Analog Servo Drive BE40A20I

Description Power Range

Peak Current 40 A
Continuous Current 20 A
Supply Voltage 40 - 190 VDC
The BE40A20I PWM servo drive is designed to drive
brushless DC motors at a high switching frequency. A
single red/green LED indicates operating status. The
drive is fully protected against over-voltage, under
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 stand-alone, and requires only a single
unregulated DC 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. This drive can use
quadrature encoder inputs for velocity control.
See Part Numbering Information on last page of
datasheet for additional ordering options.


Features

Optical Isolation Between High & Low Power
Signals
Four Quadrant Regenerative Operation
DIP Switch Selectable Modes
Adjustable Current Limits
Differential Input Command
On-Board Test Potentiometer
Offset Adjustment Potentiometer
Adjustable Input Gain
Selectable 120/60 Hall Commutation Phasing
Encoder Velocity Mode
Drive Status LED
Velocity Monitor Outputs



MODES OF OPERATION
Current
Duty Cycle (Open Loop)
Velocity
COMMAND SOURCE
10 V Analog
FEEDBACK SUPPORTED
Halls
Incremental Encoder
Tachometer (60 VDC)


COMPLIANCES & AGENCY APPROVALS
UL
cUL
CE Class A (LVD)
CE Class A (EMC)
RoHS

Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 1 of 9

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Analog Servo Drive BE40A20I



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.
Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 2 of 9

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

Analog Servo Drive BE40A20I



Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 3 of 9

SPECIFICATIONS
Power Specifications
Description Units Value
DC Supply Voltage Range VDC 40 - 190
DC Bus Over Voltage Limit VDC 195
Maximum Peak Output Current
1
A 40
Maximum Continuous Output Current A 20
Maximum Continuous Output Power W 3610
Maximum Power Dissipation at Continuous Current W 190
Minimum Load Inductance (Line-To-Line)
2
H 250
Low Voltage Supply Outputs - 10 VDC (3 mA), +6 VDC (30 mA)
Switching Frequency kHz 22
Control Specifications
Description Units Value
Command Sources - 10 V Analog
Feedback Supported - Halls, Incremental Encoder, Tachometer (60 VDC)
Commutation Methods - Trapezoidal
Modes of Operation - Current, Duty Cycle, Velocity
Motors Supported - Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless)
Hardware Protection -
Invalid Commutation Feedback, 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 111.7 x 25.4 (7.4 x 4.4 x 1)
Weight g (oz) 680 (24)
Heatsink (Base) Temperature Range
3
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 - 5-port, 5.08 mm spaced, screw terminal
P3 Connector - 5-pin, 2.54 mm spaced, friction lock header
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.
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Analog Servo Drive BE40A20I



Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 4 of 9

PIN FUNCTIONS
P1 - Signal Connector
Pin Name Description / Notes I/O
1 +10V 3mA OUT O
2 SIGNAL GND SGND
3 -10V 3mA OUT
10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference
ground common with signal ground.
O
4 +REF IN I
5 -REF IN
Differential Reference Input (10 V Operating Range, 15 V Maximum Input)
I
6 -TACH IN Negative Tachometer Input (Maximum 60 V). Use signal ground for positive input. I
7 VEL MONITOR OUT
Velocity Monitor. Analog output proportional to motor speed. In Encoder Velocity mode,
output is proportional to the encoder line frequency. Encoder Velocity scaling is 22 kHz/V.
O
8 CURR MONITOR OUT
Current Monitor. Analog output signal proportional to the actual current output. Scaling is
8.3 A/V by default but may be reduced by half this value by setting DIP switch SW-3 to OFF
(see Hardware Settings section below). Measure relative to power ground.
O
9 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
10 +V HALL 30mA OUT
Low Power Supply For Hall Sensors (+6 V @ 30 mA). Referenced to signal ground. Short
circuit protected.
O
11 GND Signal Ground SGND
12 HALL 1 I
13 HALL 2 I
14 HALL 3
Single-ended Hall/Commutation Sensor Inputs (+5 V logic level)
I
15 CURR 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 power
ground.
O
16 FAULT OUT
TTL level (+5 V) output becomes high when power devices are disabled due to at least one
of the following conditions: inhibit, invalid Hall state, output short circuit, over voltage, over
temperature, power-up reset.
O

P2 - Power Connector
Pin Name Description / Notes I/O
1 MOTOR A Motor Phase A O
2 MOTOR B Motor Phase B O
3 MOTOR C Motor Phase C O
4 POWER GND Power Ground (Common With Signal Ground) PGND
5 HIGH VOLTAGE DC Power Input I

P3 - Feedback Connector
Pin Name Description / Notes I/O
1 NC Not Connected (Reserved) -
2 CHANNEL A Single-ended encoder channel A input. +5 V logic level. I
3 NC Not Connected (Reserved) -
4 CHANNEL B Single-ended encoder channel B input. +5 V logic level. I
5 SIGNAL GND Signal Ground SGND
ELECTROMATE
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Toll Free Fax (877) SERV099
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sales@electromate.com
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Analog Servo Drive BE40A20I



Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 5 of 9

HARDWARE SETTINGS
Switch Functions
Setting
Switch Description
On Off
1
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
2 Current loop proportional gain adjustment. ON by default. Decrease Increase
3
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 its
ordinary value when this switch is OFF.
Full-current Half-current
4
Outer loop integration. Activates or deactivates integration. ON,
by default, for current mode and OFF for other modes.
Inactive Active
5 Mode selection. See mode selection table below. - -
6 Mode selection. See mode selection table below. - -
7
Velocity feedback polarity. Changes the polarity of the internal
feedback signal and the velocity monitor output signal. Inversion
of the feedback polarity may be required to prevent a motor run-
away condition.
Standard Inverted
8
Current ratio. Used to set continuous-to-peak current ratio.
Default is ON.
Cont./Peak Ratio =50% Cont./Peak Ratio =25%
9
Outer loop integral gain adjustment. It is recommended to leave
this switch OFF for most applications.
Decrease Increase
10
Hall sensor phasing. Selects 120/60 commutation phasing. ON
by default.
120 60

Mode Selection Table

Mode SW2 SW4 SW5 SW6 Encoder Tachometer
CURRENT ON ON OFF OFF Not Connected Not Connected
DUTY CYCLE ON OFF ON OFF Not Connected Not Connected
ENCODER VELOCITY* ON OFF OFF ON Connected Not Connected
TACHOMETER VELOCITY ON OFF OFF OFF Not Connected Connected
*NOTE: See details of switch 7 for further Encoder Velocity configuration information.
Potentiometer Functions
Potentiometer Description Turning CW
1
Loop gain adjustment for duty cycle / 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
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Sold & Serviced By:

Analog Servo Drive BE40A20I



Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 6 of 9

Through-hole Components

Location Description
C67*
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.
C69*
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.
R26*
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.
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 manufacturers 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.

Note: Damage done to the drive while performing these modifications will void the warranty.

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Analog Servo Drive BE40A20I



MECHANICAL INFORMATION
P1 - Signal Connector
Connector Information 16-pin, 2.54 mm spaced, friction lock header
Details Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals)
Mating Connector
Included with Drive Yes
+10V 3mA OUT 1
SIGNAL GND 2
-10V 3mA OUT 3
+REF IN 4
-REF IN 5
-TACH IN 6
VEL MONITOR OUT 7
CURR MONITOR OUT 8
INHIBIT IN 9
+V HALL 30mA OUT 10
GND 11
HALL 1 12
HALL 3 14
FAULT OUT 16
HALL 2 13
CURR REF OUT 15


P2 - Power Connector
Connector Information 5-port, 5.08 mm spaced, screw terminal
Details Not applicable
Mating Connector
Included with Drive Not applicable
MOTOR A 1
MOTOR B 2
MOTOR C 3
POWER GND 4
HIGH VOLTAGE 5


P3 - Feedback Connector
Connector Information 5-pin, 2.54 mm spaced, friction lock header
Details Molex: P/N 22-01-3167 (connector) and P/N 08-50-0114 (insert terminals)
Mating Connector
Included with Drive Yes
NC 1
CHANNEL A 2
NC 3
CHANNEL B 4
SIGNAL GND 5

Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 7 of 9

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

Analog Servo Drive BE40A20I



MOUNTING DIMENSIONS

Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 8 of 9

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

Analog Servo Drive BE40A20I



PART NUMBERING INFORMATION
A I 20 -
B or BX: Brushless drive.
Maximumpeak current rating in Amps.
Peak voltage rating scaled 1:10 in Volts.
: DC Power Supply
BE: Encoder Velocity Mode Available
BD: PWM Command
BDC: PWM Command, Closed Current Loop
S or SX: Commutated Sine Command
Assigned a letter (A through Z) by manufacturer.
AC: AC Power Supply
FAC: AC Power Connecter Relocated to the
Front
I: Optical Isolation
40 BE
-ANP: Analog Position Loop
-INV: Inverted Inhibit
-QD: Quick Disconnect
-QDI: Quick Disconnect w/ 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 diagramto see if isolation is included.
Power Supply
Revision
Additional Options*
Peak Voltage
Peak Current
Drive Type
Isolation Option**

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.

Power Supplies

Shunt Regulators

Filter Cards





Drive(s)




To Motor




All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided
in this document.
Release Date:
11/30/2011
Revision:
2.01
ADVANCED Motion Controls 3805 Calle Tecate, Camarillo, CA, 93012
ph# 805-389-1935 fx# 805-389-1165 www.a-m-c.com
Page 9 of 9

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By: