maxon motor ADS 50/5 User manual

maxon motor
maxon motor control 4-Q-DC Servoamplifier ADS 50/5
Order number 145391
Operating Instructions July 2009 Edition
The ADS 50/5 is a powerful servoamplifier 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
•IxR compensated speed control
•Torque or current control
The ADS 50/5 is protected against excess
current,
excess temperature and short circuit on the
motor winding. With the FET power transis-
tors incorporated 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 50/5 is very versatile and can be used
with various power supplies. The aluminium housing makes installation simple, with terminal markings for easy
connection.
Table of Contents
1Safety Instructions ...........................................................................................................................................2
2Performance Data............................................................................................................................................3
3Minimum External Wiring for Different Modes of Operation ............................................................................4
4Operating Instructions...................................................................................................................................... 5
5Functions .........................................................................................................................................................7
6Additional Possible Adjustments....................................................................................................................10
7Operating Status Display ...............................................................................................................................12
8Error Handling................................................................................................................................................13
9EMC-compliant installation ............................................................................................................................13
10 Block Diagram................................................................................................................................................14
11 Dimension Drawing........................................................................................................................................14
The latest edition of these operating instructions may be downloaded from the internet as a PDF-file under
www.maxonmotor.com, category «Service & Downloads», order number 145391 or
in the e-shop http://shop.maxonmotor.com.

maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
2
1Safety Instructions
Skilled Personnel
Installation and starting of the equipment shall only be performed by experienced, skil-
led 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. Machines and apparatus must the-
re-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 dange-
rous for the user to open the unit or make repairs to it.
Danger
Do ensure that during the installation of the ADS 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 53
VDC or of wrong polarity will destroy the unit.
Short circuit and earth fault
The ADS 50/5 amplifier is not protected against winding short circuits against ground
safety earth or Gnd!
Motor choke
The built in motor choke allows operation with almost all maxon DC motors with an
output power higher than 10 Watt. If necessary the motor continuous current must be
slightly reduced.
Generally the following applies:
[] []
[] []
[
]
3
15.0
1
15.0
mHL
mH
mAI
s
VV
mHL Motor
D
CC
extern −−
⋅
⎥
⎦
⎤
⎢
⎣
⎡
≥
•Supply voltage VCC [V]
•Nominal current (Max. continuous output current) ID[mA]
•Terminal inductance LMotor [mH]
Sought value:
•Additional required external inductance so that the continuous current only reduces
by max. 10% as a result of warming.
Electrostatic Sensitive Device (ESD)
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
2Performance Data
2.1 Electrical data
Nominal supply voltage +Vcc.....................................................................................12 … 50 VDC
Absolute minimum supply voltage +Vcc min ...................................................................... 11.4 VDC
Absolute maximum supply voltage +Vcc max .................................................................... 52.5 VDC
Max. output voltage ..........................................................................................................0.9 ·VCC
Max. output current Imax .......................................................................................................... 10 A
Continuous output current Icont .................................................................................................. 5 A
Switching frequency ........................................................................................................... 50 kHz
Efficiency ............................................................................................................................... 95 %
Band width current controller ............................................................................................. 2.5 kHz
Built-in motor choke....................................................................................................150 µH / 5 A
2.2 Inputs
Set value .............................................................................................. -10 ... +10 V (Ri= 20 kΩ)
Enable .............................................................................................+4 ... + 50 VDC (Ri= 15 kΩ)
Input voltage DC tacho “Tacho Input”............................. min. 2 VDC, max. 50 VDC (Ri= 14 kΩ)
Encoder signals “Channel A, A\, B, B\”.................................................... max. 100 kHz, TTL level
2.3 Outputs
Current monitor “Monitor I”, short-circuit protected ......................... -10 ...+10 VDC (RO= 100 Ω)
Speed monitor “Monitor n”, short-circuit protected.......................... -10 ...+10 VDC (RO= 100 Ω)
Status reading “READY”
Open collector, short-circuit protected ................................................ max. 30 VDC (IL≤20 mA)
2.4 Voltage outputs
Aux. voltage, short-circuit protected ...................... +12 VDC, -12 VDC, max. 12 mA (RO= 1 kΩ)
Encoder supply voltage ................................................................................ +5 VDC, max. 80 mA
2.5 Trim potentiometers
IxR compensation
Offset
nmax
Imax
gain
2.6 LED indicator
2 coloured LED.................................................................................................. READY / ERROR
green = ok, red = error
2.7 Ambient temperature- / Humidity range
Operating................................................................................................................... -10 ... +45°C
Storage...................................................................................................................... -40 ... +85°C
Non condensating......................................................................................................... 20 ... 80 %
2.8 Mechanical data
Weight ......................................................................................................................approx. 360 g
Dimensions................................................................................................ see dimension drawing
Mounting plate ......................................................................................................... for M4 screws
2.9 Terminal
PCB-clamps..............................................................................Power (5 poles), Signal (12 poles)
Pitch............................................................................................................................3.81 mm
suitable for wire cross section......................................0.14 - 1 mm2 multiple-stranded wire or
........................................................................................................ 0.14 - 1.5 mm2single wire
Encoder ................................................................................................................. Plug DIN41651
for flat cable, pitch 1.27 mm, AWG 28
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
3Minimum External Wiring for Different Modes of Operation
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
4Operating Instructions
4.1 Determine power supply requirements
You may make use of any available power supply, as long as it meets the mi-
nimal 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 < 5 %
Output current depending on load, continuous 5 A
(short-time 10 A)
The required voltage can be calculated as follows:
Known values
ÖOperating torque MB[mNm]
ÖOperating speed nB[rpm]
ÖNominal motor voltage UN [Volt]
ÖMotor no-load speed at UN, n0[rpm]
ÖSpeed/torque gradient of the motor ∆n/∆M [rpm/mNm]
Sought values
ÖSupply voltage VCC [Volt]
Solution
[] VM
M
n
n
n
U
VBB
N
CC 2
9.0
1
0
+⋅
⎟
⎠
⎞
⎜
⎝
⎛⋅
∆
∆
+⋅=
Choose a power supply capable of supplying this calculated voltage under load.
The formula takes into account a max. PWM cycle of 90 % and a 2 volt max.
voltage drop.
Consider
The power supply must be able to buffer the back-fed energy from brake opera-
tion e.g. in a condenser. With electronically stabilized power supply units it is to
ensure, that the overcurrent protection responds in no operating condition.
4.2 Function of the potentiometers
Potentiometer Function Turn to the
left right
P1 IxR IxR compensation weak
compensation
strong
compensation
P2 Offset Adjustment n = 0 / I = 0
at set value 0 V
motor turns
CCW
motor turns
CW
P3 nmax max. speed
at 10 V set value
speed
slower
speed
faster
P4 Imax current limit lower
min. 0.5 A
higher
max. 10 A
P5 gain amplification lower higher
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maxon motor
4-Q-DC Servoamplifier ADS 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 units in original packing are already pre-adjusted.
Pre-adjustment of potentiometers
P1 IxR 0 %
P2 Offset 50 %
P3 nmax 50 %
P4 Imax 50 %
P5 gain 10 %
4.3.2 Adjustment
Encoder mode
DC-Tacho mode
1. Adjust set value to maximum (e.g. 10 V) and turn potentiometer P3 nmax
so far that the required speed is achieved.
IxR compensation 2. Set potentiometer P4 Imax at the limiting value desired.
Maximum current in the 0 ... 10 A range can be adjusted in linear fashion
with potentiometer P4.
Important: The limiting value lmax should be below the nominal current
(max. continuous current) as shown on the motor data sheet and may
not exceed 5 A continuously.
3. Increase potentiometer P5 gain slowly until the amplification is set large
enough.
Caution: If the motor vibrates or becomes loud, the amplification is ad-
justed too high.
4. Adjust set value to 0 V, e.g. by short circuiting the set value. Then set the
motor speed to 0 rpm with the potentiometer P2 Offset.
In addition, only in the case of lxR 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.
Caution: If the motor vibrates or becomes loud, the amplification is ad-
justed too high.
Current controller mode 1. Set potentiometer P4 lmax at the limiting value desired.
Maximum current in the 0 ... 10 A range can be adjusted in linear fashion
with potentiometer P4.
Important: The limiting value lmax should be below the nominal current
(max. continuous current) as shown in the motor data sheet and may not
exceed 5 A continuously.
2. Adjust set value to 0 V. Then set the motor current to 0 A with the poten-
tiometer P2 Offset.
Note
•A set value in the -10 ... +10 V range is equal to a current range of approx.
+Imax ... -Imax
•Configured as a current controller, P1, P3 and P5 are not activated.
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
5Functions
5.1 Inputs
5.1.1 Set value
The set value input is wired as a differential amplifier.
Input voltage range -10 ... +10 V
Input circuit differential
Input resistance 20 kΩ(differential)
Positive set value ( + Set value) >( - Set Value)
negative motor voltage or current
motor shaft turns CCW
Negative set value ( + Set value) <( - Set Value)
positive motor voltage or current
motor shaft turns CW
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 short-circuit protected.
Enable Minimum input voltage + 4.0 VDC
Maximum input voltage + 50 VDC
Input resistance 15 kΩ
Switching time typ 500 µs (by 5 V)
Disable Minimum input voltage 0 VDC
Maximum input voltage + 2.5 VDC
Input resistance 15 kΩ
Switching time typ 100 µs (by 0 V)
5.1.3 DC Tacho
Minimum input voltage 2.0 V
Maximum input voltage 50 V
Input resistance 14 kΩ
Speed control range:
The speed range is set using Potentiometer P3 nmax (max. speed at maximum
set value).
For full speed control with ± 10 V, the tacho input voltage range must be at least
±2 V.
Example for DC-Tacho with 0.52 V / 1000 rpm:
2.0 V tacho voltage is equivalent to a speed of approx. 3850 rpm. If the full set
value range has been used, the lowest adjustable speed with the nmax potenti-
ometer is 3850 rpm.
Lower speed ranges can be reached through a reduced set value range or by
using a DC tacho with a higher output voltage, such as 5 V / 1000 rpm.
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
5.1.4 Encoder
Encoder supply voltage + 5 VDC max. 80 mA
Maximum encoder frequency DIP switch S5 ON: 10 kHz
DIP switch S5 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 ChA\ and ChB\), speed
breakdowns and max. speed limits must be expected because of the slower
switching slope.
The servoamplifier does not need any home impulse I and I\.
Male header (front view)
Pin configuration at “Encoder” input:
1 n.c. Not connected
2 +5 V + 5 VDC max. 80 mA
3 Gnd Ground
4 n.c. Not connected
5 A\ Inverted Channel A
6 A Channel A
7 B\ Inverted Channel B
8 B Channel B
9 n.c. Not connected
10 n.c. Not connected
This pin configuration is compatible with the flat cable plugs in Encoder HEDL
55xx (with Linedriver) and the MR encoders with line driver, type ML and L.
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
5.2 Outputs
5.2.1 Current monitor “Monitor I”
The servoamplifier makes a current actual value available for monitoring pur-
poses. The signal is proportional to the motor current.
The “Monitor I” output is short-circuit protected.
Output voltage range -10 ... +10 VDC
Output resistance
100 Ω
Gradient approx. 0.8 V/A
positive voltage on current monitor
output
corresponds to a negative motor
current
negative voltage on current monitor
output
corresponds to a positive motor
current
5.2.2 Speed monitor “Monitor n”
The speed monitor is primarily intended for the qualitative estimation of the dy-
namics. The absolute speed is determined by the properties of the speed sen-
sors 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 10 V 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
100 Ω
Example: -10 V corresponding speed -nmax (CCW)
0 V corresponding speed 0 rpm
+10 V corresponding speed +nmax (CW)
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 nor-
mal cases, i.e., no faults, switched to Gnd. In the case of a fault due to excess
temperature, excess current, voltage processing error or too high encoder input
frequency, the output transistor is disabled.
An external additional voltage is required:
Input voltage range max. 30 VDC
Load current
≤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.
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maxon motor
4-Q-DC Servoamplifier ADS 50/5 Operating Instructions
6Additional Possible Adjustments
Potentiometer Function Position
left right
P6 ngain speed gain low high
P7 Igain current gain low high
P8 Icont continuous current limit lower higher
P8 I
cont
P7 I
gain
P6 n
gain
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 ngain and P7
Igain be checked by measuring the transient response with an oscilloscope at the
“Monitor n” and “Monitor I” outputs.
Pre-adjustment P6 ngain = 25 % and P7 Igain = 40 %.
10 maxon motor control July 2009 Edition / Doc. No. 538837-07 / Subject to change