SERVOMOTOR for PM MOTOR 24V up to 125A French Dutch
Just connect a
potentiometer and the motor
will go from zero, at middle, to maximum on both sides.
And/or connect your PC and drive and control the bridge and motor for your keyboard or programm.
This servo system has four main parts.
The H bridge work in Puls Width Modulation mode.
Simply said, PWM is a technic making it possible to regulate the energy feeded to the motor by quickly (12.5kHz here) switching its power on and off.
The combination of the a 4Q H bridge and a Permanent Magnet motor gives a very smooth control and the best efficiency both in servo or direct mode.
Voltage, temperature, power in % and Amperes drained from the battery are displayed in real time. The system also always watches the working edges (V, A, T, low/high/mini/maxi) and notifies eventual occuring malfunction or electrically unsafe situation. It can also reduce or immediatelly stop operating when needed.
The manual ComManD unit (1000Ohm) (1k) potentiometer.
In servo mode, the motor will spin until the feedback (RTR) potentiometer reaches the same angle as the one set with CMD. This for both sides (Clock and CounterClock) on the full CMD range and between the limits. The limits are user-programmable security parameters that make the motor stop when these limit positions are reached.
In direct mode, the motor is stopped when the CMD is at middle position and will spin either C or CC depending on which side CMD is positioned, left or right from the middle.
The PM DC motor (24V DC nominal).
The modern technology of Permanent Magnets motor is a good solution for variable power and high couple at low speed application. The motor stator is here built with very strong magnets and disassemblage of the motor is to avoid as special tools are needed. The motor has only 2 connections going straight to the brigdge Motor + and - output.
We almost always use two types of PM motor but any other can be connected. A140PMW75 (750S1) 40A and A140PMLW 55A (1100S1) both 24V and 1500RPM of Alpatek Amerongen in the Netherlands. These PM motor can support power up to 100A intermittently.
And/or connect your PC and drive and control the bridge and motor for your keyboard or programm.
This servo system has four main parts.
The H bridge work in Puls Width Modulation mode.
Simply said, PWM is a technic making it possible to regulate the energy feeded to the motor by quickly (12.5kHz here) switching its power on and off.
The combination of the a 4Q H bridge and a Permanent Magnet motor gives a very smooth control and the best efficiency both in servo or direct mode.
Voltage, temperature, power in % and Amperes drained from the battery are displayed in real time. The system also always watches the working edges (V, A, T, low/high/mini/maxi) and notifies eventual occuring malfunction or electrically unsafe situation. It can also reduce or immediatelly stop operating when needed.
The manual ComManD unit (1000Ohm) (1k) potentiometer.In servo mode, the motor will spin until the feedback (RTR) potentiometer reaches the same angle as the one set with CMD. This for both sides (Clock and CounterClock) on the full CMD range and between the limits. The limits are user-programmable security parameters that make the motor stop when these limit positions are reached.
In direct mode, the motor is stopped when the CMD is at middle position and will spin either C or CC depending on which side CMD is positioned, left or right from the middle.
This manual command is a
strong precision winded potentiometer with ball bearing and handle all
mounted on a laminate plate. The command is optional and can be
replaced by any quality potentiometer in 500 to 10.000 Ohm range when
in
direct mode. In servo mode both CMD and RTR potentiometers will better
have 1k Ohm value for a 1 to 1 position ratio and range.
The feedback potentiometer,
RTR (1k Ohm).
When RTR is installed and driven by the mechanical movement, the bridge can and will work in servo mode because of the feedback CMD <=> RTR.. If not installed or when RTR remains at middle position (no mechanical coupling with the movement), the bridge will work in direct mode. If the bridge doesn't see any RTR potentiometer at start up, the bridge will also work in direct mode.Giving parameter [Motor Mini] the lowest value of 2 will make the ComManD give a very sensitive control of the motor power from middle position to about maximum power according to [Motor Maxi] at a quarter of CMD range on both spin directions.
RTR will be used in servo systems where an object needs to be automatically positioned in its motion. The only condition to go in the servo mode is the installation of RTR potentiometer that should be coupled to the moving part driven by the motor.
When RTR is installed and driven by the mechanical movement, the bridge can and will work in servo mode because of the feedback CMD <=> RTR.. If not installed or when RTR remains at middle position (no mechanical coupling with the movement), the bridge will work in direct mode. If the bridge doesn't see any RTR potentiometer at start up, the bridge will also work in direct mode.Giving parameter [Motor Mini] the lowest value of 2 will make the ComManD give a very sensitive control of the motor power from middle position to about maximum power according to [Motor Maxi] at a quarter of CMD range on both spin directions.
RTR will be used in servo systems where an object needs to be automatically positioned in its motion. The only condition to go in the servo mode is the installation of RTR potentiometer that should be coupled to the moving part driven by the motor.
The PM DC motor (24V DC nominal).The modern technology of Permanent Magnets motor is a good solution for variable power and high couple at low speed application. The motor stator is here built with very strong magnets and disassemblage of the motor is to avoid as special tools are needed. The motor has only 2 connections going straight to the brigdge Motor + and - output.
We almost always use two types of PM motor but any other can be connected. A140PMW75 (750S1) 40A and A140PMLW 55A (1100S1) both 24V and 1500RPM of Alpatek Amerongen in the Netherlands. These PM motor can support power up to 100A intermittently.
Batteries.
The bridge works on
24V battery (23 to 31V). This should have a capacity of approximately
200
Ahour if high currents are to be drained. The bridge smoothly gives the
necessary power to the motor
without any mechanical and electrical shock and feeds back the
generated
power to the batteries when decreasing speed or braking. The batteries
will be directly connected right on the two big 160A fuses. These big
fuses can eventually be replaced for other of lower value, according to
the maximum expected batteries current. They never should blow off
because of the internal electronic current limiter.
Auto-Protection and bridge safety
control.
Surveillance of motor and
potentiometers wiring.
Surveillance of the bridge output driver current and motor power.
Electronic current limiter on positive and negative supply.
Monitoring of voltage, temperature and current and diverse alarms.
Surveillance of the batteries low and high voltage level.
Protection against over-heating of the power output driver.
Protection at start. Motor only spins when CMD is moved through zero.
Average of inconsistent and/or too fast CMD motion.
See the installation manual for further details.
Surveillance of the bridge output driver current and motor power.
Electronic current limiter on positive and negative supply.
Monitoring of voltage, temperature and current and diverse alarms.
Surveillance of the batteries low and high voltage level.
Protection against over-heating of the power output driver.
Protection at start. Motor only spins when CMD is moved through zero.
Average of inconsistent and/or too fast CMD motion.
See the installation manual for further details.
Read the whole
manual before starting with installation or connecting.
Despite the ease of use and istallation where only a few wires need to be connected, a full knowledge of the diverse elements of the bridge system will simplify the installation, and the start.
Make sure that nothing and no one can reach the moving parts, poulies, command- or even the feeback potentiometer without your knowledge. This system, like any mechanical and/or electrical machine, is potentially dangerous even at slow speed. The installation of an accessible emergency stop is mandatory and the bridge should not be used without it.
Despite the ease of use and istallation where only a few wires need to be connected, a full knowledge of the diverse elements of the bridge system will simplify the installation, and the start.
Make sure that nothing and no one can reach the moving parts, poulies, command- or even the feeback potentiometer without your knowledge. This system, like any mechanical and/or electrical machine, is potentially dangerous even at slow speed. The installation of an accessible emergency stop is mandatory and the bridge should not be used without it.
UTILISATION of the BRIDGE with a PC
The bridge can be fully controled by
the PC when connected to its on-board R232 input/outpout port.
Therefore just connect a serial cable
DB9 type 1 to 1 F/F between them and the PC can make the bridge work
in direct or servo mode.
We provide "PM Motor", a program that can be used to test the system as it displays all parameters and monitors all relevant values in real time mode. PM motor also gives full control of the bridge from the keyboard. This free programm can be sent on request or just be downloaded from this page.
PM MOTOR makes it possible to update the bridge with the last, modified or customized main bridge program.
Make sure that the PC RS232 port is free and well configured before plugging the bridge into it. Using another communication program else than the one meant for the bridge can be dangerous in the event of some unexpected orders sent to it. For security, the bridge parameter [ RS 232 ] needs to be enabled to Yes before it will accept an external order.
Full installation programm: PM Motor VB (1.5MB)
We provide "PM Motor", a program that can be used to test the system as it displays all parameters and monitors all relevant values in real time mode. PM motor also gives full control of the bridge from the keyboard. This free programm can be sent on request or just be downloaded from this page.
PM MOTOR makes it possible to update the bridge with the last, modified or customized main bridge program.
Make sure that the PC RS232 port is free and well configured before plugging the bridge into it. Using another communication program else than the one meant for the bridge can be dangerous in the event of some unexpected orders sent to it. For security, the bridge parameter [ RS 232 ] needs to be enabled to Yes before it will accept an external order.
Full installation programm: PM Motor VB (1.5MB)
Only
the last version of the executable, motor.exe, if already
installed (150K)
Last main bridge program. Hex file to be uploaded to the bridge with the above PC program (42K)
Standard parameters that can be uploaded to the bridge EEPROM (2K)
Last main bridge program. Hex file to be uploaded to the bridge with the above PC program (42K)
Standard parameters that can be uploaded to the bridge EEPROM (2K)
Free Visual Basic source
code for our customers on request. Just add your own functionality to
it. If you can make an autopilot controling the bridge from your laptop
we can provide you with customers glad to use it. We of course need
serious
works so if a flux gate is Ok for off shore autopilot, gyro rate of
turn of
a few degrees per minute range (directly read from the laptop) will be
needed for inside waterways.
Different configurations are possible, here a brief summary.
1) Feedback sensor is read by the bridge, and CMD position is sent by the PC through the RS232 port to the bridge either in servo or direct mode. The bridge doesn't require any modification and both PC or CMD can be used together with same possibilities.
2) The PC reads the feedback RTR position from the bridge via its serial port, as well as all other values, computes what to do and sends the motor direction and speed orders to the bridge via the same port. If RTR is not connected or left at midle position, the bridge will work in direct mode controlled by the PC. Bridge doesn't need any modification.
3) PC is loaded with specific program and controls the bridge. PC reads eventually one or more sources of reference via other ports. These references can be an encoder, flux gate, rate of turn of a gyrometer, GPS, etc...
This working mode needs a specific PC or laptop program that is the the master of the system and the slave, the bridge does not need any modification.
4) Digital device, PC, laptop or MODEM, will send a course or a position value to the bridge and the bridge controls the machine by itself. Bridge and the digital divice both have a specific program.
Different configurations are possible, here a brief summary.
1) Feedback sensor is read by the bridge, and CMD position is sent by the PC through the RS232 port to the bridge either in servo or direct mode. The bridge doesn't require any modification and both PC or CMD can be used together with same possibilities.
2) The PC reads the feedback RTR position from the bridge via its serial port, as well as all other values, computes what to do and sends the motor direction and speed orders to the bridge via the same port. If RTR is not connected or left at midle position, the bridge will work in direct mode controlled by the PC. Bridge doesn't need any modification.
3) PC is loaded with specific program and controls the bridge. PC reads eventually one or more sources of reference via other ports. These references can be an encoder, flux gate, rate of turn of a gyrometer, GPS, etc...
This working mode needs a specific PC or laptop program that is the the master of the system and the slave, the bridge does not need any modification.
4) Digital device, PC, laptop or MODEM, will send a course or a position value to the bridge and the bridge controls the machine by itself. Bridge and the digital divice both have a specific program.
Remember that all safety measure should be taken before and when
using this power bridge that, like any other machine, carries a
potential danger. The system should be equiped with an emergency stop
and all its moving parts should be protected so that nothing and no one
can access them. Furthermore, when the system is used in critical
application, it should be backed up by an other, equivalent or manual
device that immediatly can take over in case of ComManD-,
bridge-, RTR feedback- or motor-malfunction. Thus, in order
to
prevent any service interruption that could lead to unsafe situation.
Any modifiation of the parameters marked with # in the manual list should only be done in case of real necessity and at your own risque, because it disables the bridge auto protection features.
In case of doubt on the efficiency of the emergency stop or on the back up system do not use the bridge.
Any modifiation of the parameters marked with # in the manual list should only be done in case of real necessity and at your own risque, because it disables the bridge auto protection features.
In case of doubt on the efficiency of the emergency stop or on the back up system do not use the bridge.
