User Manual - ElectroCraft
Contents
1. User Manual EA2506 7 2 Digital Outputs Err Error Monitoring Output Whenever a system failure occurs i e overtemperature or hall error the Err output responds LO position and the red LED on the front panel is switch on The drive output stage is switched off and the error will not reset until the user resets the drive with power off If the error occurs again the problem still exists The output is applicable in three different modes A As Open Collector LO active TTL compatible or up to 30 V industrial logic B As Push Pull output with an output impedance 50 Ohm when connecting the upper voltage signal to input Verr With Verr 24 V an SPS with photocoupler inputs can directly be controlled C Together with a bridge between the 5V output and Verr input applicable as Push Pull output for a connection to TTL or CMOS Logics without external upper voltage signal Additional information about the schematic refer chapter 3 2 Range of Output Voltage 0 6 V Verr 0 6 V with Verr 5 V to 30 V Output Impedance 50 Ohm Permanent Output Current 100 mA max source and sink Note By The logical state of this output is clearly visible by the red Err LED on the front panel ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 29 ElectroCraft powering innovation User Manual EA2506 7 3 Analog Inputs Set v Set Value Input for Speed An external analog signa2. by optical sensors to produce the digital outputs Feedback It is a signal which is transferred from the output back to the input for use in a closed loop system Four quadrants Refers to a motion system which can operate in all four quadrants i e velocity in either direction and torque in either direction This means that the motor can accelerate run and decelerate in either direction Gain The dynamical behaviour of the servo amplifier must be compatible to the particular connected motor The adjusting procedure is performed using the Gain potentiometer A bad adaptation i e if the Gain value has been selected too high can be easily recognized by excessive motor vibration or noise Consequential mechanical damages cannot be excluded furthermore an overtemperature situation may arise due to high currents inside the motor Inductance The electrical equivalent to mechanical inertia that is the property of a circuit which has a tendency to resist current flow when no current is flowing and when current is flowing has a tendency to maintain that current flow NTC Negative Temperature Coefficient A negative temperature coefficient thermistor is used to detect and protect a motor winding from exceeding its maximum temperature rating it is also used in a servo amplifier Resistance of the device decreases with an increase in temperature ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 24 E
3. e The motor has to be grounded e The drive is an Electrostatic Sensitive Device ESD Electrostatic discharge needs to be avoided NOTE Certain applications may involve special requirements Consult Factory ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 3 User Manual EA2506 2 2 1 ElectroCraft powering innovation Specifications Electrical Data Power Supply Voltage 11 to 50 VDC Residual ripple lt 5 The lower limit is monitored by integrated undervoltage trip WARNING Do not exceed 50V Overvoltage will damage the drive Auxiliary Voltage Input Verror Verr 5 to 30 VDC Supply voltage for the Err output Refer chapter 7 2 Nominal Current 6A Maximum Power only achievable with 300 W additional heatsink amp proper mounting Switching Frequency 50 kHz Efficiency 97 Induction Specification amp caution for low Optional choke modules are often an inductance motors economical solution for low inductance or other motors if an overheating situation occurs in regular intervals Contact factory service for details Power terminals The diameter must be suited for the connecting wires of the current load The recommendation is 1 5 mm AWG16 the minimum is 0 13 mm AWG28 Maximum wire diameter with respect to the plug contact is 2 5 mm AWG14 Strip the wire insulation of the cables on a length of 10mm For stranded wire use end sleeves w
4. limit should always be selected lower than the maximum admissible constant current Ramp The ramp function is deactivated if the Ramp potentiometer is set to minimum The ramp time defines the increasing time to reach the scheduled value defined by n max The ramp is active after the drive is enabled also by changing the Speed Hall mode This is a closed loop speed mode which is using the hall signals as a feedback input for the speed ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 21 ElectroCraft powering innovation User Manual EA2506 Torque mode In this mode the driver controls only the current of the motor The speed of the motor depends on the load because only the output force of the motor is regulated Brushless motor A class of motors that operate using electronic commutation of phase currents rather than electromechanical brush type commutation Brushless motors typically have a permanent magnet rotor and a wound stator Commutation Is a term which refers to the action of steering currents or voltages to the proper motor phases so as to produce optimum motor torque In brush type motors commutation is done electromechanically via the brushes and commutator In brushless motors commutation is done by the switching electronics using rotor position information obtained by Hall sensors Hall sensor Is a feedback device which is used in a brushless servo system to provide in
5. motor phases from the drive in an over temperature condition ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 25 ElectroCraft powering innovation User Manual EA2506 Torque ls a measure of angular force which produces rotational motion This force is defined by a linear force multiplied by a radius e g Ib in or Nm Torque is an important parameter of any motion control system Two Quadrants Refers to a motion system which can operate in two quadrants by changing the direction of the motor speed ore in one quadrant with active accelerate and decelerate Watt One horsepower equals 746 watts 7 Description of Inputs and Outputs 7 1 Digital Inputs En Enable Activating or Disabling the Output Stage If the En input X3 3 isn t at GND potential or not wired at all the output stage remains in the locked state active LO The motor stands still or slow down without brake To reactivate the output stage a voltage signal lt 0 6V to the En input is necessary If the ramp function is applied as well it will immediately be carried out after the activation of Enable Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 4 7 kOhm to GND Permanent Input Protection 0 6 to 50 VDC Enable activated lt 0 6 VDC or connected to GND Enable disabled gt 3 5 VDC or open P Remark A Alternative this function is als
6. User Manual EA2506 ElectroCraft powering innovation 2 Q PWM Drive 06 A For Brushless Commutated DC Motors up to 300 W EA2506 Brushless drive in a small size rugged aluminium housing in bookshelf form Different methods of mounting for fast installation Tool free connections for power terminations Inputs and outputs via RJ45 CAT5 plug Operation mode with simple DIP switch setting User adjustable current limit and ramp function Wide range supply voltage between 11 and 50 VDC for different kinds of DC power supplies Protected against overtemperature and over current MOSFet technology efficiency 97 Continuous current up to6 A Basic drive description The EA2506 drives are designed to work with DC brushless type motors They require a single DC power supply for operation The drives are to be used with a single motor They have the functionality to operate as an independent speed control and torque control The EA2506 is protected against short circuits under voltage over temperature hall error and over current It has multiple possibilities of operation and serves as a reliable choice for your motion control needs ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 1 ElectroCraft powering innovation User Manual EA2506 Table of Contents 1 Safety amp Installation ME 3 2e OPECINCAUONS sorei e o9WAarardrrenn 4 3 Driv OV V eu 6 A VIG EE H 5 Ex
7. able Loop 1 Fast amp Slow www electrocraft de by Direction Enable Off On hara Off On SE EA2506 i aa Speed D Un i Verror 2 Q Servo Amplifier Ewd Rwd Error aa TI MOK Brushless DC Motors GND Supply Voltage 11 50V MAX Cont Current 6A a Romp EI Are Rons C Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Power supply 11 50 VDC PA EKEN SEBA BAN rey NE ag gy ee apt EH Hall Mode Torque Mode Loop Fast Loop Slow Ki Ki Ki lt amp A X 2 x N D N D x N D CANN G H oi G H oi 1 J 2 3 j 4 1 J 2 j 3 j 4 1 jJ 2 j 3 J Note In case of using the switch for Br refer chapter 7 1 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 15 ElectroCraft powering innovation User Manual EA2506 4 5 Wiring Example V 0 10V Setval Brak Set value Brake GND Direction EA2506 2 Q Servo Amplifier Error Brushless DC Motors supply Voltage 1 1 50V Cont Current 6A A Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany Mon GND Power supply 11 50 VDC E et NOKA NNN Pe e Ney ed e wt reegen Hall Mode Torque Mode Loop Fast Loop Slow N lt SEI Q N c gt w or lt N lt SI Q X c gt w Es lt ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 16 ElectroCraft powering innovation User Manua
8. e is lower than the maximum admissible constant current see motor data sheet To measure the motor current use the Mon I output a current probe in one of the motor cables with an oscilloscope To change rotation direction of the motor connect the Dir input to ground The ramp function is deactivated if the potentiometer Ramp is set to the left To optimize the dynamic behaviour of the speed control loop to the motor use switch 1 3 Loop refer chapter 5 3 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 11 ElectroCraft powering innovation User Manual EA2506 4 2 Wiring Example Il Torque Mode Setval Brake Direction 10V EA2506 2 Q Servo Amplifier Brushless DC Motors Supply Voltage 11 50V Cont Current 6A A Ari ROHS Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Power supply 11 50 VDC r I l l l l l I l l I I l l l l l l l l l l l L Li an an a ak Gaz ak qaz az dekan l ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 12 ElectroCraft powering innovation User Manual EA2506 4 2 1 Adjustment procedure for Torque mode 1 Potentiometer pre setting refer chapter 5 2 2 To activate the drive switch the En input to ground after power up 3 Adjust the current limiter to a value requested by you with the max po
9. ed Red Yellow Yellow Yellow Yellow Grey Grey Grey Grey Blue Blue Blue Blue 32 MA0025 WA2509 lA3100 with 3 x 50 uH and lA3101 with 3 x 100 uH 5 10 20 30 5 10 20 30 5 10 20 30 5 10 20 30 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 ElectroCraft powering innovation User Manual EA2506 10 Warranties amp Disclaimers e Contents are subject to change without notice e Electrocraft will not be liable in any way for direct indirect incidental or consequential damages caused by the use of this product or document e Per Electrocraftts Terms amp Conditions the user of Electrocraft s accepts all responsibility and risks involved with applying this product into their machinery and indemnifies Electrocraft against all damages e Any reproduction of this product and document is strictly prohibited Limited Warranty Electrocraft products unless otherwise stated in specifications are warranted for a period of 18 months from date of shipment to be free from defects in materials workmanship and to conform to the specifications Liability under this warranty shall be limited to the repair or replacement but not to the installation of any defective product at Sellers option Products will be repaired or replaced at the Sellers option Under no circumstance shall the user repair or modify the product Failure to adhere to this will void al
10. formation for the amplifier to electronically commutate the motor The device uses a magnetized wheel and hall effect sensors to generate the commutation signals Back EMF The voltage generated when a permanent magnet motor is rotated This voltage is proportional to motor speed and is present regardless of whether the motor winding s are energized or de energized Closed loop This is broadly applied term relating to any system in which the output is measured and compared to the input The output is then adjusted to reach the desired condition In motion control the term typically describes a system utilizing a velocity and or position transducer to generate correction signals in relation to desired parameters Cogging A term used to describe non uniform angular velocity Cogging appears as jerkiness especially at low speeds ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 22 ElectroCraft powering innovation User Manual EA2506 Continuous rated current The maximum allowable continuous current a motor can handle without exceeding the motor temperature limits Continuous stall torque Is the amount of torque at zero speed which a motor can continuously deliver without exceeding its thermal rating To determined by applying DC current through two windings with locked rotor while monitoring temperature It s specified with motor windings at maximum rated temperature and 25 C ambient tem
11. iliar with the entire system before beginning installation Before final operation of machine be sure to test hookup with motor but disconnected from the load Improper wiring could cause a motor run away condition and cause serious injury or damage to the machine and personal Before starting installation of the EA2506 be sure that main power is disconnected After powering the drive it should not be touched by hand or risk shock Take care that in case of regeneration or in brake operation the energy recovery must be buffered by the power supply and or a braking module Ensure with electronically stabilized power supplies that protection circuit isn t react Don t switch off the power supply while the motor is turning in this case the drive could be destroyed by regeneration We recommend connecting a capacitor of 1000 uF per each ampere output current close to power input in parallel Do not repair or open drives enclosure to prevent personal injury and void all warranties The EA2506 comply with the European directive EN 61800 3 1996 The followings points must be followed e A metal mounting plate with correct grounding is mandatory e For installation purposes tooth lock washers have to be used e For most wiring schemes only shielded cables are admissible to suppress interference with other devices Damaged items have to be replaced e Provide for a large contact area between shields and mounting plate
12. ith the corresponding length Wire ends have to be inserted into the contact until they reach the stop Signal terminals For the cabling of the RJ45 plugs we recommended shielded CAT5 cables The cables are available in different colours and lengths in the system accessories ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 4 User Manual EA2506 2 2 Mechanical Data Mechanical Dimensions Lx Wx H Weight Mounting 2 3 Ambient Conditions Operation Temperature Storage Temperature Humidity Non Condensing Overtemperature Protection 2 4 Digital and Analog Inputs Enable En Direction Dir Brake Br Hall A B C Set value Set v 2 5 Outputs Auxiliary Voltage Outputs 5V Auxiliary Voltage Outputs 70V Error output Err Current monitor Mon N 2 6 Control LEDs Power Pr Error Err ElectroCraft powering innovation 93 x 55 5 x 22 5 mm 120 g M3 screws or Din Rail Mounting 10 to 45 C 40 to 85 C 20 to 80 RH 80 C TTL 24 VDC Resistance gt 4 7 kOhm TTL 24 VDC Resistance gt 4 7 kOhm TTL 24 VDC Resistance gt 4 7 kOhm TTL 5 VDC Resistance 1 kOhm Analog 0 10 VDC Resistance 100 kOhm 5 V 20 mA for each 40 mA if connected in parallel 10 V 10 mA Open Collector Push Pull TTL 24 VDC Resistance 50 Ohm Analog 0 10 VDC with 0 75 V A Resistance 1 kOhm max 1 mA LED green The LED i
13. l EA2506 4 5 Wiring Example VI Setval Brake Enable Direction Verror 2 Q Servo Amplifier Error Brushless DC Motors supply Voltage 1 1 50V Cont Current 6A A Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Power supply 11 50 VDC USE SN NEDE SA RUS SONE N SERRA DA DADE KOR DAD SE ZURNA ERDEN ABE eege Hall Mode Torque Mode Loop Fast Loop Slow mp A 2 o A mp g A c gt Q is XW Ss c gt w lt 1 j 2 J 3 j 4 1 j 2 j 3 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 17 ElectroCraft powering innovation User Manual EA2506 5 Explanation of Terminals Dip Switches amp Potentiometers 5 1 Terminals Terminal Label Description X1 Pin 1 amp 2 connect to power supply Pin 3 amp 4 amp 5 connect to motor Pin 1 amp 2 amp 3 input for hall signals Pin 4 do not contact X2 Pin 5 voltage output for current Pin 6 amp 7 voltage output 5 VDC Pin 8 GND Pin 1 input set value Pin 2 input Brake Br Pin 3 input Enable En extern Pin 4 input Direction Dir Pin 5 voltage output 10 VDC Pin 6 voltage input for Err output X3 Pin 7 output signal Error Err Pin 8 GND X2 X3 Pinning of CAT5 connectors 87654321 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 18 ElectroCraft powering innovation User Man
14. l for speed entered using Set v input If the voltage is O V the motor stops If the voltage is positive the drive is working in the regulation area Over 10 V the motor is unregulated with a limited maximum speed through the n max potentiometer Additional information about the schematic refer chapter 3 2 Range of Input Voltage OV to 10 V Input Impedance 100 kOhm Permanent Input Protection 0 6 V to 30 V P Remark A To use the external Set v input set switch S1 1 to Off Mon I Monitor Motor Current Output Mon delivers a result representing the actual value of the motor current The proportionality factor is fixed to 0 75 V per 1 A motor current Additional information about the schematic refer chapter 3 2 Range of Output Voltage 0 to 10 VDC Output Impedance 1 kOhm Permanent Output Current 1 mA max source and sink ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 30 ElectroCraft powering innovation User Manual EA2506 8 Basic Troubleshooting The servo amplifier has included some different protective functions Hall error under voltage over temperature and over current are monitored and shown with the red LED at the front side Important The motor starts only by cut off power Before resetting an error by resetting the power supply make sure that the cause of the failure is eliminated Motor runaway e Logic of the hall connection is permuted e No load in t
15. l warranty For Warranty Repair or Technical Assistance contact Customer Support North America USA amp Canada Motion Control Technologies 800 697 6715 Email info electrocraft com Customer Support Europe except Germany Middle East Africa Australia Central amp South America Customer service at 44 0 127 050 8800 Email EMEAsales electrocraft com Customer Support Germany Customer service at 49 0 711 727205 0 Email info electrocraft de ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 33 ElectroCraft powering innovation User Manual EA2506 11 Dimensions 93 0 85 5 All dimensions in mm 12 Mounting Din rail adapter ol U U SEAN DIN7982 3 5x9 5 EA2506 E09 Subject to change without prior notice ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 34
16. lation it makes only sense to test the system as a whole with all components installed motor amplifier supply pack EMC filters cables etc Note To improve the noise immunity always connect unused logical inputs to a fix potential GND or 5V Do not connect the CAT5 connectors to any network ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 9 ElectroCraft powering innovation User Manual EA2506 4 1 Wiring Example Hall Mode Setval Brake Direction 10V EA2506 2 Q Servo Amplifier Brushless DC Motors supply Voltage 1 1 50V Cont Current 6A Zo W CE Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Power supply 11 50 VDC r I l l l l l I l l I I l l l l l l l l l L i i l ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 10 User Manual EA2506 ElectroCraft powering innovation 4 1 1 Adjustment procedure for Hall Mode oY a 2b Potentiometer pre setting refer chapter 5 2 To activate the drive switch the En input to ground after power up Set the external Set v potentiometer to maximum speed Turn the potentiometer n max until the desired maximum speed is reached Adjust with the max potentiometer the maximum motor current to a value requested by you It is of major importance that this valu
17. lectroCraft powering innovation User Manual EA2506 Open loop A system in which there is no feedback Motor motion is expected to faithfully follow the input command Stepping motor systems are an example of open loop control Pulse Width Modulation PWM 1 A PWM controller amplifier switches DC supply voltage on and off at fixed frequencies The length of the on off interval or voltage waveform is variable 2 Pulse width modulation PWM describes a switch mode as opposed to linear control technique used in amplifiers and drivers to control motor voltage and current PWM offers greatly improved efficiency compared to linear techniques Regeneration The action during motor braking in which the motor acts as a generator and takes kinetic energy from the load converts it to electrical energy and returns it to the amplifier Resonance Oscillatory behavior caused by mechanical limitations Ringing Is an oscillation of a system following a sudden change in state Speed Describes the linear or rotational velocity of a motor or other object in motion Tachometer A small generator normally used as a rotational speed sensing device The tachometer feeds its signal to a control which adjusts its output to the motor accordingly called closed loop feedback control Thermal protection A thermal sensing device mounted to the motor to protect it from overheating This is accomplished by disconnecting the
18. nnovation User Manual EA2506 Br Brake Braking the Motor If the Br input X3 2 isn t at GND potential or not wired at all the function is not activated active LO At GND the motor is breaking suddenly by shorting the motor windings to GND if the Enable input is switched on Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 4 7 kOhm to GND Permanent Input Protection 0 6 to 50 VDC Brake activated lt 0 6 VDC or connected to GND Brake disabled gt 3 5 VDC or open Note A Don t exceed the maximum breaking speed otherwise the output stage could be destroyed The maximum allowed breaking speed is limited by the maximum permitted short circuit current and the maximum allowed kinetic energy 1 lt 10A e W lt 4 Ws By the motor data s it is possible to calculate the maximum breaking speed max allowed braking Nax SAe k Rop 0 08O min speed limited by current a4 1 lI 8 A k Speed Constant min V Rp Terminal Resistance Phase Phase IO At a given moment of inertia the maximum breaking A speed is calculated as follow max allowed braking speed limited by kinetic N energy 10000 min Rt 2 UN 4 Ws J Rotor Inertia gem 2 J Load Inertia gcm ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 28 ElectroCraft powering innovation
19. o possible with switch S1 4 Refer chapter 5 3 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 26 ElectroCraft powering innovation User Manual EA2506 Dir Direction Changing the Direction of the Rotation If the Dir input X3 4 is at LO the motor turns in one direction at HI or open the direction is opposite The direction depends by the commutation sequence of the motor Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 4 7 kOhm to GND Permanent Input Protection 0 6 to 50 VDC Direction e g CW rotation lt 0 6 VDC or connected to GND Direction e g CCW rotation gt 3 5 VDC or open Note A It is allowed to change the direction on fly The drive uses a special protection circuit to avoid damage by changing the direction Hall A B C Hall Feedback of the Motor The Hall inputs X2 1 X2 2 and X2 3 are connected to the hall signals of the motor The supply voltage is given by the 5V output at X2 6 or X2 7 to GND X2 8 The drive needs the signals to do the commutation and control the speed Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 5 VDC Input Impedance 1 kOhm to 5 V Permanent Input Protection 0 6 to 24 VDC High level gt 2 4 VDC Low level lt 1 VDC ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 21 ElectroCraft powering i
20. orque mode e Reduce the maximal speed with pot n max Motor noise e Use additional choke in the motor Motor has no torque e Increase the admissible current with max pot Motor drifts at standstill e The input value for the set value isn t stable Motor is going hot e Use an additional choke in series with the motor See accessories Motor speed too low e Increase the range with pot n max e Increase the admissible current with max pot e Supply voltage too low No motion even though the drive is enabled e Check power supply and the wiring e Overheating protection or another error condition is active e Check the wiring of the motor windings and hall signals e ls the phasing 120 of the hall correct e The polarity of the motor windings or hall signals is permuted e The feedback loop is open Check wiring ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 31 User Manual EA2506 Over temperature Use an additional cooling Reset the amplifier by cut off power ElectroCraft powering innovation A Beware that the maximal working temperature of 80 C in the driver is not reached 9 Accessories amp Options Mounting adaptor for Din rail Connecting module Choke modules Shielded CAT5 Cables CA2005 CA2010 CA2020 CA2030 CA8005 CA8010 CA8020 CA8030 CA4005 CA4010 CA4020 CA4030 CA6005 CA6010 CA6020 CA6030 otherwise the drive will be switched off Red Red R
21. otor This control loop is very fast but the speed is moving with the load due to the constant current This mode is used in application with force control or as a fast power amplifier for positioning systems ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 8 ElectroCraft powering innovation User Manual EA2506 4 Wiring According to the safety directives a correct cable selection is mandatory Regular inspection is advisable Damaged burned or kinked items have immediately to be exchanged Power Power Power GND e Normally no shielding required e When connecting several amplifiers to the same supply pack use star point wiring Motor Wiring gt 30 cm e Only shielded cables are recommended e Connect the shield to the ground lug of the drive e A separate cable has to be used e Choke modules are useful to reduce PWM pulses Connection to hall gt 30 cm e Only shielded cables are recommended e Connect the shield to the controller e A separate cable has to be used Analog Signals Set v Mon D e In most cases no shielding required This may be different for low level signals or in an environment with strong magnetic interference e Connect the shield on either end of the cable For 50 60 Hz interference remove the shield on one side Digital Signals En Dir Br Err e No shielding required To verify a trouble free operation and the conformity to CE regu
22. perature motor mounted to a heat sink Refer to individual specs for heat sink size Controller This term describes a functional block containing an amplifier power supplies and possibly position control electronics for operating a servomotor or step motor Demag current Is the current level at which the motor magnets will start to be demagnetized This is an irreversible effect which will alter the motor characteristics and degrade performance Drive It s an electronic device that controls torque speed and or position of an AC or brushless motor Typically a feedback device is mounted in or on the motor for closed loop control of velocity and position Driver Is the electronics which convert step and direction inputs to high power currents and voltages to drive a step motor The step motor driver is analogous to the servomotor amplifier s logic Efficiency The ratio of power output to power input ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 23 ElectroCraft powering innovation User Manual EA2506 Encoder Is a feedback device which converts mechanical motion into electronic signals The most commonly used rotary encoders output digital pulses corresponding to incremental angular motion For example a 1000 line encoder produces 1000 pulses every mechanical revolution The encoder consists of a glass or metal wheel with alternating transparent and opaque stripes detected
23. planation of Terminals Dip Switches amp Potentiometers 18 0 GOSSA cre rae cece ese ce saci ete re we sree see ee ee eee eee eee 21 7 Description of Inputs and OUtPUtS cc ececeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 26 8 Basic TrOUDICSNOOTING ccccsceeseceeseceeseenseseasecesesensenenssenseseneess 31 9 Accessories amp Options ccccsseesssseeeeneescsseecenseseenseesenseeseneees 32 10 Warranties amp Disclaimers Ki kk kk kk kk kk kk kk Ak KRA 33 TE DIMENSIONS cierro isa ka kerka d l san nes kki kn n nes kan sea bu kax siksja nad ka awat s ka d ka 34 12 Mounting Din rail adapter ccccesseceseeesseenseenseeeneeseeesenseeeees 34 Used Symbols Indicates a warning or caution concerning operations that may lead to A death or injury to persons or damage to property if not performed correctly In order to use the drive safely always pay attention to these warnings Indicates a clarification of an operation or contains additional explanations J or operational requirements for a procedure Reading these notes is much recommended ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 2 ElectroCraft powering innovation User Manual EA2506 1 Safety amp Installation The EA2506 requires installation by qualified personal which must pay attention to significant safety and other regulatory standards They should be thoroughly fam
24. s This is a longer loop time with a better transient behaviour or to control bigger motors Enabling of the output The enable is following the signal at the input X3 3 With high the output stage will be activated Refer chapter 7 1 With switching the switch from Off to On the output stage will be activated ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 20 ElectroCraft powering innovation User Manual EA2506 6 Glossary Speed The function for the Soeed potentiometer is to adjust the motor speed n max Use this potentiometer to adapt the desired maximum speed to the amplitude of the present set value For Example if maximum of 5V is to be used for maximum Speed then send 5V and adjust that maximum with the n max potentiometer Take care not to exceed meaningful limits An exaggerated value may avoid to control the drive and making it impossible e g to line up the system in speed control operation under load I max The following action requires the motor to be operated with maximum load The motor current may be measured e g using current probe with effective value display or by means of an ammeter located in the motor line max decide on the maximum possible motor current The following limits have to be observed Left stop 5 of rated current of 06 A Right stop 100 of rated current 0 5 Note J Do not overheat the motor For this reason the max
25. s lit when the operating voltage is present LED red The lamp is lit if the overtemperature overcurrent the undervoltage protection circuit or a hall error has been initiated ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 5 ElectroCraft powering innovation o LO N lt f LLI U 5 c dizan Q N _ Drive Overview 3 Block Diagram 3 1 xew u NER dwey peeds e Jepjih peeds Spo 41X4 WWI Wen pjel US eoe Ss A J MOd GND JemMod ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 User Manual EA2506 ElectroCraft powering innovation 3 2 Input amp Output Schematics Input En Dir Br X3 1 400k gt Input Set v X3 6 me X2 5 100nF Output Mon Output Err ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 7 ElectroCraft powering innovation User Manual EA2506 3 3 Control Elements 3 4 Operation Modes Hall Mode At hall mode the feedback information is coming from hall switches which are mounted in the motor or a hall encoder which is mounted at the motor The speed regulation is good at each load condition and qualified for each application to control the speed of a system also for high speed application Torque Mode At torque mode the drive does only control the current of the m
26. tentiometer It is of major importance that this value is lower than the maximum admissible constant current see motor data sheet To measure the motor current use the Mon I output a current probe in one of the motor cables with a oscilloscope 4 To change the rotation directions of the motor connect the Dir input to ground 5 The ramp function is deactivated if the potentiometer Ramp is set to the left ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 13 ElectroCraft powering innovation User Manual EA2506 4 3 Wiring Example Ill Minimal Wiring Off On Set v ext int Brake S 1 Mode Spd Ta Enable Direction prec EA2506 Verror 2 Q Servo Amplifier Error Brushless DC Motors GND Supply Voltage 1 1 50V Cont Current 6A A Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Setval ElectroCraft Power supply 11 70 VDC B EREK A en ey Ne agg ee apt EH eegener Hall Mode Torque Mode Loop Fast Loop Slow Ki R lt 9 X amp lt 4 amp lt x X D X oe N D c gt S lt EVO lt c gt OS 1 J 2 3 j 4 1 jJ 2 j 3 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 14 ElectroCraft powering innovation User Manual EA2506 4 4 Wiring Example IV tval Setva Satv ext amp int ElectroCraft Brake S Mode Sed Tra En
27. ual EA2506 5 2 Potentiometers O E e Ss Ka Potentiometer Function Turning to the Left Turning to the ccw Right cw Speed Set the motor speed Decrease motor Increase motor speed speed n max Definition of max number Value is decreased Value is increased of revolutions max Set value for max current Reduce the current Increase the current Ramp Switch On Off and adjust Ramp time is lowered Ramp time is raised the time of the Ramp at left stop the function is disabled Potentiometer setting for start up Speed n max max Ramp Right stop Middle Middle Left stop ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 19 User Manual EA2506 5 3 Dip switches 1 2 Off S1 3 Off On A c gt Qi gt lt On 1 Set v Set value extern Set value intern Mode Speed Spd Torque Trq Loop Fast Slow Enable Enable Off Enable On HEEL ElectroCraft powering innovation Nk Set v ext int S Mode Spd Tra Loop Fast amp Slow Enable Off On Methods of entering the set value External selection using a voltage between X3 1 and X3 8 The internal Speed potentiometer is used Selecting the operation mode The drive is working in a closed loop hall speed mode The drive is working in a closed loop current mode Setting the time constant of the speed loop This is a short loop time for high dynamic motor
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