORMATION 
P1 - Signal Connector 
Connector Information 
16-pin, 2.54 mm spaced, friction lock header 
Mating Connector 
Details 
Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals) 
Included with Drive 
Yes 
+10V 3mA OUT1SIGNAL GND2-10V 3mA OUT3+REF IN4-REF IN5-TACH IN6+TACH / GND7CURR MONITOR OUT8CURRENT REF OUT9NC10INHIBIT IN11+INHIBIT IN12FAULT OUT14NON-ISO GND16-INHIBIT IN13NC15 
P2 - Motor Power Connector 
Connector Information 
2-contact, 11.10 mm spaced, tri-barrier terminal block 
Mating Connector 
Details 
Not applicable 
Included with Drive 
Not applicable 
-MOT1+MOT2 
AC Power Connector 
Connector Information 
Standard IEC 60320-C14 AC Receptacle (male pins) 
Mating Connector 
Details 
NEMA 5-15P to IEC 60320-C13 (Example: Qualtek P/N: 312019-01) 
Included with Drive 
No 
LINEGROUNDNEUTRAL 
ELECTROMATE 
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Analog Servo Drive 16A20AC 
MOUNTING DIMENSIONS 
ELECTROMATE 
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Analog Servo Drive 16A20AC 
PART NUMBERING INFORMATION 
ADVANCED Motion Controls analog series of servo drives are available in many configurations. Note that not all possible part number combinations are offered as standard drives. All models listed in the selection tables of the website are readily available, standard product offerings. 
ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick- turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. 
Examples of Modifications and Customized Products 
 Integration of Drive into Motor Housing 
 Integrate OEM Circuitry onto Drive PCB 
 Mount OEM PCB onto Drive Without Cables 
 Custom Control Loop Tuned to Motor Characteristics 
 Multi-axis Configuration for Compact System 
 Custom I/O Interface for System Compatibility 
 Custom PCB and Baseplate for Optimized Footprint 
 Preset Switches and Pots to Reduce User Setup 
 RTV/Epoxy Components for High Vibration 
 Optimized Switching Frequency 
 OEM Specified Connectors for Instant Compatibility 
 Ramped Velocity Command for Smooth Acceleration 
 OEM Specified Silkscreen for Custom Appearance 
 Remove Unused Features to Reduce OEM Cost 
 Increased Thermal Limits for High Temp. Operation 
 Application Specific Current and Voltage Limits 
Feel free to contact Applications Engineering for further information and details. 
Available Accessories 
ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. 
Visit www.a-m-c.com to see which accessories will assist with your application design and implementation. 
Drive(s) 
Filter Cards 
To Motor 
All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. 
-HSI: APeak VoltagePeak Current20- Additional Options* Maximum peak current rating in Amps. Peak voltage rating scaled 1:10 in Volts. Power Supply:DC Power SupplyRevisionAssigned a letter (A through Z) by manufacturer. AC:AC Power SupplyI:Optical IsolationIsolation Option** 16ACCommand:Analog CommandDD:PWM Command-ANP:Analog Position Loop-INV:Inverted Inhibit* Options available for orders with sufficient volume. Contact ADVANCED Motion Controls for more information. ** Isolation comes standard on all AC supply drives and most DC supply drives 200V and above. Consult selection tables of the website or the drive datasheet block diagram to see if isolation is included. Heat Sink Installed and Inverted Inhibit 
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Advanced motions control 16a20ac

  • 1. Analog Servo Drive 16A20AC Description Power Range The 16A20AC PWM servo drive is designed to drive brush type DC motors at a high switching frequency. A single red/green LED indicates operating status. The drive is fully protected against over-voltage, over- current, over-heating and short-circuits across motor, ground and power leads. Furthermore, the drive can interface with digital controllers or be used as a stand- alone system. The drive requires only a single AC power supply. Loop gain, current limit, input gain and offset can be adjusted using 14-turn potentiometers. The offset adjusting potentiometer can also be used as an on-board input signal for testing purposes. See Part Numbering Information on last page of datasheet for additional ordering options. Peak Current 16 A Continuous Current 8 A Supply Voltage 30 - 125 VAC Features  Optical Isolation Between High & Low Power Signals  Four Quadrant Regenerative Operation  DIP Switch Selectable Modes  Adjustable Current Limits  High Switching Frequency  Differential Input Command  Digital Fault Output Monitor  On-Board Test Potentiometer  Offset Adjustment Potentiometer  Adjustable Input Gain  Drive Status LED  Directional Inhibit Inputs for Limit Switches MODES OF OPERATION  Current  Voltage  IR Compensation  Velocity COMMAND SOURCE  ±10 V Analog FEEDBACK SUPPORTED  Tachometer (±60 VDC) COMPLIANCES & AGENCY APPROVALS  UL  cUL  CE Class A (LVD)  CE Class A (EMC)  RoHS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 2. Analog Servo Drive 16A20AC BLOCK DIAGRAM Information on Approvals and Compliances US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E140173. Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products. Compliant with European CE for both the Class A EMC Directive 2004/108/EC on Electromagnetic Compatibility (specifically EN 61000-6-4:2007 and EN 61000-6-2:2005) and LVD requirements of directive 2006/95/EC (specifically EN 60204-1:2006), a low voltage directive to protect users from electrical shock. RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 3. Analog Servo Drive 16A20AC SPECIFICATIONS Power Specifications Description Units Value AC Supply Voltage Range VAC 30 - 125 DC Supply Voltage Range VDC 40 - 190 DC Bus Over Voltage Limit VDC 195 Maximum Peak Output Current1 A 16 Maximum Continuous Output Current A 8 Maximum Continuous Output Power W 1444 Maximum Power Dissipation at Continuous Current W 76 Internal Bus Capacitance μF 3600 Minimum Load Inductance (Line-To-Line)2 μH 250 Low Voltage Supply Outputs - ±10 VDC (3 mA) Switching Frequency kHz 22 Bus Fuse A 16 Control Specifications Description Units Value Command Sources - ±10 V Analog Feedback Supported - Tachometer (±60 VDC) Commutation Methods - Brush Type Modes of Operation - Current, IR Compensation, Velocity, Voltage Motors Supported - Single Phase (Brushed, Voice Coil, Inductive Load) Hardware Protection - Over Current, Over Temperature, Over Voltage, Short Circuit (Phase-Phase & Phase-Ground) Primary I/O Logic Level - 5V TTL Mechanical Specifications Description Units Value Agency Approvals - CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL Size (H x W x D) mm (in) 186.7 x 107.4 x 62.2 (7.4 x 4.2 x 2.4) Weight g (oz) 1140 (40.2) Heatsink (Base) Temperature Range3 °C (°F) 0 - 65 (32 - 149) Storage Temperature Range °C (°F) -40 - 85 (-40 - 185) Form Factor - Panel Mount P1 Connector - 16-pin, 2.54 mm spaced, friction lock header P2 Connector - 2-contact, 11.10 mm spaced, tri-barrier terminal block AC Power Connector - Standard IEC 60320-C14 AC Receptacle (male pins) Notes 1. Maximum duration of peak current is ~2 seconds. Peak RMS value must not exceed continuous current rating of the drive. 2. Lower inductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 3. Additional cooling and/or heatsink may be required to achieve rated performance. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 4. Analog Servo Drive 16A20AC PIN FUNCTIONS P1 - Signal Connector Pin Name Description / Notes I/O 1 +10V 3mA OUT ±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference ground common with signal ground. O 2 SIGNAL GND SGND 3 -10V 3mA OUT O 4 +REF IN Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input) I 5 -REF IN I 6 -TACH IN Negative Tachometer Input (Maximum ±60 V). Use signal ground for positive input. I 7 +TACH / GND Positive Tachometer Input and Signal Ground SGND 8 CURR MONITOR OUT Current Monitor. Analog output signal proportional to the actual current output. Scaling is 4.2 A/V by default but may be reduced to half this value by setting DIP switch SW-5 to OFF (see Hardware Settings section below). Measure relative to power ground. O 9 CURRENT REF OUT Measures the command signal to the internal current-loop. This pin has a maximum output of ±7.25 V when the drive outputs maximum peak current. Measure relative to signal ground. O 10 NC Not Connected (Reserved) - 11 INHIBIT IN TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit drive. Inhibit turns off all power devices. I 12 +INHIBIT IN Positive Direction Inhibit (Does Not Cause A Fault Condition) I 13 -INHIBIT IN Negative Direction Inhibit (Does Not Cause A Fault Condition) I 14 FAULT OUT TTL level (+5 V) output becomes high when power devices are disabled due to at least one of the following conditions: inhibit, output short circuit, over voltage, over temperature, power-up reset. O 15 NC Not Connected (Reserved) - 16 NON-ISO GND Connected to power ground and can be used as a reference point for P1-8 and P1-9. PGND P2 - Motor Power Connector Pin Name Description / Notes I/O 1 -MOT Negative Motor Output O 2 +MOT Positive Motor Output O ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 5. Analog Servo Drive 16A20AC HARDWARE SETTINGS Switch Functions Switch Description Setting On Off 1 Voltage feedback. Mode dependent (see mode selection table below). On Off 2 IR compensation. Activates or deactivates IR feedback. ON for IR compensation mode and OFF for other modes. On Off 3 Current loop proportional gain adjustment. ON by default. Decrease Increase 4 Inner (current) loop integral gain adjustment. OFF by default. Decrease Increase 5 Current scaling. When OFF, increases sensitivity of current sense thus reducing both peak and continuous current limit by 50%. The scaling of the current monitor output signal becomes ½ its ordinary value when this switch is OFF. Full-current Half-current 6 Current limit ratio. Used to set continuous-to-peak current limit ratio. Default is OFF. Cont./Peak Ratio = 25% Cont./Peak Ratio = 50% 7 Current loop integral gain. Activates or deactivates integration. OFF by default. Inactive Active 8 Outer loop integration. Activates or deactivates integration. ON, by default, for current mode and OFF for other modes. Inactive Active 9 Outer loop integral gain adjustment. It is recommended to leave this switch OFF for most applications. Decrease Increase 10 Test/Offset. Switches the function of the Test/Offset pot between an on-board command input for testing or a command offset adjustment. OFF by default. Test Offset Mode Selection Table Mode SW1 SW2 SW3 SW4 SW7 SW8 SW9 CURRENT OFF OFF ON OFF OFF ON OFF VOLTAGE ON OFF ON OFF OFF OFF OFF IR COMPENSATION ON ON ON OFF OFF OFF OFF TACHOMETER OFF OFF ON OFF OFF OFF OFF Note: SW7 should be off for most applications Potentiometer Functions Potentiometer Description Turning CW 1 Loop gain adjustment for voltage/velocity modes. Turn this pot fully CCW in current mode. Increases gain 2 Current limit. It adjusts both continuous and peak current limit while maintaining their ratio. Increases limit 3 Reference gain. Adjusts the ratio between input signal and output variables (voltage, current, or velocity). Increases gain 4 Offset / Test. Used to adjust any imbalance in the input signal or in the amplifier. Can also be used as an on-board signal source for testing purposes. Adjusts offset in negative direction Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 6. Analog Servo Drive 16A20AC Through-hole Components† Location Description C72* Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section below on Tuning with Through-hole components for more details. C73* Current Loop Integrator. Through-hole capacitor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. R28* Current Loop Proportional Gain. Through-hole resistor that can be added for more precise current loop tuning. See section below on Tuning with Through-hole components for more details. R77* Tachometer Input Scaling. Through-hole resistor that can be added to change the gain of the tachometer input. See section below on Tachometer Gain for more details. R8* IR Compensation Scaling. Through-hole resistor that can be added to configure the amplifier for IR Compensation mode. See section below on IR Compensation Notes for more details. Tuning With Through-hole Components In general, the drive will not need to be further tuned with through-hole components. However, for applications requiring more precise tuning than what is offered by the potentiometers and dipswitches, the drive can be manually modified with through-hole resistors and capacitors as denoted in the above table. By default, the through-hole locations are not populated when the drive is shipped. Before attempting to add through-hole components to the board, consult the section on loop tuning in the installation notes on the manufacturer’s website. Some general rules of thumb to follow when adding through-hole components are: • A larger resistor value will increase the proportional gain, and therefore create a faster response time. • A larger capacitor value will increase the integration time, and therefore create a slower response time. Proper tuning using the through-hole components will require careful observation of the loop response on a digital oscilloscope to find the optimal through-hole component values for the specific application. Tachometer Gain Some applications may require an increase in the gain of the tachometer input signal. This occurrence will be most common in designs where the tachometer input has a low voltage to RPM scaling ratio. The drive offers a through-hole location listed in the above table where a resistor can be added to increase the tachometer gain. Use the drive’s block diagram to determine an appropriate resistor value. IR Compensation Notes For applications that will use IR Compensation mode, a resistor can be added to the location named in the table above. The combination of the added resistor and correct dipswitch settings will configure the amplifier for IR Compensation mode. While in IR Compensation mode, the amplifier will adjust the duty cycle to compensate for changes in the output current. Consult the amplifier’s functional block diagram and the manufacturer’s website for more information. †Note: Damage done to the drive while performing these modifications will void the warranty. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 7. Analog Servo Drive 16A20AC MECHANICAL INFORMATION P1 - Signal Connector Connector Information 16-pin, 2.54 mm spaced, friction lock header Mating Connector Details Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals) Included with Drive Yes +10V 3mA OUT1SIGNAL GND2-10V 3mA OUT3+REF IN4-REF IN5-TACH IN6+TACH / GND7CURR MONITOR OUT8CURRENT REF OUT9NC10INHIBIT IN11+INHIBIT IN12FAULT OUT14NON-ISO GND16-INHIBIT IN13NC15 P2 - Motor Power Connector Connector Information 2-contact, 11.10 mm spaced, tri-barrier terminal block Mating Connector Details Not applicable Included with Drive Not applicable -MOT1+MOT2 AC Power Connector Connector Information Standard IEC 60320-C14 AC Receptacle (male pins) Mating Connector Details NEMA 5-15P to IEC 60320-C13 (Example: Qualtek P/N: 312019-01) Included with Drive No LINEGROUNDNEUTRAL ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 8. Analog Servo Drive 16A20AC MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 9. Analog Servo Drive 16A20AC PART NUMBERING INFORMATION ADVANCED Motion Controls analog series of servo drives are available in many configurations. Note that not all possible part number combinations are offered as standard drives. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick- turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. Examples of Modifications and Customized Products  Integration of Drive into Motor Housing  Integrate OEM Circuitry onto Drive PCB  Mount OEM PCB onto Drive Without Cables  Custom Control Loop Tuned to Motor Characteristics  Multi-axis Configuration for Compact System  Custom I/O Interface for System Compatibility  Custom PCB and Baseplate for Optimized Footprint  Preset Switches and Pots to Reduce User Setup  RTV/Epoxy Components for High Vibration  Optimized Switching Frequency  OEM Specified Connectors for Instant Compatibility  Ramped Velocity Command for Smooth Acceleration  OEM Specified Silkscreen for Custom Appearance  Remove Unused Features to Reduce OEM Cost  Increased Thermal Limits for High Temp. Operation  Application Specific Current and Voltage Limits Feel free to contact Applications Engineering for further information and details. Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit www.a-m-c.com to see which accessories will assist with your application design and implementation. Drive(s) Filter Cards To Motor All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. -HSI: APeak VoltagePeak Current20- Additional Options* Maximum peak current rating in Amps. Peak voltage rating scaled 1:10 in Volts. Power Supply:DC Power SupplyRevisionAssigned a letter (A through Z) by manufacturer. AC:AC Power SupplyI:Optical IsolationIsolation Option** 16ACCommand:Analog CommandDD:PWM Command-ANP:Analog Position Loop-INV:Inverted Inhibit* Options available for orders with sufficient volume. Contact ADVANCED Motion Controls for more information. ** Isolation comes standard on all AC supply drives and most DC supply drives 200V and above. Consult selection tables of the website or the drive datasheet block diagram to see if isolation is included. Heat Sink Installed and Inverted Inhibit ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: