Analog Servo Drive B12A6

Description Power Range

Peak Current 12 A
NOTE: This product has been replaced by the
AxCent™ family of servo drives. Please visit our Continuous Current 6A
website at www.a-m-c.com or contact us for
replacement model information and retrofit Supply Voltage 20 - 60 VDC
instructions.

The B12A6 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.

Features

 Four Quadrant Regenerative Operation  On-Board Test Potentiometer

 DIP Switch Selectable Modes  Offset Adjustment Potentiometer
 Adjustable Current Limits  Adjustable Input Gain
 High Switching Frequency  Selectable 120/60 Hall Commutation Phasing
 Differential Input Command  Drive Status LED
 Digital Fault Output Monitor  Current Monitor Output

MODES OF OPERATION COMPLIANCES & AGENCY APPROVALS

 Current  UL
 Open Loop  cUL
 Tachometer Velocity  CE Class A (LVD)
COMMAND SOURCE  CE Class A (EMC)
 ±10 V Analog  RoHS
FEEDBACK SUPPORTED
 Halls
 Tachometer

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

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 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and
LVD requirements of directive 2006/95/EC (specifically EN 60204-1), 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: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

SPECIFICATIONS

Power Specifications
Description Units Value
DC Supply Voltage Range VDC 20 - 60
DC Bus Over Voltage Limit VDC 67
1
Maximum Peak Output Current A 12
Maximum Continuous Output Current A 6
Maximum Continuous Output Power at Continuous Curret W 342
Maximum Power Dissipation at Continuous Current W 18
2
Minimum Load Inductance (Line-To-Line) µH 200
Switching Frequency kHz 33
Control Specifications
Description Units Value
Command Sources - ±10 V Analog
Feedback Supported - Halls, Tachometer
Commutation Methods - Trapezoidal
Modes of Operation - Current, Open Loop, Tachometer Velocity
Motors Supported - Three Phase (Brushless), Single Phase (Brushed, Voice Coil, Inductive Load)
Invalid Commutation Feedback, Over Current, Over Temperature, Over Voltage,
Hardware Protection -
Short Circuit (Phase-Phase & Phase-Ground)
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) 129.3 x 75.8 x 25.1 (5.1 x 3 x 1)
Weight g (oz) 280 (9.9)
Heatsink (Base) Temperature Range3 °C (°F) 0 - 65 (32 - 149)
Storage Temperature Range °C (°F) -40 - 85 (-40 - 185)
Form Factor - Stand Alone
P1 Connector - 16-pin, 2.54 mm spaced, friction lock header
P2 Connector - 5-port, 5.08 mm spaced, screw terminal
Notes
1. Maximum duration of peak current is ~2 seconds.
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.

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

PIN FUNCTIONS

P1 - Signal Connector
Pin Name Description / Notes I/O
1 +10V 3mA OUT O
±10 V @ 3 mA low power supply for customer use. Short circuit protected. Reference
2 SIGNAL GND GND
ground common with signal ground.
3 -10V 3mA OUT O
4 +REF IN I
Differential Reference Input (±10 V Operating Range, ±15 V Maximum Input)
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 GND
Current Monitor. Analog output signal proportional to the actual current output. Scaling is 2
8 CURRENT MONITOR O
A/V. Measure relative to signal ground.
TTL level (+5 V) inhibit/enable input. Leave open to enable drive. Pull to ground to inhibit
9 INHIBIT IN I
drive. Inhibit turns off all power devices.
Low Power Supply For Hall Sensors (+6 V @ 30 mA). Referenced to signal ground. Short
10 +V HALL 30mA OUT O
circuit protected.
11 GND Signal Ground GND
12 HALL 1 I
13 HALL 2 Single-ended Hall/Commutation Sensor Inputs (+5 V logic level) I
14 HALL 3 I
Measures the command signal to the internal current-loop. This pin has a maximum output
15 CURR REF OUT O
of ±7.2 V when the drive outputs maximum peak current. Measure relative to signal ground.
TTL level (+5 V) output becomes high when power devices are disabled due to at least one
16 FAULT OUT of the following conditions: inhibit, invalid Hall state, output short circuit, over voltage, over O
temperature, power-up reset.

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) GND
5 HIGH VOLTAGE DC Power Input I

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

HARDWARE SETTINGS

Switch Functions
Setting
Switch Description
On Off
1 Open-loop mode selector. Activates internal PWM feedback. Open-loop mode Other modes
2 60/120 degree commutation phasing setting 120 degrees 60 degrees
Outer loop integration. Activates or deactivates integration. ON,
3 Inactive Active
by default, for current mode and OFF for other modes.
Test/Offset. Switches the function of the Test/Offset pot between
4 an on-board command input for testing or a command offset Test Offset
adjustment. OFF by default.

Mode Selection Table

Mode SW1 SW3 Tachometer
CURRENT OFF ON Not Connected
OPEN LOOP ON OFF Not Connected
TACHOMETER VELOCITY OFF OFF Connected

Potentiometer Functions
Potentiometer Description Turning CW
Loop gain adjustment for open loop / velocity modes. Turn this pot
1 Increases gain
fully CCW in current mode.
Current limit. It adjusts both continuous and peak current limit
2 Increases limit
while maintaining their ratio.
Reference gain. Adjusts the ratio between input signal and output
3 Increases gain
variables (voltage, current, or velocity).
Offset / Test. Used to adjust any imbalance in the input signal or in
4 the amplifier. Can also be used as an on-board signal source for Adjusts offset in negative direction
testing purposes.
Note: Potentiometers are approximately linear and have 12 active turns with 1 inactive turn on each end.

Through-hole Components†
Location Description
Velocity Loop Integrator. Through-hole capacitor that can be added for more precise velocity loop tuning. See section
C8*
below on Tuning with Through-hole components for more details.
Tachometer Input Scaling. Through-hole resistor that can be added to change the gain of the tachometer input. See
R158*
section below on Tachometer Gain 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.
†
Note: Damage done to the drive while performing these modifications will void the warranty.

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

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

15 CURR REF OUT

13 HALL 2
11 GND
9 INHIBIT IN
7 +TACH / GND
5 -REF IN
3 -10V 3mA OUT
1 +10V 3mA OUT

2 SIGNAL GND
4 +REF IN
6 -TACH IN
8 CURRENT MONITOR
10 +V HALL 30mA OUT
12 HALL 1
14 HALL 3
16 FAULT OUT

P2 - Power Connector
Connector Information 5-port, 5.08 mm spaced, screw terminal
Details Not applicable
Mating Connector
Included with Drive Not applicable

1 MOTOR A
2 MOTOR B
3 MOTOR C
4 POWER GND
5 HIGH VOLTAGE

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

MOUNTING DIMENSIONS

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
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 Analog Servo Drive B12A6

PART NUMBERING INFORMATION

B 12 A 6 -
Drive Type Additional Options*
B or BX: Brushless drive.
-HSI: Heat Sink Installed and Inverted Inhibit
BE: Encoder Velocity Mode Available -INV: Inverted Inhibit
BD: PWM Command
BDC: PWM Command, Closed Current Loop
S or SX: Commutated Sine Command
Revision
Peak Current Assigned a letter (A through Z) by manufacturer.
Maximum peak current rating in Amps.

Peak Voltage Power Supply

Peak voltage rating scaled 1:10 in Volts. : DC Power Supply
AC: AC Power Supply
Isolation Option FAC: AC Power Connecter Relocated to the
Front
I: Optical Isolation *Options available for orders with sufficient volume.
Contact ADVANCED Motion Controls for more information.

ADVANCED Motion Controls servo drives are available in many configurations. 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 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.

To Motor
Power Supplies Shunt Regulators Filter Cards

Drive(s)

All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided
in this document.

Release Date: Status: ADVANCED Motion Controls · 3805 Calle Tecate, Camarillo, CA, 93012
Page 8 of 8
5/11/2016 Legacy ph# 805-389-1935 · fx# 805-389-1165· www.a-m-c.com