maxon motor 4-Q-EC Instructions Manual
maxon motor
maxon motor control 4-Q-EC Servoamplifier DES 70/10
Order number 228597
Operating Instructions April 2006 Edition
The DES (Digital EC Servoamplifier) is a very efficient digital
servoamplifier with sinusoidal current commutation for
perfectly controlling EC (Electronic Commutation) motors.
The EC motors must be equipped with Hall sensors and a
digital encoder with line driver.
Control, monitoring and complete control algorithms are
carried out in a very fast digital signal processor.
As with classic, conventional automatic controllers, easy
trimming and adjustment of the servoamplifier is possible,
with just a few potentiometers.
As an alternative, configuration is also possible using a
PC (RS232 or CAN). This is particularly beneficial with
series application, as all adjustments and parameters can
be set quickly, numerically and easily reproduced.
The set value specification can be made conventionally
with an analogue input (0 ... 5 V or ±10 V), RS232 or CAN
bus interface.
The sinusoidal commutation causes minimal torque ripple
and low motor noise.
Table of Contents
1
Safety Instructions ...........................................................................................................................................2
2 Performance Data............................................................................................................................................3
3 Minimum External Wiring for Different Modes of Operation ............................................................................4
4 Operating Instructions......................................................................................................................................5
5 Functions..........................................................................................................................................................7
6 Error Messages..............................................................................................................................................15
7 EMC-compliant installation ............................................................................................................................16
8 Block Diagram................................................................................................................................................18
9 Dimension Drawing........................................................................................................................................18
The latest edition of these operating instructions, additional documentation and software to the DES 70/10 may also be found
on the Internet under
www.maxonmotor.com category «Service & Downloads», Order number 228597.
This document is valid for the HardwareVersion 4102.
maxon motor
4-Q-EC Servoamplifier DES 70/10 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, in principle, not fail-safe. Machines and apparatus must
therefore 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 DES 70/10 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 24 and 70 VDC. Voltages higher than
75 VDC or of wrong polarity will destroy the unit.
Short circuit and earth fault
The DES 70/10 amplifier is not protected against winding short circuits against
ground safety earth and/or Gnd!
Electrostatic Sensitive Device (ESD)
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maxon motor
Operating Instructions 4-Q-EC Servoamplifier DES 70/10
2 Performance Data
2.1 Electrical Data
Supply voltage VCC (Ripple < 5%)...............................................................................24 - 70 VDC
Max. output voltage.......................................................................................................... 0.9 · V
CC
Max. output current Imax ........................................................................................................30 A
Continuous output current Icont ..............................................................................................10 A
Switching frequency............................................................................................................50 kHz
Max. efficiency ....................................................................................................................... 92 %
Band width current controller ................................................................................................1 kHz
Max. speed (motor with 1 pole pair)............................................................................. 25 000 rpm
Minimum terminal inductance .............................................................................................400 µH
2.2 Inputs
“Set value”...................................... configured by DIP switch S9: -10 ... +10 V (R
i
= 80 kΩ)
0 ... +5 V (R
i
= 50 kΩ)
“Enable” .......................................................................................... +2.4 ... +50 VDC (Ri = 12 kΩ)
“Digital 1” (Switch “Monitor n” / “Monitor I”) ..................................... +2.4 ... +50 VDC (Ri = 17 kΩ)
“Digital 2” (Switch speed-/ current controller) .................................. +2.4 ... +50 VDC (Ri = 90 kΩ)
“STOP”............................................................................................ +2.4 ... +50 VDC (Ri = 17 kΩ)
Encoder signals ...............................................................................A, A\, B, B\, I, I\ ; max. 1 MHz
Hall sensor signals.......................................................Hall sensor 1, Hall sensor 2, Hall sensor 3
CAN ID (CAN identification) ........................................................configured by DIP switch S1 ... 7
ID = 1 ... 127 (binary coded)
2.3 Outputs
Monitor...........................configurable by DIP Switch 10: -10 ... +10 V (R0 = 1 kΩ, fg = 900 Hz)
0 ... +5 V (R
0
= 1 kΩ, fg = 900 Hz)
Status reading “Ready” .................................................open collector: max. 30 VDC (I
L
< 20 mA)
2.4 Voltage outputs
Encoder supply voltage...............................................................................+5 VDC, max. 100 mA
Hall sensors supply voltage ..........................................................................+5 VDC, max. 50 mA
Auxiliary supply voltage ................................................................................+5 VDC, max. 20 mA
2.5 Interfaces
RS232............................................................................................ RxD, TxD (max. 115 200 bit/s)
CAN ..............................................................................................CAN_H, CAN_L (max.1 Mbit/s)
2.6 Trim potentiometers
n
max
, Offset, I
max,
gain
2.7 LED indicator
Bi-colour LED .................................................................................................... READY / ERROR
green = READY, red = ERROR
2.8 Ambient temperature/ humidity range
Operating ................................................................................................................... -10 ... +45°C
Storage ......................................................................................................................-40 ... +85°C
non condensating.......................................................................................................... 20 ... 80 %
2.9 Mechanical data
Weight...................................................................................................................... approx. 400 g
Dimensions (L x W x H) ............................................................see dimension drawing,
chapter 9
Mounting plate .........................................................................................................for screws M4
2.10 Connections
PCB clamps ............................................................................. Power (6 poles), Signal (20 poles)
Pitch ..................................................................................... Power 5.08 mm, Signal 2.54 mm
suitable for wire cross section ........................................Power 0.14 ... 1.5 mm
2
(AWG 26-16)
Signal 0.14 ... 0.5 mm
2
(AWG 26-20)
Encoder ................................................................................................ Plug DIN41651 (10 poles)
for flat band cable, pitch 1.27 mm, AWG28
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maxon motor
4-Q-EC Servoamplifier DES 70/10 Operating Instructions
3 Minimum External Wiring for Different Modes of Operation
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maxon motor
Operating Instructions 4-Q-EC Servoamplifier DES 70/10
4 Operating Instructions
4.1 Power supply layout
Any available power supply can be used, provided it meets the minimal requirements set 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. 24 VDC; VCC max. 70 VDC
Ripple < 5 %
Output current depending on load,
continuous max. 10 A
acceleration, short-time max. 30 A
The required voltage can be calculated as follows:
Known values
Ö Operating torque MB [mNm]
Ö Operating speed n
B
[rpm]
Ö Nominal motor voltage U
N
[V]
Ö Motor no-load speed at U
N
, n0 [rpm]
Ö Speed/torque gradient of the motor ∆n/∆M [rpm / mNm]
Sought value
Ö Supply voltage
V
CC
[V]
Solution
][2
9.0
1
)(
0
VM
M
n
n
n
U
V
BB
N
CC
+⋅⋅
∆
∆
+⋅=
Choose a power supply capable of supplying this calculated voltage under load.
The formula takes a max. PWM cycle of 90 % and a 2 volts max. voltage drop
at DES 70/10 into account.
Consider:
The power supply must be able to buffer the back-fed energy from brake operation e. g. in a condenser. With electronically stabilized power supply units, care
must be taken to ensure that the overcurrent protection responds in nonoperating condition.
4.2 Function of the potentiometers
Potentiometer Function Turn to the
left right
P1
n
max
max. speed at
max. set value (e.g.
external potentiometer
fully clockwise; 5 V; 10 V)
slower
min. 0 rpm
faster
max.
25 000 rpm
P2
Offset
Adjustment: n = 0 rpm
(set value e. g. ext. potentiom. in centre pos.)
motor turns
CCW
motor turns CW
I
max
lower ≈ 0A higher ≈ 30A
P3
I
cont
current limit
lower ≈ 0A higher ≈ 10A
P4
gain amplification lower higher
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maxon motor
4-Q-EC Servoamplifier DES 70/10 Operating Instructions
4.3 Adjustment of the potentiometer
4.3.1 Pre-adjustment
With the pre-adjustment, the potentiometers are set in a preferred position.
DES units in the original packing are preset.
Pre-adjustment potentiometers
P1 n
max
30 %
1)
P2 Offset 50 %
P3
I
max
50 %
2)
P4
gain
30 %
1) 30 % are equivalent to n
max
= approx 7500 rpm
2) 50 % are equivalent to I
cont
= approx. 5 A, I
max
= approx. 15 A
4.3.2 Adjustment
Digital speed control
(see also 5.1.6)
1. Give the max. set value (e.g. 10 V) and turn potentiometer P1 n
max
until
the required speed is achieved.
2. Set potentiometer P3 I
max
at the required limiting value.
Important: The limiting value I
cont
(= 1/3 I
max
) should be below the nominal
current (max. continuous current) as shown on the motor data sheet.
3. Increase potentiometer P4 gain slowly until amplification is set suffi-
ciently high.
Important: If the motor vibrates or becomes loud, the selected amplifica-
tion is too high and the potentiometer P4 must be readjusted until the
instability of the drive’s closed loop ceases under all loads.
4. Adjust set value to zero, e.g. by short-circuiting the set value. Then, with
the potentiometer P2 Offset, set the motor speed to zero.
Note: Step 4 is not necessary with external set value potentiometer.
Digital current control
(see also 5.1.6)
1. Set potentiometer P3 I
max
at the required limiting value.
Important: The limiting value I
cont
(= 1/3 I
max
) should be below the nominal
current (max. continuous current) as shown on the motor data sheet.
2. Adjust set value to zero, e.g. by short-circuiting the set value. Then, with
the potentiometer P2 Offset, set the motor speed to zero.
Note
Configured as a digital current controller, P1 n
max
und P4 gain are not activated.
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