maxon motor MCD EPOS P 60 W Application guide

maxon motor
maxon motor control MCD EPOS P 60 W
Hardware Reference April 2009 Edition
60 W
Programmable Positioning Compact Drive
Documentation
Hardware Reference
maxon document number: 787218-04

maxon motor
Hardware Reference MCD EPOS P 60 W
1Table of contents
1Table of contents................................................................................................................... 2
2Table of figures ..................................................................................................................... 2
3Introduction ........................................................................................................................... 3
4How to use this guide............................................................................................................ 3
5Safety Instructions................................................................................................................. 4
6Performance Data................................................................................................................. 5
6.1 Motor data........................................................................................................................... 5
6.2 Electrical data...................................................................................................................... 5
6.3 Inputs .................................................................................................................................. 5
6.4 Outputs................................................................................................................................5
6.5 Interfaces ............................................................................................................................ 6
6.6 Memory Data....................................................................................................................... 6
6.7 LED indicator....................................................................................................................... 6
6.8 Ambient temperature- / Humidity range.............................................................................. 6
6.9 Mechanical data.................................................................................................................. 6
6.10 Connections ........................................................................................................................ 6
6.11 Order number...................................................................................................................... 6
7Connections .......................................................................................................................... 7
7.1 Signal connector (J1) .......................................................................................................... 8
7.1.1 Digital input 7 “High Speed Command” ......................................................................... 9
7.1.2 Digital input 8 “High Speed Command” ....................................................................... 10
7.1.3 Digital input 1, 2, 3, 4 “General Purpose” .................................................................... 11
7.1.4 “+V Opto IN” external supply Input voltage for Digital Outputs.................................... 13
7.1.5 Digital output 3 and 4 “General Purpose” .................................................................... 14
7.2 Power / Communication connector (J2)............................................................................ 15
7.2.1 RS-232 communication ............................................................................................... 16
7.2.2 CAN communication .................................................................................................... 17
7.2.3 Logic supply (optional)................................................................................................. 18
7.2.4 Power supply ............................................................................................................... 19
8LED status........................................................................................................................... 20
9Dimension drawing.............................................................................................................. 20
2Table of figures
Figure 1: MCD EPOS P 60 W ......................................................................................................... 3
Figure 2: EPOS documentation hierarchy....................................................................................... 3
Figure 3: Connector location ........................................................................................................... 7
Figure 4: Wiring diagram (overview) ............................................................................................... 7
Figure 5: Signal connector (J1) D-Sub connector High-Density 15 poles (female) ........................ 8
Figure 6: Digital input 7 “Differential” circuit .................................................................................... 9
Figure 7: Digital input 7 “Single-ended” circuit ................................................................................ 9
Figure 8: Digital input 8 “Differential” circuit .................................................................................. 10
Figure 9: Digital input 8 “Single-ended” circuit .............................................................................. 10
Figure 10: Logic level .................................................................................................................... 11
Figure 11: Digital input 1,2,3,4 ...................................................................................................... 11
Figure 12: Digital input 1,2,3,4 external wiring examples ............................................................. 12
Figure 13: Digital output 3 ............................................................................................................. 14
Figure 14: Power / Communication connector (J2) D-Sub connector 9 poles (male)................... 15
Figure 15: Dimensions MCD EPOS P 60 W ................................................................................. 20
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Hardware Reference MCD EPOS P 60 W
3Introduction
This documentation “Hardware Reference” provides the hardware details of the maxon compact drive
MCD EPOS P 60 W. It contains performance data, connections, specification, pin assignment and
wiring examples.
The maxon MCD EPOS P 60 W is a small-sized free
programmable compact drive. It contains a brushless EC motor
with Hall-sensors, digital Encoder and a digital position control
unit. The optimized commutation by space vector control offers to
drive the integrated brushless EC motor with minimal torque
ripple and low noise. The integrated position-, velocity- and
current control functionality allows sophisticated positioning
applications. The MCD EPOS P 60 W is programmable with a
very efficient software tool. The programming languages are
according to IEC 61131-3 standard. The built-in CANopen
interface allows the design of an easy-to-use standalone multiple
axis system, particularly with standard maxon MCD EPOS controllers or standard maxon EPOS
controllers. In addition the unit can be operated through any RS-232 communication port.
Figure 1: MCD EPOS P 60 W
The latest edition of these “Hardware Reference”, additional documentation and software to the MCD
EPOS compact drive may also be found on the internet under http://www.maxonmotor.com category
<Service & Downloads> or in the maxon motor e-shop http://shop.maxonmotor.com.
4How to use this guide
Setup
Getting Started
Installation Configuration Programming Application
Cable Starting Set
EPOS Studio EPOS Studio
Application Notes
Application Samples
Hardware Reference
Programming
Reference
Firmware
Specification
Figure 2: EPOS documentation hierarchy
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Hardware Reference MCD EPOS P 60 W
5Safety 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 compact drive and the components belonging to it
are assembled and connected according to local statutory regulations.
Load Disconnected
For primary operation the compact drive should be free running, i.e. with the load
disconnected.
Additional Safety Equipment
Any 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 authorized personnel only or by the manufacturer.
Improper repairs can result in substantial dangers for the user.
Danger
During installation of the MCD EPOS P 60 W, make sure to disconnect all
apparatus from the electrical supply.
After switch-on, do not touch any life parts!
Max. Supply Voltage
Make sure that the supply voltage is between 12 and 50 VDC. Voltages higher than
55 VDC or of wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
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6Performance Data
6.1 Motor data
Nominal torque (max. continuous torque) .............. 54 mNm (Ta=25°C, 5000 rpm)1)
Max. torque ................................................................................................ 218 mNm
Max. permissible speed (restricted by Encoder) ..................................... 12000 rpm
Max. efficiency .................................................................................................. 70 %
Torque constant .................................................................................... 24.3 mNm/A
Speed constant ......................................................................................... 393 rpm/V
Speed / Torque gradient .................................................................... 20.6 rpm/mNm
Rotor inertia .............................................................................................. 21.9 gcm2
Axial play at axial load < 6 N ....................................................................... 0 mm
> 6 N .................................................................. 0.14 mm
Radial play ................................................................................................ preloaded
Max. axial load (dynamic) ................................................................................. 5.5 N
Max. force for press fits (static) ....................................................................... 100 N
Max. radial loading, 5 mm from flange .............................................................. 25 N
6.2 Electrical data
Power supply voltage VCC (Ripple < 10%) .......................................... 12 … 50 VDC
Logic supply voltage VC(Ripple < 10%) (optional) ............................. 12 … 50 VDC
Max. output voltage ..................................................................................... 0.9 · VCC
Max. output current Imax ....................................................................................... 9 A
Continuous output current Icont ...................................... 2.6 A (Ta=25°C, 5000 rpm)1)
Switching frequency ....................................................................................... 50 kHz
Max. efficiency .................................................................................................. 93 %
Sample rate PI - current controller ................................................................. 10 kHz
Sample rate PI - speed controller .................................................................... 1 kHz
Sample rate PID - positioning controller .......................................................... 1 kHz
Position resolution ............................................................................................ 0.09°
Position accuracy...................................................................................... typical ± 1°
Position reproducibility......................................................................... typical ± 0.09°
Hall sensor signals ................................. Hall sensor 1, Hall sensor 2, Hall sensor 3
Encoder signals .............................................................................. 1000 Increments
A, A\, B, B\, I, I\ (max. 200 KHz)
6.3 Inputs
Digital input 1 (“General Purpose”) ............. opto-isolated ................ +9 ... +24 VDC
Digital input 2 (“Home Switch”) ................... opto-isolated ................ +9 ... +24 VDC
Digital input 3 (“Positive Limit Switch”) ....... opto-isolated ................ +9 ... +24 VDC
Digital input 4 (“Negative Limit Switch”) ...... opto-isolated ................ +9 ... +24 VDC
Digital input 7 (“High Speed Command”) ............ line receiver EIA standard RS-422
Digital input 8 (“High Speed Command”) ............ line receiver EIA standard RS-422
+V Opto IN ...................................................................................... +12 … +24 VDC
6.4 Outputs
Digital output 3 (“General Purpose”) ...... opto-isolated max. 24 VDC (IL< 350 mA)
Digital output 4 (“General Purpose”) ...... opto-isolated max. 24 VDC (IL< 350 mA)
1) Valid at Ta=25°C, thermally isolated, no convection and 5000 rpm
Higher value (Icont max.3A) possible with better ambient conditions for example:
- free convection or forced air cooling
- thermal coupling
- lower speed
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Hardware Reference MCD EPOS P 60 W
6.5 Interfaces
RS-232 .............................. RxD; TxD ......................................... max. 115 200 bit/s
CAN (high speed) ............. CAN_H (high); CAN_L (low) .................... max.1 MBit/s
CAN-ID, no mechanical switch, configured according to ............ LSS CiA DSP-305
6.6 Memory Data
Total memory.............................................................................................. 512 kByte
Application memory (free programmable) ......................................... 256 kByte
Non-volatile memory ............................................................................ 512 Byte
6.7 LED indicator
Bi-colour LED .......................................................... green = ENABLE, red = FAULT
Blue LED .................................................................................. PROGRAM STATUS
6.8 Ambient temperature- / Humidity range
Protection class ......................................................................... IP42 (optional IP54)
Operating .............................................................................................. -20 ... +85°C
................................................................... power derating 1.4%/K above Ta=25°C1)
Storage ................................................................................................. -40 ... +85°C
Non condensating .................................................................................... 20 ... 80 %
Max. case temperature ................................................................................ < 100°C
6.9 Mechanical data
Weight ................................................................................................. approx. 495 g
Dimensions (L x W x H) ................................................................ 120 x 33 x 53 mm
Mounting plate ............................................................................. for M3x4.5 screws
6.10 Connections
J1 Signal ...................................... D-Sub connector High-Density 15 poles (female)
Suitable plug: ............................................... D-Sub connector High-Density 15 poles (male)
J2 Power / Communication .................................... D-Sub connector 9 poles (male)
Suitable plug: .................................................................... D-Sub connector 9 poles (female)
6.11 Order number
MCD EPOS P 60 W ...................................................................................... 315665
1) Valid at Ta=25°C, thermally isolated, no convection and 5000 rpm
Higher value (Icont max.3A) possible with better ambient conditions for example:
- free convection or forced air cooling
- thermal coupling
- lower speed
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Hardware Reference MCD EPOS P 60 W
7Connections
Figure 3: Connector location
Figure 4: Wiring diagram (overview)
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7.1 Signal connector (J1)
Signal connector contains smart multi-purpose digital I/O’s preconfigured
as: “Positive- and Negative Limit Switches” and “Home Switch”.
Additionally “General Purpose” digital I/O’s are provided.
Figure 5: Signal connector (J1) D-Sub connector High-Density 15 poles (female)
Pin
No.
Signal Description
1 DigIN 7 Digital input 7 “High Speed
Command” signal
2 DigIN 7/ Digital input 7 “High Speed
Command” complement signal
3 DigIN 8 Digital input 8 “High Speed
Command” signal
4 DigIN 8/ Digital input 8 “High Speed
Command” complement signal
5 D_Gnd Digital signal ground
6 DigIN 1 Digital input 1 “General Purpose”
7 DigIN 2 Digital input 2 “Home Switch”
8 DigIN 3 Digital input 3 “Positive Limit Switch”
9 DigIN 4 Digital input 4 “Negative Limit Switch”
10 IN_COM Common signal for DigIN 1…4
11 +V Opto IN External supply Input voltage for
Digital Outputs (+12 … 24VDC)
12 DigOUT 3 Digital output 3 “General Purpose”
13 DigOUT 4 Digital output 4 “General Purpose”
14 n.c. Not connected
15 n.c. Not connected
Accessories: MCD EPOS signal cable maxon order number: 326923
Suitable connector: D-Sub connector High-
Density 15 poles (male)
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7.1.1 Digital input 7 “High Speed Command”
“High Speed Command” differential input by default and can be configured
via software setting.
Differential Connector No. and Pin No. Connector [J1] Pin number [1]
Connector [J1] Pin number [2]
Min. differential input voltage ±200 mV
Line receiver (internal) EIA standards RS-422
Max. input frequency 500 kHz
Figure 6: Digital input 7 “Differential” circuit
Single-ended DigIN 7 Connector No. and Pin No. Connector [J1] Pin number [1]
Input voltage 0…5 VDC
Max. input voltage ± 24 VDC
Logic 0 < 2.0 V
Logic 1 > 3.0 V
Input resistance
typical 48 kΩ
(referenced to D_Gnd)
Figure 7: Digital input 7 “Single-ended” circuit
Note
Using the Digital Input as single ended, apply the input signal between
DigIN7 [J1/1] and D_Gnd [J1/5] and let DigIN7/ [J1/2] unconnected.
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Hardware Reference MCD EPOS P 60 W
7.1.2 Digital input 8 “High Speed Command”
“High Speed Command” differential input by default and can be configured
via software setting.
Connector No. and Pin No. Connector [J1] Pin number [3]
Connector [J1] Pin number [4]
Min. differential Input voltage ±200 mV
Line receiver EIA standards RS-422
Max. input frequency 500 kHz
Figure 8: Digital input 8 “Differential” circuit
Single-ended DigIN 8 Connector No. and Pin No. Connector [J1] Pin number [3]
Input voltage 0…5 VDC
Max. input voltage ± 24 VDC
Logic 0 < 2.0 V
Logic 1 > 3.0 V
Input resistance
typical 48 kΩ
(referenced to D_Gnd)
Figure 9: Digital input 8 “Single-ended” circuit
Note
Using the Digital Input as single ended, apply the input signal between
DigIN 8 [J1/3] and D_Gnd [J1/5] and let DigIN 8/ [J1/4] unconnected.
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7.1.3 Digital input 1, 2, 3, 4 “General Purpose”
These opto-isolated inputs are defined as:
Digital input 1: “General Purpose”
Digital input 2: “Home Switch”
Digital input 3: “Positive Limit Switch”
Digital input 4: “Negative Limit Switch”
by default and can be configured via software setting.
Digital input 1 [DigIN 1] Connector [J1] Pin number [6]
Digital input 2 [DigIN 2] Connector [J1] Pin number [7]
Digital input 3 [DigIN 3] Connector [J1] Pin number [8]
Digital input 4 [DigIN 4] Connector [J1] Pin number [9]
Common signal [IN_COM] Connector [J1] Pin number [10]
Type of Input Optical isolated
Single ended
Input voltage 0…+24 VDC
Max. input voltage ± 30 VDC
Logic 0 | Iin | < 1 mA
| Uin | < 5 VDC
Logic 1 | Iin | > 2 mA
| Uin | > 9 VDC
Figure 10: Logic level
Input current at logic 1 typical 3 mA @24 VDC
Switching delay
< 300 µs @24 VDC
Figure 11: Digital input 1,2,3,4
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Hardware Reference MCD EPOS P 60 W
Wiring examples:
Different types of proximity switches
Figure 12: Digital input 1,2,3,4 external wiring examples
Notes
•Use of 3-wire PNP proximity switches is preferred.
•Use of 3-wire NPN proximity switches needs an additional
external pull-up resistor
R ext (12V) = 1 kΩ(150mW)
R ext (24V) = 5 kΩ(120mW)
•Use of 2-wire proximity switches is possible.
Consider a minimal load current of approximately 5mA should
be complied. Depending on 2-wire proximity switch an
additional parallel resistor is necessary.
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7.1.4 “+V Opto IN” external supply Input voltage for Digital Outputs
An external supply voltage has to be applied for supplying the digital
optical-isolated outputs.
+V Opto IN [+V Opto IN] Connector [J1] Pin number [11]
Common signal [IN_COM] Connector [J1] Pin number [10]
Any available power supply can be used, provided it meets the minimal
requirements set below.
Supply voltage +12…+24 VDC
Min. current * 700 mA
* If maximum load of digital outputs is required
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7.1.5 Digital output 3 and 4 “General Purpose”
These opto-isolated outputs are defined as “General Purpose” by default
and can be configured via software setting.
Digital output 3 [DigOUT3] Connector [J1] Pin number [12]
Digital output 4 [DigOUT4] Connector [J1] Pin number [13]
+V Opto IN [+V Opto IN] Connector [J1] Pin number [11]
Common signal [IN_COM] Connector [J1] Pin number [10]
Type of Output Optical isolated
Open-Emitter
Output voltage
Uout ≥(+V Opto IN – 1.5V)
Max. load current Iload ≤350 mA
Leakage current
Ileak ≤50 µA
Switching delay < 300 µs @ 24 VDC
Max. inductive load 2 H @ 24VDC; 500mA
Figure 13: Digital output 3
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7.2 Power / Communication connector (J2)
Figure 14: Power / Communication connector (J2) D-Sub connector 9 poles (male)
Pin
No.
Signal Description
1 EPOS RxD EPOS RS232 receive
2 Gnd Ground
3 EPOS TxD EPOS RS232 transmit
4 Gnd Ground
5 Power_Gnd Ground of supply voltage
6 CAN high CAN high bus line
7 CAN low CAN low bus line
8 +VC12-50 VDC Logic supply voltage (optional)
+12…+50 VDC
9 +VCC 12-50 VDC Power supply voltage
+12…+50 VDC
Accessories: MCD EPOS
Power / RS232-CAN cable
maxon order number: 325939
MCD EPOS
Power / CAN-CAN cable
maxon order number: 325235
MCD EPOS
CAN termination plug
maxon order number: 326923
Suitable connector: D-Sub connector 9 poles (female)
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7.2.1 RS-232 communication
RxD receive line [EPOS RxD] Connector [J2] Pin number [1]
Ground [Gnd] Connector [J2] Pin number [2]
TxD transmit line [EPOS TxD] Connector [J2] Pin number [3]
Ground [Gnd] Connector [J2] Pin number [4]
Maximum input voltage ±30 V
Output voltage
typical ±9 V @ 3kΩto Ground
Maximum bit rate 115 200 bit/s
Internal RS232 driver/receiver EIA RS232 standard
Notes
•Please consider your PC’s serial port maximal baud rate.
•The standard baud rate setting (factory setting) is 115 200 bit/s.
Connection MCD - PC MCD EPOS P 60W PC Interface (RS232),
DIN41652
Connector J2 pin 2 + 4 “GND” Pin 5 “GND”
Connector J2 pin 1 “EPOS RxD” Pin 3 “PC TxD”
Connector J2 pin 3 “EPOS TxD” Pin 2 “PC RxD”
Note
The RS-232 interface is used as programming interface by the maxon
programming tool EPOS Studio.
It can not be used by the application program.
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7.2.2 CAN communication
CAN high bus line [CAN high] Connector [J2] Pin number [6]
CAN low bus line [CAN low] Connector [J2] Pin number [7]
Ground [Gnd] Connector [J2] Pin number [4]
Standard type CAN high-speed
ISO 11898 compatible
Maximum bit rate 1 MBit/s
Max. number of CAN nodes 127
Protocol CANopen DS-301 V4.02
CAN ID LSS CiA DSP-305
Connection EPOS - CAN
bus line CiA DS-102
MCD EPOS P 60W CAN 9 pin D-Sub (DIN41652)
Connector J2 pin 6 “CAN high” Pin 7 “CAN_H” high bus line
Connector J2 pin 7 “CAN low” Pin 2 “CAN_L” low bus line
Connector J2 pin 4 “Gnd” Pin 3 “CAN_GND” Ground
Notes
•The standard baud rate setting (factory setting) is 1 MBit/s.
•Further CAN information may be found in the “Communication Guide”
documentation.
•Use termination resistors on both ends of the CAN bus.
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7.2.3 Logic supply (optional)
Logic supply voltage [+VC12-50 VDC] Connector [J2] Pin number [8]
Ground of supply
voltage [Power_Gnd] Connector [J2] Pin number [5]
Optionally, the logic supply voltage can be sourced separately.
This allows a safe and economical power backup feature.
In case of no separate Logic supply is applied, the Logic supply will be
sourced by the Power supply voltage automatically.
Any available power supply can be used, provided it meets the minimal
requirements set out below.
Logic supply requirements
Output voltage VCmin. 12 VDC; VCmax. 50 VDC
Ripple < 10 %
Min. Output power PCmin. 3 W
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7.2.4 Power supply
Power supply
voltage [+VCC 12-50 VDC] Connector [J2] Pin number [9]
Ground of supply
voltage [Power_Gnd] Connector [J2] Pin number [5]
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 unit
mechanically from the machine to prevent damage due to uncontrolled
motion.
Power supply requirements
Output voltage VCC min. 12 VDC; VCC max. 50 VDC
Ripple < 10 %
Output current Depending on load,
continuous min. 2.6 A
acceleration, short-time min. 9 A
The required voltage can be calculated as follows:
Known values
ÖOperating torque MB[mNm]
ÖOperating speed nB[rpm]
ÖSpeed constant: kn= 393 rpm/V
ÖSpeed/torque gradient: ∆n/∆M = 20.6 rpm/mNm
Sought value
ÖSupply voltage +VCC [Volt]
Solution
][1
9.0
1
)6.20(
393
1
][1
9.0
1
)(
1
VM
mNm
rpm
n
V
rpm
V
VM
M
n
n
k
V
BBCC
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 1 V max. voltage drop at power stage into account.
Consider
During braking of the load, the power supply must be capable of buffering
the feed back energy, e.g. in a capacitor or shunt regulator.
When using an electronically stabilized power supply observe that the over
current protection shall not be activated in any operating state
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8LED status
Three LED’s are showing the actual state of the MCD EPOS P 60W:
•Green LED Shows the operating status
•Red LED Indicates an error
•Blue LED Shows the status of the application program
Detailed information may be found in the Firmware Specification document.
Red
LED
Green
LED
Blue
LED
Description
OFF Slow
blinking
(≈1Hz)
X The EPOS is in state:
- Switch ON Disabled
- Ready to Switch ON
- Switched ON
The power stage is disabled
OFF ON X The EPOS is in state:
- Operation Enable
- Quick Stop Active
The power stage is enabled
ON OFF X The EPOS is in state
- Fault
ON ON X The EPOS is in temporary state
-Fault Reaction Active
The power stage is enabled
ON Flashing X There is no valid firmware on the
EPOS (due to a failed firmware
download)
X X fast
blinking
(≈4Hz)
There is no valid application
program on the EPOS P
X X slow
blinking
(≈1Hz)
The application program on the
EPOS P is stopped
X X ON The application program on the
EPOS P is running
X X Flashing The application program on the
EPOS P is in Error state
X: Don't care (ON or OFF)
9Dimension drawing
Dimensions in [mm]
Figure 15: Dimensions MCD EPOS P 60 W
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