Maxon 4-Q-DC Servo Control LSC 30/2 User manual

maxon motor
maxon motor control 4-Q-DC Servo Control LSC 30/2
Order number 250521
Operating Instructions June 2010 Edition
The LSC 30/2 (Linear Servo Controller) is a linear
4-Q-Servoamplifier used to control DC motors up to
approx. 50 W that are powered by permanent magnets.
It allows the following operating modes:
•IxR compensation
•Voltage regulator
•Digital encoder control
•DC tacho control
•Current control
The required operating mode is easily selected using a DIP
switch.
There are also several ways of choosing the set value input:
•±10 V to connect to layout systems, such as a positioning
controller
•auxiliary voltages ±3.9 V are already provided by the LSC
for use with external potentiometer
•well suited for fixed speed adjustment using internal
potentiometer
Its wide input voltage, ranging from 12 – 30 VDC, makes the LSC very flexible for use with different voltage
sources. The modular-style aluminum housing offers several fastening options, notably plugging into a 19”
rack (3HE). Separable screw terminal strips and a robust controller design make the amplifier ideal for
immediate use.
Table of contents
1Safety Instructions ...........................................................................................................................................2
2Technical Data .................................................................................................................................................3
3Minimum External Wiring .................................................................................................................................4
4Start-up Procedure...........................................................................................................................................6
5Inputs and Outputs...........................................................................................................................................8
6Operating Status Display ...............................................................................................................................12
7Error Handling................................................................................................................................................12
8EMC-compliant installation ............................................................................................................................13
9Block Diagram................................................................................................................................................13
10 Dimension Drawing........................................................................................................................................14
11 Spare Parts List .............................................................................................................................................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 250521 or
in the e-shop http://shop.maxonmotor.com.

maxon motor
4-Q-DC Servo Control LSC 30/2 Operating Instructions
1 Safety Instructions
Skilled personnel
Only skilled, experienced personnel should install and start the equipment
Statutory regulations
The user must ensure that the amplifier and the components belonging to it
are assembled and connected according to local statutory regulations.
Load disconnected
For initial operation, the motor should be free running, i.e. with the load
disconnected.
Additional safety equipment
Any electronic equipment 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 only be carried out by authorized personnel or the
manufacturer. It is dangerous for the user to open the unit or carry out any
repairs.
Danger
Ensure that no apparatus is connected to the electrical supply during
installation of the LSC 30/2! After switching on, do not touch any live parts!
Max. supply voltage
Make sure that the supply voltage is between 12 and 30 VDC. Voltages
higher than 32 VDC or of the wrong polarity will destroy the unit.
Electrostatic sensitive device (ESD)
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Operating Instructions 4-Q-DC Servo Control LSC 30/2
2 Technical Data
2.1 Electrical data
Supply voltage VCC.....................................................................................................12 – 30 VDC
Max. output voltage.................................................................................................................25 V
Max. output current Imax.............................................................................................................2 A
Max. power output .................................................................................................................50 W
It is advisable to consider mounting on a heat sinking surface if ambient temperature is high and
there is a high power loss in the LSC !
2.2 Inputs
Set value “+Set / -Set”.......................... configurable .......................-10 ... +10 V or -3.9 ... +3.9 V
Disable “Dis IN”.................................... Disable ....................................................... min. VCC - 1 V
Enable..................................................... max. Gnd + 1 V
DC tacho “+T / -T”.................................................................................min. 2 VDC, max. 50 VDC
Encoder signals “Ch A / Ch B” .................................................................max. 100 kHz, TTL level
2.3 Outputs
Status reading “Ready” ........................ Open collector.........................max. 30 VDC (IL< 20 mA)
Error .......................................... “Ready” = high impedant
Ready........................................................“Ready” = Gnd
2.4 Voltage output
Auxiliary voltages “+Vaux / -Vaux” ..........................+3.9 VDC, max. 2 mA / -3.9 VDC, max. 2 mA
Encoder supply voltage “+Venc” ...................................................................+5 VDC, max. 80 mA
2.5 Motor connections
Motor +; Motor -
2.6 Trim potentiometers
nmax
IxR compensation
Offset
Imax
gain
2.7 Protection
Heat monitoring of power stage .......................................................................................T > 85°C
2.8 LED indicator
green LED..........................................................................................................................READY
red LED............................................................................................................................. ERROR
2.9 Ambient temperature / humidity range
Operation ........................................................................................................................ 0...+45°C
Storage ........................................................................................................................-40...+85°C
No condensation ............................................................................................................. 20...80 %
2.10 Mechanical data
Weight...................................................................................................................... approx. 330 g
Mounting plate ...................................................................................................... for 4 screws M4
Dimensions .............................................................................see dimension drawing, chapter 10
2.11 Terminals
separable PCB terminals ................................................................................................... 16-pole
Pitch ..................................................................... 3.5 mm
suitable for wire cross-section....................... AWG 28-18
0.14 ... 1 mm2multiple-stranded; 0.14 ... 1.3 mm2single wire
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4-Q-DC Servo Control LSC 30/2 Operating Instructions
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3 Minimum External Wiring
Set Dis +V Dis IN Sig Gnd
+
Vaux
Gnd Set Ready T/ChA T/ChB Gnd Venc
1
2 3 4 5 6 7 8 9 0
1
2 3 4 5 6
1 1 1 1 1 1 1
Motor Motor
+Vcc +
Vaux
+ + +
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
1
1
2
2
12
1313
12
12
12...30 VDC
IxR
Tac h o
unten
Encoder
12345678910111213141516
1414
15 16
Ch ACh A
Ch BCh B
Gnd
+5 V
IxRTachoEncoderCurrent
Voltage
Regulator
Power
supply
3.1 Operating mode

maxon motor
Operating Instructions 4-Q-DC Servo Control LSC 30/2
3.2 Set value input
Set Dis +V Dis IN SigGnd
+
Vaux
Gnd Set Ready T/ChA T/ChB Gnd Venc
1
2 3 4 5 6 7 8 9 0
1
2 3 4 5 6
1 1 1 1 1 1 1
Motor Motor
+Vcc +
Vaux
+ + +
1 2 3 4 5 6 7 8 9 10111213141516
87
+3.9V
87
50k Ω
internal
OFF
OFF
OFF
ON
ON
ON
65 9
-3.9V
0V
87
P3 Offset
with external
set vallue
-10 ... +10 V
external
with external
potentiometer
-3.9 ... +3.9 V
with internal
potentiometer
P3
internal
negative set value: motor turns counterclockwise
positive set value: motor turns clockwise
Set value -10 ... +10V
Motor turns counterclockwise
Motor turns clockwise
Motor turns counterclockwise
Motor turns clockwise
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4-Q-DC Servo Control LSC 30/2 Operating Instructions
4 Start-up Procedure
4.1 Power supply layout
Any available power supply can be used as long as it meets the minimum
requirements set out below.
During set-up and adjustment phases, we recommend separating the motor
mechanically from the machine to prevent damage from uncontrolled motion.
Power supply requirements
Output voltage VCC min. 12 VDC; VCC max. 30 VDC
Ripple < 5 %
Output current depending on load, continuous max. 2A
The required voltage can be calculated as follows:
Known values:
ÖOperating torque MB[mNm]
ÖOperating speed nB[rpm]
ÖNominal motor voltage UN [V]
ÖMotor no-load speed at UN, n0[rpm]
ÖSpeed/torque gradient of motor ∆n/∆M [rpm/mNm]
Sought values:
ÖSupply voltage VCC [V]
Solution:
VM
M
n
n
n
U
VBB
N
CC 5)(
0
+⋅
∆
∆
+⋅=
Choose a power supply capable of supplying this calculated voltage under load.
The formula takes into account a 5 V maximum voltage drop at the power
stage.
4.2 Function of potentiometers
Potentiometer Function Turning direction
left right
P1 nmax
maximum speed
at maximum set value Speed lower Speed higher
P2 IxR IxR compensation weak
compensation
strong
compensation
P3 Offset 1Adjustment = 0 rpm
at 0 V set value
Motor turns
CCW
Motor turns
CW
P4 Imax Current limit lower
min. approx. 0 A
higher
max. approx. 2 A
P5 gain Speed control gain lower higher
P1
P2
P3
P4
P5
n
max
IxR
Offset
I
max
gain
1P3 can also be used for the set value input (see 5.1.1)
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Operating Instructions 4-Q-DC Servo Control LSC 30/2
4.3 Adjusting the potentiometers
4.3.1 Pre-adjustment
With pre-adjustment, the potentiometers are set in a preferred position.
Units in the original packing are already pre-set.
Pre-adjustment of potentiometers
P1 nmax 50 %
P2 IxR 0 %
P3 Offset 50 %
P4 Imax 50 %
P5 gain 10 %
P1
P2
P3
P4
P5
n
max
IxR
Offset
I
max
gain
4.3.2 Adjustment
1. Apply max. set value (10 V or 3.9 V) and turn potentiometer P1 nmax until
required max. speed is reached.
Encoder operation
DC tacho operation
Voltage regulator
IxR compensation
2. Adjust potentiometer P4 Imax to required limit value.
Limited current in the 0…2 A range can be adjusted in linear fashion with
the P4 potentiometer.
Important: The limit value Imax should be below the nominal current
(max. permissible continuous current) as per motor data sheet.
3. Slowly increase potentiometer P5 gain until the gain is set sufficiently
high.
Important: If the motor is unsteady, vibrates or makes noises, the
selected amplification is too high.
4.
Apply 0 V set value and adjust the motor to speed 0 rpm with
potentiometer P3 Offset.
Important: DIP switch S9 must be set in the “ON Д position for offset
adjustment.
Applicable to IxR compensation only:
5. Slowly increase potentiometer P2 IxR until compensation is set
sufficiently high so that the motor speed does not drop or only drops very
slightly at higher motor load.
Important: If the motor is unsteady, vibrates or makes noises, the
selected compensation is too high.
Current regulator 1. Adjust potentiometer P4 Imax to required limit value.
Limited current in the 0…2 A range can be adjusted in linear fashion with
the P4 potentiometer.
Important: The limit value Imax should be below the nominal current
(max. permissible continuous current) as per motor data sheet.
2. Apply 0 V set value and adjust the motor to current 0 A with
potentiometer P3 Offset.
Important: DIP switch S9 must be set in the “ON Д position for offset
adjustment.
Note:
•DIP switch
S10 in position:
“ON Д: Set value range -3.9 ... +3.9 V equivalent to approx. -2 ... +2 A
motor current
“OFF Ï”: Set value range -10 ... +10 V equivalent to approx. -2 ... +2 A
motor current
•In current regulator operation, potentiometers P1 nmax, P2 IxR and P5 gain
are not active.
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maxon motor
4-Q-DC Servo Control LSC 30/2 Operating Instructions
5 Inputs and Outputs
5.1 Inputs
5.1.1 Set value “Set”
The set value can be applied externally via an analogue voltage or internally
using potentiometer P3.
If the set value is applied externally using the “+Set” and “-Set” connections,
DIP switch S9 must be in the “ONД position.
Two different ranges can be selected to apply an external analogue set value.
The required range is determined by the position of DIP switch S10.
Set value range -10 ... +10 V Input voltage range -10 ... +10V
Input wiring differential
Input impedance 200 kΩ(differential)
positive set value (+Set) > (-Set)
positive motor voltage or current
negative set value (+Set) < (-Set)
negative motor voltage or current
DIP switch S10 OFFÏ
DIP switch S9 ONÐ
Use of external potentiometer
Set value range -3.9 ... +3.9 V Input voltage range -3.9 ... +3.9 V
Input wiring differential
Input impedance 200 kΩ(differential)
positive set value (+Set) > (-Set)
positive motor voltage or current
negative set value (+Set) < (-Set)
negative motor voltage or current
DIP switch S10 ONÐ
DIP switch S9 ONÐ
recommended potentiometer
50 kΩ(linear)
Use of internal potentiometer P3
If the set value is adjusted internally via potentiometer P3, DIP switch S9 must
be in the “OFFÏ” position.
P3 = 50 ... 100 % (right end stop) positive motor voltage or current
P3 = 50 ... 0 % (left end stop) negative motor voltage or current
Input wiring (+Set) = (-Set)
short-circuited
DIP switch S10 optional
DIP switch S9 OFFÏ
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Operating Instructions 4-Q-DC Servo Control LSC 30/2
5.1.2 “Disable”
Enabling or disabling the power stage.
If the “Dis IN” connection is not connected or at Gnd potential,
the power stage is activated (Enable).
Release “Enable” minimum input voltage Gnd
maximum input voltage +1 VDC referenced to Gnd
maximum input current 2 mA
If the “Dis IN” terminal is connected with “Dis+V” or
the voltage is higher than VCC -1V, the power stage becomes high impedant and
the motor shaft freewheels and slows down (Disable).
Block “Disable” minimum input voltage VCC - 1 VDC
maximum input voltage VCC
maximum input current 2 mA
Wiring examples:
a) Switch open = “Disable”; switch closed = “Enable”
4
“Gnd”
10
“Dis IN”
3
“+Vcc”
4k7
0.25W
4k7
0.25W
4k7
0.25W
4k7
0.25W
b) Switch open = “Enable”; switch closed = “Disable”
10
“Dis IN”
“Dis+V” terminal [11] or “+Vcc” terminal [3]
5.1.3 DC tacho
+T positive tacho voltage terminal [14]
-T negative tacho voltage terminal [13]
minimum input voltage 2.0 V
maximum input voltage 50.0 V
Input impedance approx. 20 kΩ
Speed control range:
The speed range is set using Potentiometer P1 nmax (max. speed at maximum
set value).
For full speed control with ±10 V or ±3.9 V, the tacho input voltage range must
be at least ±2 V.
Example for a 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
potentiometer 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 Servo Control LSC 30/2 Operating Instructions
5.1.4 Encoder
ChA Channel A terminal [13]
ChB Channel B terminal [14]
Encoder supply voltage +Venc +5 VDC, max. 80 mA
max. encoder input frequency DIP switch S8 OFFÏ: 100 kHz
DIP switch S8 ONÐ: 6 kHz
Voltage level TTL
low max. 0.8 V
high min. 2.0 V
The maximum encoder input frequency can be selected with DIP switch S8.
Standard adjustment is max. encoder frequency of 100 kHz.
DIP switch S8 OFFÏ:“high" DIP switch S8 ONÐ: “low"
Max. input frequency is 100 kHz Max. input frequency is 6 kHz
Encoder pulses
per revolution
maximum motor
speed
Encoder pulses
per revolution
maximum motor
speed
1000
6 000 rpm 128 2 812 rpm
512 11 719 rpm 64 5 625 rpm
500 12 000 rpm 32 11 250 rpm
256 23 437 rpm 16 22 500 rpm
128 46 874 rpm
Note:
To achieve good control characteristics, encoders should be operated at a small
number of pulses per revolution with the DIP switch S8 in position ONГlow”.
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Operating Instructions 4-Q-DC Servo Control LSC 30/2
5.2 Outputs
5.2.1 Auxiliary voltage “+Vaux” and “-Vaux”
Auxiliary voltage for supplying an external potentiometer (50 kΩ).
+Vaux positive auxiliary voltage terminal [5]
Output voltage +3.9 VDC referenced to Sig_Gnd
Max. output current 2 mA
-Vaux negative auxiliary voltage terminal [6]
Output voltage -3.9 VDC referenced to Sig_Gnd
Max. output current 2 mA
5.2.2 Encoder supply “+Venc”
Auxiliary voltage for supplying the encoder
+Venc Encoder supply voltage terminal [16]
Output voltage +5.0 VDC referenced to Gnd
Max. output current 80 mA
5.2.3 Status reading “Ready”
The readiness or error status can be reported to a higher level control through
the “Ready signal”. In normal circumstances, i.e. with no errors, the “Open
Collector” output is switched to Gnd.
In the event of an error (overheating), the output transistor is blocked.
12
max. 30V
Gnd
“Ready” I
ma x
≤
20 mA
Input voltage range max. 30 VDC
max. load current 20 mA
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maxon motor
4-Q-DC Servo Control LSC 30/2 Operating Instructions
6 Operating Status Display
A red and green LED shows the operating mode.
6.1 No LED
Reason:
•No supply voltage
•Fuse faulty
•Wrong polarity of supply voltage
6.2 Green LED
•Supply voltage applied
•No error status (overheating)
6.3 Red LED
If the power stage temperature exceeds a limit of approx. 85°C,
the power stage is switched off. (Disable - status).
The red LED comes on and the green LED goes out.
If the power stage temperature falls below approx. 60°C, the motor is restarted.
(Enable - status)
The red LED goes out and the green LED comes on.
Reason:
•High ambient temperature
•High power loss in the LSC
•Bad convection
•Heat sinking surface too small
7 Error Handling
Error Possible cause of error Action
Motor does not turn Supply voltage VCC< 12 VDC Check terminal [3] voltage “VCC”
Disable not activated Check terminal [10] “Dis IN”
Overheating disconnection active Loss output in the LSC too high
Set value input 0 V Check terminal [7] “-Set” and [8] “+Set”
Incorrect operating mode selected Check adjustments at DIP switch
Bad contact Check terminals
Incorrect wiring Check wiring
Current limit too low Check adjustment Potentiometer P4 Imax
Speed not controlled Encoder mode: encoder signals Check “ChA” [13] “ChB” [14] sequence
Tacho mode: tacho signals Check polarity “-T” [13] and “+T” [14]
IxR mode: compensation incorrect Check adjustment Potentiometer P2 IxR
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Operating Instructions 4-Q-DC Servo Control LSC 30/2
8 EMC-compliant installation
Power supply (+VCC - Power Gnd)
•No shielding normally required.
•Star point-shaped wiring if several amplifiers are supplied by the same power supply.
Motor cable
•No shielding normally required.
Encoder cable
•Although the LSC 30/2 does not have a line receiver, using an encoder with a line driver is
recommended as this improves interference resistance.
•Use cable shielding in electromagnetically harsh environment.
•Connect shielding on both sides (LSC housing).
•Use separate cable.
Analogue signals (Set, Tacho, Vaux)
•No shielding normally required.
•Use cable shielding with analogue signals with small signal level and electromagnetically
harsh environment.
•Normally connect shielding on both sides (LSC housing). Place shielding on one side if
there are 50/60 Hz interference problems.
Digital signals (Disable, Ready)
•No shielding necessary.
In practical terms, only the complete equipment, comprising all individual components
(motor, amplifier, power supply unit, EMC filter, cabling etc.) can undergo an EMC test to
ensure interference-free CE-approved operation.
9 Block Diagram
Linear
Power
Stage
+Motor
-Motor
Gnd
+Vcc 12-30VDC
Current
Detector
Voltage
Detector
DIP6
+5V
+3.9V
-3.9V
Supply
Dis IN Ready
F/V Converter
+Venc
Gnd
Ch A
Ch B
DIP8
+5V/80mA
DIP2
DIP3
+Vcc
Dis +V
Control &
Protection
Logic
+Vaux-Vaux Sig Gnd
+3.9V/2mA-3.9V/2mA
P2 IxR
P4 I max
Current
Limit
P3 Offset
DIP7
PI
Speed Control
DIP9
P5 gain
PI
Current
Control
-Set value
+Set value
DIP10
P1 n max
+Tacho
DIP5
DIP4
-Tacho
DIP1
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maxon motor
4-Q-DC Servo Control LSC 30/2 Operating Instructions
10 Dimension Drawing
Dimensions in [mm]
11 Spare Parts List
maxon motor order number Designation
282310 16 poles pluggable PCB connector
pitch 3.5 mm
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