DA4709 / DA4718
User Manual DA4709 / DA4718
4–Q PWM Servo – 09 / 18 A
For Brush-Commutated DC Motors up to 1260 W
DA4709 / DA4718
• Servo amplifier 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
• Wide range supply voltage between +11 and +70 VDC for different kinds of DCpower supplies
• Protected against over temperature and over current
• MOSFet-technology, efficiency 95%
• Continuous current up to 09 / 18 A (model dependent)
Basic drive description: The DA4709/DA4718 servo amplifiers are designed to drive DC
brush 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 or high performance servo. The drives are protected against short circuits,
under voltage, over temperature, and over current. It has multiple modes of operation and
serves as a reliable choice for your motion control needs.
ElectroCraft®
E-Mail: [email protected]
1
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
Table of Contents
1.
Safety & Installation .................................................................... 3
2.
Specifications: ............................................................................. 4
3.
Drive Overview ............................................................................ 7
4.
Wiring ......................................................................................... 10
5.
Explanation of Terminals, Dip Switches, & Potentiometers.. 21
6.
Glossary ..................................................................................... 25
7.
Description of Inputs and Outputs .......................................... 32
8.
Basic Troubleshooting ............................................................. 37
9.
Accessories & Options ............................................................. 39
10. Warranties & Disclaimers ......................................................... 40
11. Dimensions ................................................................................ 41
12. Mounting Din rail adapter ......................................................... 41
Used Symbols
Indicates a warning or caution concerning operations that may lead to
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,
or operational requirements for a procedure. Reading these notes is much
recommended.
ElectroCraft®
E-Mail: [email protected]
2
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
1.
Safety & Installation
The DA4709/DA4718 requires installation by qualified personal which must
pay attention to significant safety and other regulatory standards. They should
be thoroughly familiar 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 persona
Before starting installation of the DA4709/DA4718, 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 µF per each ampere output
current close to power input, in parallel.
Do not repair or open drives enclosure. Result would result in personal injury
and would void all warranties.
The DA4709/DA4718 comply with the European directive EN 61800-3 (1996).
The followings points must followed:
•
A metal mounting plate with correct grounding is mandatory.
•
For installation purposes, tooth lock washers have to be used.
•
For most wiring schemes, only shielded cables are admissible, to
suppress interference with other devices. Damaged items have to be
replaced.
•
Provide for a large contact area between shields and mounting plate.
•
The motor has to be grounded in the prescribed manner.
•
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: [email protected]
3
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
2.
2.1
Specifications:
Electrical Data
Power Supply Voltage
+11 to +70 VDC
(Residual ripple <5 %)
(The lower limit is monitored
integrated undervoltage trip)
by
WARNING: Do not exceed 70V.
Overvoltage will damage the drive.
Auxiliary Voltage Input
+5 to +30 VDC
Supply voltage for the /Error output.
(Refer chapter 7.2)
Nominal Current
9 / 18 A (model dependent)
Peak Current
18 / 36 A (model dependent)
Maximum Power (only achievable with
additional heatsink & proper mounting,
see accessories.)
630 / 1260 W (model dependent)
Switching Frequency
50 kHz
Efficiency
95 %
Induction Specification & caution for low
inductance motors
Optional choke modules are often an
economical solution for low inductance or
other motors, if an overheating situation
occurs in regular intervals. Contact
factory service for details.
Power connector
The diameter must be suited for the
connecting wires of the current load. The
recommendation is 1,5 mm2 (AWG16),
the minimum is 0,13 mm2 (AWG28).
Maximum wire diameter with respect to
the plug contact is 2,5 mm2 (AWG14).
Strip the wire insulation of the cables on
a length of 10mm. For stranded wire, use
end sleeves with 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: [email protected]
4
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
2.2
Mechanical Data
Mechanical Dimensions L x W x H
120 x 85 x 27.5 mm
Weight
220 g
Mounting
2.3
2.4
2.5
M3 screws or Din Rail Mounting
Ambient Conditions
Operation Temperature
-10 to +45 oC
Storage Temperature
-40 to +85 oC
Humidity (Non Condensing)
20 % to 80 % RH
Overtemperature Protection
+80 °C
Digital and Analog Inputs
Enable
Active High TTL, +24 VDC;
Resistance = 4,7 kOhm
Ramp
Active High TTL, +24 VDC;
Resistance = 4,7 kOhm
I max
Analog 0 – +10 VDC ;
Resistance > 100 kOhm
Set value
Analog -10 – +10 VDC ;
Resistance = 20 kOhm
Tacho
Analog -50 – +50 VDC ;
Resistance = 50 kOhm
Outputs
Auxiliary Voltage Output +5V
+5 V / 50 mA
Auxiliary Voltage Output +10V
+10 V / 20 mA
Auxiliary Voltage Output -10V
-10 V / 20 mA
/Error
Open Collector / Push Pull / TTL /
+24 VDC; Resistance = 50 Ohm
Monitor I
Analog 0 – +10 VDC ;
Resistance = 200 Ohm; max. 20 mA
Monitor n
Analog 0 – +10 VDC ;
Resistance = 200 Ohm; max. 20 mA
ElectroCraft®
E-Mail: [email protected]
5
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
2.6
Control LEDs
LED green
Power
Note: The LED is lit when the operating
voltage is present and the undervoltage
protection circuit has not been initiated.
LED red
Error
The lamp is lit at overtemperature. It
disables only after reset the Enable
input. If the error condition persists (i.e.
temperature still too high), this is
immediately visible by the red LED.
ElectroCraft®
E-Mail: [email protected]
6
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
3.
Drive Overview
3.1
Block Diagram
ElectroCraft®
E-Mail: [email protected]
7
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
3.2
Input & Output Schematics
ElectroCraft®
E-Mail: [email protected]
8
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
3.3
Control Elements
3.4
Operation Modes
Voltage Mode
In the voltage mode the drive is watching the output voltage as a feedback voltage. The
drive can not regulate the speed exactly if the motor is loaded with a higher load. This mode
is used e.g. in conveyors with nearly constant load to control the speed.
Tacho Mode
In the tacho mode the feedback information is coming as a voltage signal from a tacho
mounted at the motor. The speed regulation is very good at each load condition and
qualified for each application to control exactly the speed of a system.
IxR Mode
The IxR mode is a voltage mode with an additional factor to correct the speed under
changing the load. The factor which is adjusted with the IxR potentiometer is only an
approximate value. The speed regulation is good but not stable for all load conditions. It is a
compromise between voltage mode and tacho mode.
Torque Mode
In the torque mode the drive does only control the current in the motor. 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 position systems.
ElectroCraft®
E-Mail: [email protected]
9
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
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)
•
Normally no shielding required.
•
When connecting several amplifiers to the same supply pack, use star point
wiring.
Motor Wiring (> 30 cm)
•
Only shielded cables are recommended.
•
Connect the shield to the ground lug of the servo amplifier.
•
A separate cable has to be used.
•
Choke modules are useful to reduce PWM-pulses.
Connection to hall and encoder (> 30 cm)
•
Only shielded cables are recommended.
•
Connect the shield to the controller.
•
A separate cable has to be used.
Analog Signals (I max, +Set val., -Set val.; Monitor I; Monitor n, +Tacho, -Tacho)
•
In most cases no shielding required. This may be different for low level signals or
in an environment with strong magnetic interference.
•
Connect the shield on either end of the cable. For 50/60 Hz interference, remove
the shield on one side.
Digital Signals (Enable, Ramp, /Error)
•
No shielding required.
To verify a trouble-free operation and the conformity to CE regulation, 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 resistance to 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: [email protected]
10
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.1 Wiring Example I – Voltage Mode
ElectroCraft®
E-Mail: [email protected]
11
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.1.1 Adjustment procedure for Voltage mode
1. Potentiometer pre setting refer chapter 5.2.
2. Choose the maximum set value (e.g. 10 V). Turn the potentiometer n max, until the
desired maximum speed is reached with unloaded motor.
3. Adjust the current limiter to a value requested by you with the I max potentiometer. 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 a current probe in
one of the motor cables with an oscilloscope or a multimeter, or the Monitor I output.
4. Slowly raise the value of the Gain potentiometer. If the motor begins to work
unsteadily, to vibrate or to cause excessive noise, carefully lower the gain factor
again, until the instability symptoms have disappeared for all load selections
5. Set the set value to zero and adjust the Offset potentiometer, to the standstill of the
motor.
ElectroCraft®
E-Mail: [email protected]
12
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.2 Wiring Example II – IxR Comp Mode
ElectroCraft®
E-Mail: [email protected]
13
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.2.1 Adjustment procedure for IxR mode
1. Potentiometer pre setting refer chapter 5.2.
2. Choose the maximum set value (e.g. 10 V). Turn the potentiometer n max, until the
desired maximum speed is reached with unloaded motor.
3. Adjust the current limiter to a value requested by you with the I max potentiometer.
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 a
current probe in one of the motor cables with an oscilloscope or a multimeter, or
the Monitor I output.
4. Slowly raise the value of the Gain potentiometer. If the motor begins to work
unsteadily, to vibrate or to cause excessive noise, carefully lower the gain factor
again, until the instability symptoms have disappeared for all load selections
5. Set the set value to zero and adjust the Offset potentiometer, to the standstill of the
motor.
6. Slowly increase IxR value. The gain must be sufficient, that even for a higher motor
load, the number of revolutions does not significantly decrease.
ElectroCraft®
E-Mail: [email protected]
14
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.3 Wiring Example III – Torque Mode
ElectroCraft®
E-Mail: [email protected]
15
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.3.1 Adjustment procedure for Torque mode
1. Potentiometer pre setting refer chapter 5.2.
2. Adjust the current limiter to a value requested by you with the I max potentiometer. 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 a current probe in
one of the motor cables with an oscilloscope or a multimeter, or the Monitor I output.
3. Choose the maximum set value (e.g. 10 V). Turn the potentiometer n max, until the
desired maximum current is reached.
4. To optimize the response time, slowly raise the value of the Gain potentiometer. If
the motor begins to work unsteadily, to vibrate or to cause excessive noise, carefully
lower the gain factor again, until the instability symptoms have disappeared for all
load selections.
5. Set the set value to zero and adjust the Offset potentiometer, to the standstill of the
motor.
ElectroCraft®
E-Mail: [email protected]
16
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.4 Wiring Example IV – Tacho Mode
ElectroCraft®
E-Mail: [email protected]
17
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.4.1 Adjustment procedure for Tacho mode
1. Potentiometer pre setting refer chapter 5.2.
2. Choose the maximum set value (e.g. 10 V). Turn the potentiometer n max, until the
desired maximum speed is reached with unloaded motor.
3. Adjust the current limiter to a value requested by you with the I max potentiometer. 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 a current probe in
one of the motor cables with an oscilloscope or a multimeter, or the Monitor I output.
4. Slowly raise the value of the Gain potentiometer. If the motor begins to work
unsteadily, to vibrate or to cause excessive noise, carefully lower the gain factor
again, until the instability symptoms have disappeared for all load selections
5. Set the set value to zero and adjust the Offset potentiometer, to the standstill of the
motor.
ElectroCraft®
E-Mail: [email protected]
18
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
4.5
Wiring Example V
Setting of S1:
Voltage Mode:
IxR Comp Mode
ElectroCraft®
Torque Mode
E-Mail: [email protected]
19
www.electrocraft.com
Tacho Mode
May 2009
User Manual DA4709 / DA4718
4.6
Wiring Example VI
Setting of S1:
Voltage Mode:
IxR Comp Mode
ElectroCraft®
Torque Mode
E-Mail: [email protected]
20
www.electrocraft.com
Tacho Mode
May 2009
User Manual DA4709 / DA4718
5.
Explanation of Terminals, Dip Switches, & Potentiometers
5.1 Terminals
Terminal
Label
Description
S1-1; S1-2; S1-3 select mode.
S1-4 select set value for I max.
S1
S1-5 change set value to Offset-pot.
S1-6 select Ipeak on or off.
Pin 1 & 2 connect to power supply.
X1
Pin 3 & 4 connect to motor.
Pin 5 shield for the motor cable.
Pin 1 & 2 input set value.
Pin 4 & 5 input tacho feedback.
X2
Pin 3 & 6 voltage output +-10 VDC.
Pin 7 input Imax extern.
Pin 8 GND.
Pin 1 input Enable.
Pin 2 voltage output +5 VDC.
Pin 3 voltage input for /Error.
Pin 4 output signal /Error.
X3
Pin 5 voltage output speed monitor.
Pin 6 input Ramp.
Pin 7 voltage output for current.
Pin 8 GND.
X2; X3
Pinning of CAT5 connectors.
ElectroCraft®
E-Mail: [email protected]
21
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
5.2 Potentiometers
Potentiometer
Function
Turning to the Left
(ccw)
Turning to the Right
(cw)
Offset
Zero Offset (motor stands
still)
Motor rotates
counterclockwise
Clockwise rotation
n max
Definition of max. number
of revolutions
Value is decreased
Value is increased
Gain
Factor lowered
Factor raised
IxR offset compensation
Low compensation
High compensation
Set value for max. current
Upper limit lowered
Upper limit raised
Gain
IxR
I max
Potentiometer setting for start up:
Offset
n max
Gain
IxR
I max
Middle
Middle
Left stop
Left stop
Middle
ElectroCraft®
E-Mail: [email protected]
22
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
5.3 Dip switches
S1-1
S1-2
S1-3
Function Mode
Off:
Off:
Off:
Speed Control by DC-tacho
On:
Off:
Off:
Speed Control by Voltage
On:
On:
Off:
IxR Compensation
Off:
Off:
On:
Torque Control
S1-4
I max
Methods of entering the current limit
Off:
I max extern
The current limit is entered using an external voltage to X2/7.
On:
I max intern
The limit is set using the internal potentiometer I max.
S1-5
Set val.
Methods of entering the set value
Off:
Set val. extern
External selection using a voltage between X2/1 and X2/2.
On:
Set val. intern
The internal Offset potentiometer is used.
S1-6
I peak
Pulsed Current
Off:
I peak On
The output delivers a pulsed current for a phase of 100 ms,
corresponding to the double value of I max. If needed the pulsed
current is activated again after 400 ms.
On:
I peak Off
The feature is disabled.
ElectroCraft®
E-Mail: [email protected]
23
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
Setting
Voltage Mode:
IxR Mode
Torque Mode
I max intern
Set value extern
Ipeak off
I max extern
Set value extern
Ipeak off
I max intern
Set value intern
Ipeak on
I max extern
Set value intern
Ipeak on
I max intern
Set value extern
Ipeak on
I max extern
Set value extern
Ipeak on
I max intern
Set value intern
Ipeak off
I max extern
Set value intern
Ipeak off
ElectroCraft®
E-Mail: [email protected]
24
www.electrocraft.com
May 2009
Tacho Mode
User Manual DA4709 / DA4718
6.
Glossary
Offset
There are two distinct functions for the Offset-Potentiometer:
1. Levelling the position at which the motor stands still.
2. Selection of the Set Value. This task requires the switch S1-5 (Set val.) to be in
On position. In any mode, this feature is available and offers the possibility of a
quick functional test.
It is advisable to begin the subsequent levelling procedure with an idle run of the motor.
However you cannot expect this calibration to be stable in the long term, because the motor
as well as the controller are always subject to thermal influences.
n max
Use this potentiometer to adapt the desired maximum speed to the amplitude of the present
set value.
Take care not to exceed meaningful limits. An exaggerated value may entail problems for
the control of the servo amplifier, making it impossible e.g. to line-up the system in speed
control operation under load.
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.
When setting the Gain value during a stop, the result most probably will have to be
accommodated one more time, because the dynamical reaction of the motor at a higher
speed will not be sufficient.
Always remember that this potentiometer does not only act on the gain itself, but also on the
frequency of the entire control loop.
ElectroCraft®
E-Mail: [email protected]
25
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
IxR
This potentiometer is helpful to stabilize the speed in a certain range after a change of the
load. First detect the number of revolutions at the lower level, then raise the load and adapt
the speed using the IxR potentiometer.
An optimum precision of the compensation however is not realistic, because the behaviour
of the motor after a load change is only predictable in a certain tolerance.
If the motor current during the alignment procedure starts to oscillate, these disturbances
may be suppressed using the Gain potentiometer.
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.
I max decides on the maximum possible motor current.
The following limits have to be observed:
-
Left stop: 5 % of rated current of 9 A, 18 A (model dependent)
-
Right stop: 100 % of rated current + (0 – +10 %)
Note:
Do not overheat the motor. For this reason, the I max limit should always be
selected lower than the maximum admissible constant current.
Ramp
The ramp time defines the increasing time to reach the scheduled value. The ramp is active
after the drive is enabled, also after changing the Set value, for both directions. The function
works in all modes. The ramp function is activated with input X3/Pin7.
IxR Mode
The IxR mode is a voltage mode with an additional factor to correct the speed under
changing the load. The speed regulation is good but not stable for all load conditions.
Tacho Mode
In the tacho mode the feedback information is coming as a voltage signal from a tacho
mounted at the motor.
ElectroCraft®
E-Mail: [email protected]
26
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
Torque mode
In this mode the driver controls only the current into the motor. The speed of the motor
depends on the load because only the output force of the motor is regulated.
Voltage Mode
In the voltage mode the drive is watching the output voltage as a feedback voltage.
Brushed motor
In brush type motors, commutation is done electromechanically via the brushes and
commutator.
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.
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.
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.
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.
ElectroCraft®
E-Mail: [email protected]
27
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
Cogging
A term used to describe non-uniform angular velocity. Cogging appears as jerkiness,
especially at low speeds.
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 temperature, motor mounted to a heat sink.
Refer to individual specs for heat sink size.
Controller
A term describing a functional block containing an amplifier, power supplies, and possibly
position-control electronics for operating a servomotor or step motor.
Demag current
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.
ElectroCraft®
E-Mail: [email protected]
28
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
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 by optical sensors to produce the digital outputs.
Efficiency
The ratio of power output to power input.
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.
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.
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.
ElectroCraft®
E-Mail: [email protected]
29
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
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 behaviour 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 motor phases from the drive in an over temperature
condition.
ElectroCraft®
E-Mail: [email protected]
30
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
Torque
Is a measure of angular force which produces rotational motion. This force is defined by a
linear force multiplied by a radius; e.g. lb-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.
ElectroCraft®
E-Mail: [email protected]
31
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
7.
7.1
Description of Inputs and Outputs
Digital Inputs
Enable: Activating or Disabling the Output Stage
If the Enable input is at GND potential or not wired at all, the output stage remains in the
locked state. The motor stands still or slow down without brake. To reactivate the output
stage, a voltage signal >3.5V to the Enable input is necessary.
If the ramp function is applied as well, it will immediately be carried out after the activation of
the connector.
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
>3.5 VDC
Enable disabled
<0.6 V, open or connected to GND
Ramp:
To turn the Ramp function on/off use Plug X3, pin 2 to pin 6.
Additional information about the schematic refer chapter 3.2.
Range of Input Voltage
0 to +24 V
Input Impedance
4.7 kOhm to GND
Permanent Input Protection
-0.6 V to +50 V
Ramp activated
>3.5 V
Ramp deactivated
<0.6 V, open or connected to GND
Ramp Time
5 sec
Note:
If not using the Ramp function jumper GND – pin 8 to Ramp Input.
ElectroCraft®
E-Mail: [email protected]
32
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
7.2
Digital Outputs
/Error: Monitoring Output
Whenever a system failure occurs (i.e. overtemperature or over current), the /Error output
responds (LO position), and the red LED on the front panel is lit. The drive output stage is
switched off and the error will not reset until the user resets the drive by switching the
enable input. 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 Ri = 50 Ohm, when connecting the upper voltage signal
to input Uin. With Uin = +24 V, an SPS with photocoupler inputs can directly be
controlled.
C) Together with a bridge between the +5V output and Uin 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 –(Uin – 0.6 V) with
Uin = +5 V to +30 V
Output Impedance
50 Ohm
Permanent Output Current
100 mA max., source and sink
Note:
The logical state of this output is clearly visible by the red Error LED on the front
panel.
ElectroCraft®
E-Mail: [email protected]
33
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
7.3
Analog Inputs
+Set val. –Set val.: Inputs for Set Values
An external +10/-10 V analog signal for speed or current are entered using +Set val. and
–Set val. inputs. If the effective voltage is 0V, the motor stops. If the effective voltage is
positive, there is also a positive voltage between Motor+ and Motor- output. If the input is
negative, the output consequently will be negative as well.
These inputs are given in form of a differential amplifier, so each of them can be related to
ground. This offers the possibility to preset the level control in only one direction.
Additional information about the schematic refer chapter 3.2.
Range of Input Voltage
-10 V to +10 V
Input Impedance
20 kOhm
Permanent Input Protection
-30 V to +30 V
As an alternative, the set value can be entered using an external potentiometer (10 kOhm).
For this purpose, connect the slide resistance to +Set val., the left stop to -10V and the right
stop to +10V. This procedure requires that the -Set val. input to be bridged to GND (see
also chapter 4.1).
The admissible range for the set value is limited by the programmed max speed value. In
this case, the desired maximum speed can be selected according to the maximum input
voltage.
Note:
If the motor does not stop at input voltage = 0 V, fine tuning has to be performed
using Offset potentiometer.
ElectroCraft®
E-Mail: [email protected]
34
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
+Tacho –Tacho: Analog Tachometer Feed Back
The +Tacho –Tacho inputs transmit an analog set value for the number of revolutions from
a tachometer coupled to the motor, back to the servo amplifier. This feature improves the
accuracy of speed control, stable even in cases of a large load change. The input is given in
form of a differential amplifier without ground connection.
Additional information about the schematic refer chapter 3.2.
Range of Input Voltage
-50 V to +50 V
Input Impedance
50 kOhm
Permanent Input Protection
-60 V to +60 V
WARNING:
Correct polarity is crucial. Otherwise the motor operates at maximum speed
without any control.
I max: Current limit
Normally the I max potentiometer is used to adjust the maximum current required for the
motor. With this analog input it is possible to do that by an external signal from 0 to +10
VDC or with an external 10 kOhm potentiometer (see also chapter 4.6). For this purpose,
connect the slide resistance to I°max, the left stop to GND and the right stop to +10V.
Additional information about the schematic refer chapter 3.2.
Range of Input Voltage
0 to +10 VDC
(.9A – 9A DA4709)/
(1.8A – 18A DA4718)
Input Impedance
100 kOhm
Permanent Input Protection
-30 V to +30 V
Note:
For this application set DIP switch S1-5 to Off position.
ElectroCraft®
E-Mail: [email protected]
35
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
7.4
Analog Outputs
Monitor n: Motor Speed Output
This feature shows the motor voltage in form of a voltage signal together with the correct
sign. The proportionality between signal and actual value is 0.1V per 1V.
Additional information about the schematic refer chapter 3.2.
Range of Output Voltage
-10 V to +10 V
Output Impedance
100 Ohm
Permanent Output Current
20 mA max., source and sink
When measuring the speed with a known set value input voltage, this output can directly
serve as speed display as long as the drive can work in a closed loop regulation.
Monitor I: Motor Current Output
Monitor I delivers a result (sign+value) representing the motor current. The proportionality
factor is fixed to 1V (DA4709) / 0.5V (DA4718) per 1A motor current.
Additional information about the schematic refer chapter 3.2.
Range of Output Voltage
-10 V to +10 V
Output Impedance
100 Ohm
Permanent Output Current
ElectroCraft®
E-Mail: [email protected]
36
20 mA max., source and sink
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
8.
Basic Troubleshooting
The servo amplifier has included some different protective functions. Under voltage and
over temperature are monitored and shown with the LED’s at the front side.
Important:
The motor starts only by resetting the Enable. Before resetting an error by
resetting the Enable make sure that the cause of the failure is eliminated.
Motor oscillates
•
The gain of the servo amplifier is too high. Reduce the gain pot or in IxR mode the
the IxR pot.
Motor runaway
•
The feedback loop is open. Check wiring.
•
The polarity of the motor or of the tacho is permuted.
•
No load at torque mode.
•
Reduce the maximal speed with pot n max.
Motor noise
•
Reduce gain with gain pot.
•
Use additional choke in the motor
Motor has no torque
•
Increase the admissible current with I max pot.
Motor drifts at standstill
•
Adjust the offset with the offset pot.
•
The input value for the set value isn’t stable.
Motor is going hot at standstill
•
Use an additional choke in series with the motor (see accessories).
Motor speed too low
•
Increase the range with pot n max.
•
Increase the admissible current with I max pot.
•
Supply voltage too low.
ElectroCraft®
E-Mail: [email protected]
37
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
No motion even though enable is on
•
Check power supply and the wiring.
•
Overheating protection is active.
Overtemperature
•
Use an additional heatsink (see accessories).
•
Reset the amplifier.
Note:
Beware that the maximal working temperature of 80°C in the driver is not reached;
otherwise the drive will be switched off.
ElectroCraft®
E-Mail: [email protected]
38
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
9.
Accessories & Options
•
Mounting adaptor for Din rail
MA0025
•
Connecting module
WA2509
•
Choke modules
IA2100 (with 2 x 50 µH)
and IA2101 (with 2 x 100 µH)
•
Heatsink ( No Fan)
HA3008
•
Heatsink (1 Fan)
HA3018
•
Heatsink (2 Fans)
HA3028
•
Shielded CAT5 Cables:
•
CA2005
Red
50 cm / 20"
CA2010
Red
100 cm / 39"
CA2020
Red
200 cm / 79"
CA2030
Red
300 cm / 118"
CA8005
Yellow
50 cm / 20"
CA8010
Yellow
100 cm / 39"
CA8020
Yellow
200 cm / 79"
CA8030
Yellow
300 cm / 118"
CA4005
Grey
50 cm / 20"
CA4010
Grey
100 cm / 39"
CA4020
Grey
200 cm / 79"
CA4030
Grey
300 cm / 118"
CA6005
Blue
50 cm / 20"
CA6010
Blue
100 cm / 39"
CA6020
Blue
200 cm / 79"
CA6030
Blue
300 cm / 118"
Braking module ASO-BM-70-30.
ElectroCraft®
E-Mail: [email protected]
39
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
10. Warranties & Disclaimers
•
Contents are subject to change without notice.
•
Electrocraft will not be liable in any way for direct, indirect, incidental, or
consequential damages caused by the use of this product or document.
•
Per Electrocraft’s Terms & 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.
•
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 Seller’s option. Products
will be repaired or replaced at the Seller’s option. Under no circumstance shall the user
repair or modify the product. Failure to adhere to this will void all warranty.
For Warranty, Repair, or Technical Assistance contact:
Customer Support, North America / USA & Canada
Motion Control Technologies: (800) 697-6715
Email: [email protected]
Customer Support, Europe (except Germany), Middle East, Africa, Australia, Central
& South America
Customer service at +44 (0) 127 050 8800
Email: [email protected]
Customer Support, Germany
Customer service at +49 (0) 711 727205 0
ElectroCraft®
Email: [email protected]
E-Mail: [email protected]
40
www.electrocraft.com
May 2009
User Manual DA4709 / DA4718
11. Dimensions
27.5
112.0
119.0
85.0
4 x 3.4
2 x 3.4
14.0
50.0
10.0
All dimensons in mm.
12. Mounting Din rail adapter
DIN7982 3,5x9,5
DA47xx_E09
Subject to change without prior notice.
ElectroCraft®
E-Mail: [email protected]
41
www.electrocraft.com
May 2009
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement