Reference Design

IRMCS2013

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3. Preparing the Motor

3.1 Readily Drivable Motor List

If the motor is one of the following, it can be run immediately without commissioning.

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Sanyo Denki 70W 8-pole servo motor with 2000-pulse encoder (P50B05007AXS7Z)

•

Glentek 160W 4-pole servo motor with 2000-pulse encoder (GMB2005-8-N-02121109)

If any other motor is used, adaptation and re-configuration is required, which can be accomplished by using the

3.2 Assembling Encoder Connector

Prepare the connector assembly to the encoder cables.

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Assemble 14-pin male connector (Digikey part number WM18046-ND), referring to Figure 2.

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Make sure that the encoder is a 5V type. If it is not a 5V type, proper modification is required.

For permanent magnet motors:

•

Eleven pins are used: A+ (pin 2), A- (pin 3), B+ (pin 4), B- (pin 5), Z+ (pin 6), Z- (pin 7), HALL_A (pin 10),

HALL_B (pin 11), HALL_C (pin 12), 5V(pin 1 or pin 9) and GND (pin 8 or pin 14).

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If hall sensors have differential output, connect only positive sides and leave negative sides open.

For induction motors:

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Only six pins are used because z-pulse is not necessary for an induction machine. The six pins are: A+ (pin

2), A- (pin 3), B+ (pin 4), B- (pin 5), 5V(pin 1 or pin 9) and GND (pin 8 or pin 14).

•

Disable Z_pulse by connecting Z+ to GND and Z- to 5V.

Figure 2. Encoder Interface Connector, J3

3.3 Motor Power Cable

If necessary, prepare the motor power cable. Proper size and length of cable should be used.

3.4 Assembling Serial Connector

Prepare the connector assembly. One side is female D-sub 9 connector and the other side is 3-pin receptacle (Digikey

part number A19491-ND). Connect two connectors as shown in Table 1.

Signal

Female D-sub 9

3-pin receptacle

Tx

Pin 2

Pin 1

Rx

Pin 3

Pin 2

GND

Pin 5

Pin 3

Table 1. Serial Cable Connections

Sanyo Denki’s encoder cable wire:

A+ = Blue,

A- = Brown

B+ = Green,

B- = Purple

Z+ = White,

Z- = Yellow

5V = Red,

VSS (GND) = Black

This is a wire-saving type encoder. Hall signals are

multiplexed with encoder A, B and Z