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User Manual EA4709 / EA4718

ElectroCraft

®

E-Mail: [email protected] www.electrocraft.com May 2009

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For Brushless-Commutated DC Motors up to 1260 W

EA4709 / EA4718

•

Servo amplifier in a small size, rugged aluminium housing in (bookshelf form)

•

Different methods of mounting for fast installation

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Tool free connections for power terminations

•

Inputs and outputs via RJ45-CAT5 plug

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Operation mode with simple DIP switch setting

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User adjustable current limit and ramp function

•

Wide range supply voltage b9 and +70 VDC for different kinds of DC-power
supplies

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Protected against overtemperature and over-current

•

MOSFet-technology, efficiency 97%

•

Continuous current up to 9 / 18 A (model dependent)

Basic drive description: The EA4709 / EA4718 servo amplifiers are designed to drive DC
brushless 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.

4–Q PWM Servo – 09 / 18 A

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Summary of Contents for EA4709

Page 1: ... 9 and 70 VDC for different kinds of DC power supplies Protected against overtemperature and over current MOSFet technology efficiency 97 Continuous current up to 9 18 A model dependent Basic drive description The EA4709 EA4718 servo amplifiers are designed to drive DC brushless type motors They require a single DC power supply for operation The drives are to be used with a single motor They have ...

Page 2: ...roubleshooting 35 9 Accessories Options 37 10 Warranties Disclaimers 38 11 Dimensions 39 12 Mounting Din rail adapter 39 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 con...

Page 3: ...re 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 wou...

Page 4: ...duction 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 Maximu...

Page 5: ...ure Protection 80 C 2 4 Digital and Analog Inputs Enable TTL 24 VDC Resistance 10 kOhm Hall A B C TTL 5 VDC Resistance 1 kOhm Encoder Channel A B TTL 5 VDC Resistance 1 kOhm max 78 kHz Set value Analog 10 10 VDC Resistance 20 kOhm 2 5 Outputs Auxiliary Voltage Outputs 5V 5 V 50 mA for each 100 mA if connected in parallel Auxiliary Voltage Output 10V 10 V 10 mA Auxiliary Voltage Output 10V 10 V 10 ...

Page 6: ...een Status LED red 2 7 Status Table State LED green LED red Error Output Reset Reset Selftest Off On Off LOW Normal On Off HIGH Hall error Off Flash 5x s LOW Enable Encoder error Off Long flash 1x s Duty cycle 90 LOW Enable Overtemperature Off Flash 1x s LOW Enable Current limiter On On HIGH Auto Out of control On Flash 5x s HIGH Auto ...

Page 7: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 7 3 Drive Overview 3 1 Block Diagram ...

Page 8: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 8 3 2 Input Output Schematics ...

Page 9: ...d at each load condition and qualified for each application to control the speed of a system also for high speed application Encoder Mode At encoder mode feedback information is coming from the encoder signals The encoder is mounted at the motor The speed regulation has got a high performance at each load condition and qualified for each application to control exactly the speed of a system especia...

Page 10: ...nd 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 Mon I Mon n 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 ...

Page 11: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 11 4 1 Wiring Example I Hall Mode ...

Page 12: ...th 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 a oscilloscope or a multimeter If the red LED is lit the current limitation is activated 4 Slowly raise the value of the Gain potentiometer If the motor begins to work unstead...

Page 13: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 13 4 2 Wiring Example II Encoder Mode ...

Page 14: ...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 a oscilloscope If the red LED is lit the current limitation is activated 4 Slowly raise the value of the Gain potentiometer If the motor begins to work unsteadily to ...

Page 15: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 15 4 3 Wiring Example III Torque Mode ...

Page 16: ...D is lightning the current limitation is activated 3 Choose the maximum set value e g 10 V Turn the potentiometer Scale 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 di...

Page 17: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 17 4 4 Wiring Example IV PWM Mode ...

Page 18: ...y till the red LED is lit off 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 a oscilloscope If the red LED is lit the current limitation is activated 4 This PWM mo...

Page 19: ...User Manual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 19 4 5 Wiring Example V Setting of S1 Hall Mode Encoder Mode Torque Mode PWM Mode ...

Page 20: ...ual EA4709 EA4718 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 20 4 6 Wiring Example VI Setting of S1 For Enable switch S1 6 from off to on Hall Mode Encoder Mode Torque Mode PWM Mode ...

Page 21: ...1 6 set switch on enables the drive X1 Pin 1 2 connect to power supply Pin 3 4 5 connect to motor X2 Pin 1 2 3 input for hall signals Pin 4 5 input encoder feedback Pin 6 7 voltage output 5 VDC Pin 8 GND X3 Pin 1 2 input set value Pin 3 input Enable extern Pin 4 5 voltage output 10 VDC Pin 6 voltage input for Error Pin 7 output signal Error Pin 8 GND X4 Pin 1 5 6 7 do not contact Pin 2 voltage out...

Page 22: ...revolutions Value is decreased Value is increased Gain Gain Factor lowered Factor raised I max Set value for max current Upper limit lowered Upper limit raised Time Set the time constant for ramp or the peak current Time constant lowered Time constant raised Potentiometer setting for start up Offset Scale Gain I max Time Middle Right stop Middle Middle Left stop 5 3 Dip switches S1 1 S1 2 Function...

Page 23: ... an arrangement of 120 On Phase 60 The halls in the motor have an arrangement of 60 S1 5 I peak Pulsed Current Off I peak Off The feature is disabled On I peak On The output delivers a pulsed current to the double value of I max The time is defined by the Time potentiometer Setting range is between 50 ms and 500ms S1 6 Enable Enabling of the output Off Enable Off The enable is following the signal...

Page 24: ...Encoder Mode Torque Mode PWM Mode Set value intern Phase 120 Ipeak off Set value extern Phase 120 Ipeak off Set value intern Phase 120 Ipeak on Set value extern Phase 120 Ipeak on Set value intern Phase 60 Ipeak off Set value extern Phase 60 Ipeak off Set value intern Phase 60 Ipeak on Set value extern Phase 60 Ipeak on ...

Page 25: ... then send 5V and adjust that maximum with the Scale potentiometer 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 procedu...

Page 26: ...otentiometer is setting the ramp time If Ipeak S1 5 on the potentiometer is setting the peak current time Time Ramp The ramp function is deactivated if the potentiometer Time is set to the left If the potentiometer set to the right is the ramp time 2 s The ramp time defines the increasing time to reach the scheduled value defined by Scale The ramp is active after the drive is enabled also after ch...

Page 27: ...otor 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 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 ...

Page 28: ...he 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 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 ...

Page 29: ... inputs to high power currents and voltages to drive a step motor The step motor driver is analogous to the servomotor amplifier s logic 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 eit...

Page 30: ... 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 conver...

Page 31: ... of the motor speed ore in one quadrant with active accelerate and decelerate Watt One horsepower equals 746 watts 7 Description of Inputs and Outputs 7 1 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 st...

Page 32: ...Open Collector LO active TTL compatible or up to 30 V industrial logic B As Push Pull output with an output impedance 50 Ohm when connecting the upper voltage signal to input Verror With Verror 24 V an SPS with photocoupler inputs can directly be controlled C Together with a bridge between the 5V output and Verror input applicable as Push Pull output for a connection to TTL or CMOS Logics without ...

Page 33: ...rs 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 t...

Page 34: ...ltage that is then measured is the maximum voltage with setting above Additional information about the schematic refer chapter 3 2 Range of Output Voltage 0 to 10 V Output Impedance 200 Ohm Permanent Output Current 20 mA max source and sink Mon I Motor Current Output Monitor I delivers a result representing the actual value of the average motor current The proportionality factor is fixed to 1V EA4...

Page 35: ...or starts only by resetting the Enable Important 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 Motor runaway The polarity of the encoder is permuted No load in torque mode Reduce the maximal speed with pot Scale Input frequency of feedback has been exceeded Motor noise Reduce gain...

Page 36: ...ion even though enable is on Check power supply and the wiring Overheating protection is active Check the polarity of the motor windings and hall signals Is the phasing 120 or 60 of the hall correct The polarity of the motor windings or hall signals is permuted The feedback loop is open Check wiring Over temperature Use an additional heatsink see accessories Reset the amplifier Note Beware that th...

Page 37: ...3100 with 3 x 50 µH and IA3101 with 3 x 100 µH Heatsink No Fan HA3008 Heatsink 1 Fan HA3018 Heatsink 2 Fans HA3028 Shielded CAT5 Cables CA2005 Red 5 CA2010 Red 10 CA2020 Red 20 CA2030 Red 30 CA8005 Yellow 5 CA8010 Yellow 10 CA8020 Yellow 20 CA8030 Yellow 30 CA4005 Grey 5 CA4010 Grey 10 CA4020 Grey 20 CA4030 Grey 30 CA6005 Blue 5 CA6010 Blue 10 CA6020 Blue 20 CA6030 Blue 30 Braking module ASO BM 70...

Page 38: ...arranted 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 m...

Page 39: ...Mail info electrocraft com www electrocraft com May 2009 39 11 Dimensions 119 0 112 0 85 0 27 5 50 0 14 0 10 0 4 x 3 4 2 x 3 4 All dimensions in mm 12 Mounting Din rail adapter DIN7982 3 5x9 5 EA47xx_E09 Subject to change without prior notice ...

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