maxon motor control ADS_E 50/5 Order number 166143 - CSL-EP
Contents
1. 14 maxon motor control June 1999 edition subject to change2. ouenbejj jepooue SI Ed ouenboej 1epooue uonoejes 10sues ES EZ uonoejes 10sues KZ NES uoinoejes Josues yoeqpss ANF Go Ed yoeqpss 743 ME Ed yoeqpss AWA uogesueduoo u x SE E uonesueduoo y x NE EM uonesueduioo y x epoujueuno EE ES epoui juouno EE ES epouu ua uno UL UL O O comm K ORS C s E oO K N kad EZ June 1999 edition subject to change 4 maxon motor control maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 4 Operating Instructions 4 1 Determine power supply requirements You may make use of any available power supply as long as it meets the minimal requirements spelled out below During set up and adjustment phases we recommend separating the motor mechanically from the machine to prevent damage due to uncontrolled motion Power supply requirements Output voltage Vcc min 12 VDC max 50 VDC Ripple lt 5 Output current 5 A continuous 10 A peak The required voltage can be calculated as follows Known values e Operating torque Ms mNm Operating speed ng min Nominal motor voltage Uy Volt Motor no load speed at Un no min Speed torque gradient of the motor An AM min mNm Sought values e Supply voltage Vec Volt Solution Un An E V n ng AM My 2 V Choose a power supply capable of supplying this calculated voltage under load The formula takes a 2 Volt max voltage drop at the ADS E 50 5 into account 4 2 Func
3. Continuous output current legnem iesieta sese 5A Switching frequency eene ener enne nnnm nn nennen einen 50 kHz zen UT 95 Band width current controller esee nennen 2 5 kHz Buntin motor Choke opere entere ertet teen ee 160 ULH 75 2 2 Inputs Set value ie iiec irt p ed Ebr rut rptu 10 10 V Ri 20 kQ Enable etit D edt 4 50 VDC Ri 15 kQ Input voltage DC tacho min 2 VDC max 50 VDC Ri 14 kQ Encoder signals sss Encoder A A B BV max 100 kHz TTL 2 3 Outputs Current monitor Monitor l short circuit protected 10 10 VDC Ro 10 kQ Speed monitor Monitor n short circuit protected 10 10 VDC Ro 10 KQ Status reading READY Opern 6olleCtoru u rte ri tani ee eic de eus max 30 VDC l lt 20 mA 2 4 Voltage outputs Aux voltage short circuit protected 412 VDC 12 VDC max 12 mA Encoder supply voltage sees 5 VDC max 80 mA 2 5 Trim potentiometers Ix R Offset Nmax Imax gain 2 6 LED indicator 2 Colors LED iiir tei en ped tl catia ined READY ERROR green READY red ERROR 2 7 Ambient temperature Humidity range Operatilgos aa hu st ch m be ET x dt rcd du error ee 10 35 C ieee MET 40 85 C noncondensating eeeeseeeeeeseseseeeeesee en
4. Enable Encoder A 4 Encoder BY n c Encoder B 6 Tacho Input Set value n c 8 Tacho Input Set value U Ready 10 12V 12mA OUT n c 12V 12mA OUT 12 n c Gnd n c 14 Monitor n Gnd 5V 80MA 16 Monitor Gnd Gnd OEE ee a E E Motor 22 Vcc 12 50VDC 24 o1 qo Ig es ya D se pat ee a rO Motor 26 Motor 28 o BONA ES ome tad efe OEE Ground Safety Earth 30 Motor 92 oe ESSE CET CRI E sehn Power Gnd 12 maxon motor control June 1999 edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 10 Dimension Drawing Dimensions in mm A LLULLU d e E N D o S S oco 9 e D T D A ML E E04 i tO i 11 Accessories not part of delivery 11 1 Front panel Order number 167850 Dimensions in mm clear anodised 5 TE 3 HE t Le Ready Error S L G P1 IxR 128 4 maxon motor mmc ADS E June 1999 edition subject to change maxon motor control 1 3 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 11 2 Backplane with screw termin
5. range max 30 VDC Load current lt 20 mA The fault condition is stored In order to reset the fault condition the servoampli fier must be re released Enable If the cause of the fault situation cannot be removed the output transistor will immediately change to the not conducting state again June 1999 edition subject to change maxon motor control 9 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 6 Additional Possible Adjustments Potentiometer Function Position left right C Pe ma speedgan bw hg P amp ls continuous current imi 6 1 Adjustments potentiometer P6 Ngain and potentiometer P7 Igain In most applications regulation setting is completely satisfactory using potentio meters P1 to P5 In special cases the transient response can be optimized by setting the P6 speed regulation gain potentiometer The P7 current regulator gain potentiometer can in addition be adapted to the dynamics of the current regulator It is recommend that the success of changes to the settings of P6 nga and P7 Igain be checked by measuring the transient response with an oscilloscope at the Monitor n and Monitor outputs Pre adjustment P6 Ngain 25 and P7 Igain 50 6 2 Adjustments potentiometer P8 l a and current limit mode DIP Switch 6 It is standard that a maximum current limiter is activated DIP switch 6 OFF as the only current limiter In this way the motor current is limited to
6. the value set on potentiometer P4 Imax 0 5 10A If DIP switch 6 is turned to ON a cyclical current limiter is also activated This current limiter method makes a certain level of motor protection against thermal overload possible For 0 1 seconds the motor current is limited to the value set on potentiometer P4 Imax 0 5 10A and then for 0 9 seconds current is limited to the value set on potentiometer P8 leoni 0 5 10A After one second a current of Imax is allowed Pre adjustment P8 I 50 DIP Switch 6 ON T cyclical current limiter active DIP Switch 6 OFF 4 maximum current limit active P8 leont 10 maxon motor control June 1999 edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 6 3 Maximal encoder frequency DIP Switch 5 DIP switch 5 permits selection of the maximum encoder input frequency A max encoder frequency of 100 kHz is standard DIP Switch 5 OFF L Max Input frequency is 100 kHz Encoder pulse maximum motor speed per turn 60000 rpm 12 000 rpm 1000 6 000 rpm DIP Switch 5 ON T Max Input frequency is 10 kHz Encoder pulse maximum per turn motor speed 6 000 rpm 1200 rpm 1000 600 rpm 7 Error Handling Defect Shaft does not rotate Speed is not controlled June 1999 edition subject to change Possible source of defect Supply voltage 12 VDC Enable not activated Set value is 0V Current limit too low Wrong operat
7. achines and apparatus must there fore be fitted with independent monitoring and safety equipment If the equipment breaks down if it is operated incorrectly if the control unit breaks down or if the cables break etc it must be ensured that the drive or the complete apparatus is kept in a safe operating mode Repairs Repairs may be made by authorised personnel only or by the manufacturer It is dangerous for the user to open the unit or make repairs to it Danger Do ensure that during the installation of the ADS E 50 5 no apparatus is connected to the electrical supply After switching on do not touch any live parts Max Supply Voltage Make sure that the supply voltage is between 12 and 50 VDC Voltages higher than 50 VDC or of wrong polarity will destroy the unit Motor choke The built in motor choke allows operation with almost all maxon DC motors with an output power higher than 10 Watt For a few exeptions A max 226 11W as well as RE 225 and RE 226 with terminal inductance lower than 0 35 mH an extra inductance choke of at least 200 uH is necessary Electrostatic Sensitive Device ESD P PP P P BPP PE 2 maxon motor control June 1999 edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 2 Performance Data 2 1 Electrical data Supply voltage Vcc Ripple lt 5956 12 50 VDC Max output current lmao reete tinea trie dea daa ant re seo adat e Aaa ned dd RP Rege 10A
8. als Order number 166873 Dimensions in mm Encoder A z 2 Encoder B d 4 Encoder B z 4 ee Qo 2 gt aN NO pocooc 1 m 2 3 um 4 5 6 1 Set value b 6 2 Set value ppalloleoee 3 Enable b 2 ets 4 Grnd D14 b12 e 5 Tacho Input d 6 PPAR 6 Tacho Input d 8 Han 7 Monitor n d14 8 Monitor l 16 lt 9 Reagy SBI let o o o 10 12V 12mA OUT d10 9 11 12V 12mA OUT z10 m 12 Gnd ial lZ 1 N E 1 Motor d26 220 O 5 2 Motor d30 z24 D 5 3 Ground Safety Earth z28 D o 4 Vcc 12 50 VDC d22 Q po 5 4Vcc 12 50 VDC d22 QO eo 6 Power Gnd z32 o a 7 Power Gnd 232 o O O V L 11 6 No of poles Pitch suitable for wire cross section 2 Encoder 3 81 mm 0 14 1 5 imm single wire 0 10 1 0 mm multiple stranded wire 2 i Signal 12 3 81 mm 0 14 1 5 mm single wire 0 10 1 0 mm multiple stranded wire 2 Power 7 5 08 mm 0 14 1 5 mm single wire 0 14 1 5 mm multiple stranded wire
9. dad en edu ba Aud 5 Be FUNGUS EET P 7 6 Additional Possible Adjustments erri rri rrt ear Unete netur etd Fan EDR HER Eo emu edu Ye Eye daga 10 FA collum 11 cle Sel MEC q dy ee 12 9 Pin Allocation Connector DIN 41612 Version H7 F24 nennen nennen nens 12 OPI ons A 13 11 Accessories not part of dellV ry uuu uuu u uuu erae EE ed eee atr yaaa aday akwa saqsa qaqaq ay saka 13 The latest edition of this operating instructions may also be found in the internet under http www maxonmotor com Downloads in the category Service amp Support maxon motor ag Br nigstrasse 220 P O Box 268 CH 6072 Sachseln Tel 041 666 15 00 Fax 041 666 16 50 www maxonmotor com maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 1 Safety Instructions Skilled Personnel Installation and starting of the equipment shall only be performed by experienced skilled personnel Statutory Regulations The user must ensure that the servoamplifier and the components belonging to it are assembled and connected according to local statutory regulations Load Disconnected For primary operation the motor should be free running i e with the load disconnected Additional Safety Equipment An electronic apparatus is not fail safe in principle M
10. he amplification is adjusted too high and the potentiometer must be readjusted until the instability of the closed loop of the drive under all loads disappears 4 Adjust set value to zero e g by short circuiting the set value input link pins b6 and b8 Then set the motor speed to zero with the potentio meter P2 Offset In addition only in the case of IXR compensation 5 Slowly increase potentiometer P1 IxR until the compensation is set large enough so that in the case of high motor load the motor speed remains the same or decreases only slightly Current controller mode 1 Set potentiometer P4 Imax at the limiting value desired Important The limiting value Imax should be below the max continuous current as shown in the motor data sheet 6 maxon motor control June 1999 edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 5 Functions 5 1 Inputs 5 1 1 Set value The set value input is wired as a differential amplifier Input voltage range 10 410 V Input resistance 20 kQ Positive set value set value b6 set value b8 Negative set value set value b6 set value b8 5 1 2 Enable If a voltage is given at Enable the servoamplifier switches the motor voltage to the winding connections If the Enable input is not switched on or is connected to the Gnd the power stage will be highly resistant and will be disabled The Enable input is s
11. hort circuit protected Enable Minimum input voltage 4 0 VDC Maximum input voltage 50 0 VDC Input resistance 15 KQ Switching time typ 500 usec by 5 V Disable Minimum input voltage 0 VDC Maximum input voltage 2 5 VDC Input resistance 15 KQ Switching time typ 100 usec by 0 V 5 1 3 DC Tacho Minimum input voltage 2 0 V Maximum input voltage 50 0 V Input resistance 14 KQ The Nmax potentiometer allows you to adjust the motor speed for a given set value input The lowest adjustable motor speed range is 3850rpm with a 10V set value and a tacho with 0 52V 1000rpm 3850rpm x 0 52V 1000rpm 2V see table above Lower speed ranges can be achieved either by reducing the set value input range i e 5V for 1925rpm or using a tacho type with higher output voltage such as 5V 1000rpm June 1999 edition subject to change maxon motor control 7 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 5 1 4 Encoder Encoder supply voltage 5 VDC max 80 mA Maximum encoder frequency DIP Switch 5 ON 10 kHz DIP Switch 5 OFF 100 kHz Voltage value TTL low max 0 8 V high min 2 0 V It is strongly recommended that the encoder be used with a built in line driver If the encoder is used without a line driver without EncoderA and EncoderB speed breakdowns and max speed limits must be expected because of the slower switching slope The servoamplifier does not need any home impulse and N 8 ma
12. ional mode Bad contacts Wrong wiring Encoder mode encoder signals DC Tacho mode tacho signals x R mode compensation wrong Measures check power plug pin d22 check signal plug pin b2 check signal plug pin b6 and pin b8 check adjustment pot P4 Imax check DIP switch settings check wiring check wiring check encoder signal check pin d6 and d8 polarity check adjustment pot P1 x R maxon motor control 1 1 maxon motor 4 Q DC Servoamplifier ADS E 50 5 8 Block Circuit Diagram Operating Instructions 12V OUT F12V OUT Enable Ready DIP5 5V 80mA 5V Gnd 1K 12V 1K 12V a 12M Supply Encoder A 12v Encoder AN F V Converter LT gt Encoder B Vcc 12 50VDC Encoder B DIP6 Power Gnd 412V P81 Current limit Set value DIP1 L 4802 ev 4305 4 Motor Set value N ad EA PWM J303 zd J304 Control amp MOSFET DIP4 Ed P5 gain P6 pae p E ee a Full Bridge Tacho Input S Gla Motor welt l DIP2 PtkR Current Voltage Detector Detector DIP3 ns Dum ER V MT 12V 10K Monitor n Monitor 9 Pin Allocation Connector DIN 41612 Version H7 F24 d b z 2 Encoder AN
13. maxon motor maxon motor control ADS E 50 5 Order number 166143 Operating Instructions June 1999 edition The ADS E 50 5 is a powerful servo amplifier for driving permanent magnet DC motors up to 250 Watts Four modes can be selected by DIP switches on the board Speed control using tacho signals Speed control using encoder signals Ix R compensated speed control Torque or current control The ADS E 50 5 is protected against excess current excess temperature and short circuit on the motor winding With the FET power transistors incorpo rated in the servoamplifier an efficiency of up to 95 is achieved A built in motor choke combined with the high PWM frequency of 50 kHz allows the connection of motors with a very low inductivity In most cases an external choke can be omitted Thanks to the wide input power supply range of 12 50 VDC the ADS E 50 5 is very versatile and can be used with various power supplies The Europa card size allows the unit to be installed in a 19 subrack or in a plug in card system Thanks to the controller circuit design the ADS E 50 5 is easily and quickly installed Table of Contents IEEE m 2 2 snutlic APEUMMc E 3 3 Minimum External Wiring for Different Modes of Operation U nenne 4 A Operating Instr ctloris io estrenos aestuat oceani a dao eee Ea aad ard atn enu
14. ne nnne nnn nne uya NARE AVANNAA 20 80 96 2 8 Mechanical data Weight uyta uqa Le Ep Ee Eam eb etus ca 315g Dimensions eee creer te ee ce e ve eae d den nee see dimension drawing 2 9 Terminal Gonnector DIN 4161252 ere eire ettet cerent ugs Version H7 F24 June 1999 edition subject to change maxon motor control 3 maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 ion for Different Modes of Operat iring External W inimum 3M vul0g AS viz pu5 912 IN 1epoou3 ZP v 1epooua z z g 1epooua P g 1epooua ZJ enje 1es 9 q enje 1es 89 lqeuq Z9 puo vq 21d ndu ouoej 9 p 1ndul oyoe 8 p U JOJIUOJN PLP J0JUOJN 91D Apesy 8 z LNO YWZ LAZ LT OLP INO vurz LAZ orz pud 91d 1010 92D 022 1O ON OEP YZZ yeg Ajeyes puno gez OQA 0S Z L 29 Ezp OQA 0S Z L S99A Ezp puc mod gez puc mod gez 12 50 VDC Enable Em maxon DC molar ade varan swiss m pow yw jueuno ou nbau Jepooue uonooejes Josues yoeqpss 4NF uolyesuadwod y X j w NJ LN Fe ST ou v N O N oO PITT TH 1022 Pez 3 g Q g os ag 2 exe exe iit HH HH tH L LL wu z Lu O O O O pow pw u uno FECE pow w JUNO F ES pow pwl 1ueuno Aouenbe y jepooue E Ea
15. tion of the potentiometers Potentiometer Function Turn to the e omm om p wo P1 x R compensation compensation compensation Adjustment n 0 motor turns motor turns ds at set value OV CCW CW max speed speed speed P3 slower faster m lower higher rt min 0 5 A max 10A P5 amplification lower higher P6 e For additional possible adjustments refer to chapter 6 I P7 I e In use with the original frontplate the potentiometers are covered P8 June 1999 edition subject to change maxon motor control 5 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 4 3 Adjustment of the Potentiometers 4 3 1 Pre adjustment With the pre adjustment the potentiometers are set in a preferred position ADS E units in original packing are already pre adjusted Pre adjustment m na on m poe mx ag U Adjustment ele m em wx m U Additional possible refer to section 6 1 6 2 e lt _ 4 3 2 Adjustment Encoder mode 1 Adjust set value to maximum e g 10V and turn potentiometer P3 Nmax DC Tacho mode so far that the required speed is achieved I x R compensation 2 Set potentiometer P4 Imax to the limiting value desired Important The limiting value Imax should be below the max continuous current as shown on the motor data sheet 3 Increase potentiometer P5 gain slowly until the amplification is set large enough Caution f the motor vibrates or becomes loud t
16. xon motor control June 1999 edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 5 2 Outputs 5 2 1 Current monitor Monitor l The servoamplifier makes a current actual value available for monitoring purposes The signal is proportional to the motor current The Monitor l output is short circuit protected Output voltage range 10 10 VDC Output resistance 10 kQ Gradient approx 0 8 V A 5 2 2 Speed monitor Monitor n The speed monitor is primarily intended for the qualitative estimation of the dynamics The absolute speed is determined by the properties of the speed sensors and by the setting of the Nmax potentiometer The output voltage of the speed monitor is proportional to the number of revolutions The output voltage of the speed monitor is 10V when the maximum number of revolutions set by the Nmax potentiometer has been reached The Monitor n output is short circuit protected Output voltage range 10 10 VDC Output resistance 10 kQ 5 2 3 Status reading Ready The Ready signal can be used to report the state of operational readiness or a fault condition on a master control unit The Open Collector output is in normal cases i e no faults switched to Gnd In the case of a fault due to excess temperature or excess current the output transistor is not conducting high resistance An external additional voltage is required Input voltage
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