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maxon motor control

Z-40

Document ID: rel5543

ESCON Servo Controller

Edition: November 2015

ESCON 70/10 Hardware Reference

© 2015 maxon motor. Subject to change without prior notice.

© 2015 maxon motor. All rights reserved.

The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, translation,
microfilming, and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the
prior approval of maxon motor ag, is not permitted and subject to prosecution under the applicable law.

maxon motor ag

Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland

Phone +41 41 666 15 00
Fax +41 41 666 16 50

www.maxonmotor.com

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Summary of Contents for 422969

Page 1: ...63 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition November 2015 ESCON Servo Controller Hardware Reference maxon motor control ESCON 70 10 Servo Controller P N 422969 Hardware Reference Document ID rel5543 ...

Page 2: ...THIS FIRST These instructions are intended for qualified technical personnel Prior commencing with any activities you must carefully read and understand this manual and you must follow the instructions given therein The ESCON 70 10 is considered as partly completed machinery according to EU Directive 2006 42 EC Article 2 Clause g and is intended to be incorporated into or assembled with other mach...

Page 3: ... document is intended for trained and skilled personnel It conveys information on how to understand and fulfill the respective work and duties 1 1 3 How to use Take note of the following notations and codes which will be used throughout the document Table 1 1 Notation used 1 1 4 Symbols Signs In the course of the present document the following symbols and sings will be used Notation Meaning n refe...

Page 4: ... 70 10 is a small sized powerful 4 quadrant PWM servo controller for the highly efficient control of permanent magnet activated brushed DC motors or brushless EC motors up to approximately 700 Watts The featured operating modes speed control closed loop speed control open loop and current control meet the highest requirements The ESCON 70 10 is designed being commanded by an ana log set value and ...

Page 5: ...ratus can not be considered fail safe Therefore you must make sure that any machine apparatus has been fitted with independent monitoring and safety equipment If the machine apparatus should break down if it is operated incorrectly if the control unit breaks down or if the cables break or get disconnected etc the complete drive system must return and be kept in a safe operating mode Be aware that ...

Page 6: ...ions maxon motor control 1 6 Document ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l e f t b l a n k ...

Page 7: ...put voltage controller Max speed EC motor 150 000 rpm 1 pole pair Built in motor choke 3 x 15 μH 10 A Inputs Outputs Analog Input 1 Analog Input 2 resolution 12 bit 10 10 V differential Analog Output 1 Analog Output 2 resolution 12 bit 4 4 V referenced to GND Digital Input 1 Digital Input 2 2 4 36 VDC Ri 38 5 kΩ Digital Input Output 3 Digital Input Output 4 2 4 36 VDC Ri 38 5 kΩ max 36 VDC IL 500 ...

Page 8: ...s L x W x H 125 x 78 5 x 27 mm Mounting holes for M4 screws Environmental Conditions Temperature Operation 30 45 C Extended range 1 45 82 C Derating Figure 2 1 Storage 40 85 C Altitude 2 Operation 0 10 000 m MSL Humidity 5 90 condensation not permitted 1 Operation within the extended range temperature and altitude is permitted However a respective derating declina tion of output current Icont as t...

Page 9: ...nical Data maxon motor control ESCON Servo Controller Document ID rel5543 2 9 ESCON 70 10 Hardware Reference Edition November 2015 2015 maxon motor Subject to change without prior notice Figure 2 2 Dimensional Drawing mm ...

Page 10: ...ric Standards IEC EN 61000 6 2 Immunity for industrial environments IEC EN 61000 6 3 Emission standard for residential commercial and light industrial environments Applied Standards IEC EN 61000 6 3 IEC EN 55022 CISPR22 Radio disturbance characteristics radio interference IEC EN 61000 4 2 Electrostatic discharge immunity test 8 kV 6 kV IEC EN 61000 4 3 Radiated radio frequency electromagnetic fiel...

Page 11: ...current is depending on the load torque Yet the output current limits of the ESCON 70 10 are as follows continuous max 10 A short time acceleration max 30 A Built in Motor Chokes In a setup with low inductive motor winding combined with high continuous current and high supply volt age an additional external 3 phase motor choke will probably be necessary for details chapter 3 6 External Motor Choke...

Page 12: ...ed kinetic energy for example in a capacitor b If you are using an electronically stabilized power supply make sure that the overcurrent protection circuit is configured inoperative within the operating range Note The formula already takes the following into account Maximum PWM duty cycle of 95 Controller s max voltage drop of 1 V 10 A KNOWN VALUES Operating torque M mNm Operating speed n rpm Nomi...

Page 13: ...in given order and choose the connection scheme that suits the respective com ponents you are using For corresponding wiring diagrams chapter 4 Wiring on page 4 29 3 3 1 Power J1 Figure 3 3 Power Plug J1 Table 3 6 Power Plug J1 Pin Assignment Table 3 7 Power Plug J1 Specification Accessories J1 Signal Description Pin Power_GND Ground of supply voltage VCC Power supply voltage 10 70 VDC Specificati...

Page 14: ...tor brushed Table 3 9 Motor Plug J2 Pin Assignment for maxon EC motor brushless Table 3 10 Motor Plug J2 Specification Accessories J2 Signal Description Pin 1 Motor M DC motor Motor 2 Motor M DC motor Motor 3 not connected 4 Motor shield Cable shield J2 Signal Description Pin 1 Motor winding 1 EC motor Winding 1 2 Motor winding 2 EC motor Winding 2 3 Motor winding 3 EC motor Winding 3 4 Motor shie...

Page 15: ...r 1 Input Circuit analogously valid also for Hall Sensors 2 3 J3 Signal Description Pin 1 Hall sensor 1 Hall sensor 1 input 2 Hall sensor 2 Hall sensor 2 input 3 Hall sensor 3 Hall sensor 3 input 4 5 VDC Hall sensor supply voltage 5 VDC IL 30 mA 5 GND Ground Specification Accessories Type Pluggable screw type terminal block 5 poles pitch 3 5 mm Suitable cables 0 14 1 5 mm2 multi core AWG 28 14 0 1...

Page 16: ...essories J4 Signal Description Pin 1 not connected 2 5 VDC Encoder supply voltage 5 VDC 70 mA 3 GND Ground 4 not connected 5 Channel A Channel A complement 6 Channel A Channel A 7 Channel B Channel B complement 8 Channel B Channel B 9 not connected 10 not connected Accessories Suitable strain relief Retainer For sockets with strain relief 1 retainer clip height 13 5 mm 3M 3505 8110 For sockets wit...

Page 17: ...n index impulse Ch I Ch I For best performance we strongly recommend using encoders with line driver Otherwise speed limitations may apply due to slow switching edges Figure 3 8 Encoder Input Circuit Ch A Differential analogously valid also for Ch B Encoder Cable 275934 Cable cross section 10 x AWG28 round jacket twisted pair flat cable pitch 1 27 mm Length 3 20 m Head A DIN 41651 female pitch 2 5...

Page 18: ... maxon motor Subject to change without prior notice Figure 3 9 Encoder Input Circuit Ch A Single ended analogously valid also for Ch B Single ended Input voltage 0 5 VDC Max input voltage 12 VDC 12 VDC Logic 0 1 0 V Logic 1 2 4 V Input high current IIH typically 420 μA 5 V Input low current IIL typically 170 μA 0 V Max input frequency 100 kHz ...

Page 19: ...ug J5 Pin Assignment Cabling Table 3 17 Digital I Os Plug J5 Specification Accessories J5 Signal Description Pin 1 DigIN1 Digital input 1 2 DigIN2 Digital input 2 3 DigIN DigOUT3 Digital input output 3 4 DigIN DigOUT4 Digital input output 4 5 GND Signal ground 6 5 VDC Auxiliary output voltage 5 VDC 10 mA Specification Accessories Type Pluggable screw type terminal block 6 poles pitch 3 5 mm Suitab...

Page 20: ... 0 V Logic 1 typically 2 4 V Input resistance typically 47 kΩ 3 3 V typically 38 5 kΩ 5 V typically 25 5 kΩ 24 V Input current at logic 1 typically 130 µA 5 VDC Switching delay 8 ms PWM frequency range 10 Hz 5 kHz PWM duty cycle range resolution 10 90 0 1 RC Servo cycle duration 3 30 ms RC Servo pulse length 1 2 ms Input voltage 0 36 VDC Max input voltage 36 VDC 36 VDC Logic 0 typically 1 0 V Logi...

Page 21: ...sly valid also for DigIN4 Figure 3 14 DigOUT3 Circuit analogously valid also for DigOUT4 DigIN Input voltage 0 36 VDC Max input voltage 36 VDC Logic 0 typically 1 0 V Logic 1 typically 2 4 V Input resistance typically 47 kΩ 3 3 V typically 38 5 kΩ 5 V typically 25 5 kΩ 24 V Input current at logic 1 typically 130 µA 5 VDC Switching delay 8 ms DigOUT Max input voltage 36 VDC Max load current 500 mA ...

Page 22: ...ntrol 3 22 Document ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice Figure 3 15 DigOUT3 Wiring Examples analogously valid also for DigOUT4 ...

Page 23: ...nt Cabling Table 3 19 Analog I Os Plug J6 Specification Accessories J6 Signal Description Pin 1 AnIN1 Analog input 1 positive signal 2 AnIN1 Analog input 1 negative signal 3 AnIN2 Analog input 2 positive signal 4 AnIN2 Analog input 2 negative signal 5 AnOUT1 Analog output 1 6 AnOUT2 Analog output 2 7 GND Signal ground Specification Accessories Type Pluggable screw type terminal block 7 poles pitch...

Page 24: ...usly valid also for AnOUT2 Input voltage 10 10 VDC differential Max input voltage 24 VDC 24 VDC Common mode voltage 5 10 VDC referenced to GND Input resistance 80 kΩ differential 65 kΩ referenced to GND A D converter 12 bit Resolution 5 64 mV Bandwidth 10 kHz Output voltage 4 4 VDC D A converter 12 bit Resolution 2 42 mV Refresh rate AnOUT1 26 8 kHz AnOUT2 5 4 kHz Analog bandwidth of output amplif...

Page 25: ...abling Table 3 21 USB Type A micro B Cable J7 Head A Head B Signal Description Pin Pin 1 1 VBUS USB BUS supply voltage input 5 VDC 2 2 D USB Data twisted pair with Data 3 3 D USB Data twisted pair with Data 4 ID not connected 5 4 GND USB_Ground USB Type A micro B Cable 403968 Cable cross section According to USB 2 0 USB 3 0 specification Length 1 5 m Head A USB Type micro B male Head B USB Type A ...

Page 26: ...Reference 2015 maxon motor Subject to change without prior notice 3 4 Potentiometers POTENTIOMETERS P1 P2 Figure 3 20 Potentiometers Location Adjustment Range 3 5 Status Indicators Light emitting diodes LEDs indicate the actual operating status green and possible errors red Figure 3 21 LEDs Location Adjustment angle 240 Type Linear ...

Page 27: ...STANDSTILL off 1x ERROR Vcc Overvoltage Error Vcc Undervoltage Error 5 VDC Undervoltage Error off 2x ERROR Thermal Overload Error Overcurrent Error Power Stage Protection Error Internal Hardware Error off 3x ERROR Encoder Cable Break Error Encoder Polarity Error DC Tacho Cable Break Error DC Tacho Polarity Error off 4x ERROR PWM Set Value Input out of Range Error off 5x ERROR Hall Sensor Pattern E...

Page 28: ...nt ripple will become too high This will cause unnecessary motor heating and unstable control behavior In this case an additional external 3 phase motor choke will be necessary Use the following formula to determine whether an additional motor choke will be required Table 3 23 External Motor Chokes Specification Accessories Motor terminal inductance Line 11 in maxon catalog Nominal operating volta...

Page 29: ...l5543 4 29 ESCON 70 10 Hardware Reference Edition November 2015 2015 maxon motor Subject to change without prior notice 4 Wiring Figure 4 22 Interfaces Designations and Location Remark The subsequent diagrams feature this sign Ground safety earth connection optional ...

Page 30: ...tor control 4 30 Document ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice 4 1 DC Motors MAXON DC MOTOR Figure 4 23 maxon DC motor J2 ...

Page 31: ...trol ESCON Servo Controller Document ID rel5543 4 31 ESCON 70 10 Hardware Reference Edition November 2015 2015 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH DC TACHO Figure 4 24 maxon DC motor with DC Tacho J2 ...

Page 32: ...rol 4 32 Document ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH ENCODER Figure 4 25 maxon DC motor with Encoder J2 J4 ...

Page 33: ...rvo Controller Document ID rel5543 4 33 ESCON 70 10 Hardware Reference Edition November 2015 2015 maxon motor Subject to change without prior notice 4 2 EC Motors MAXON EC MOTOR WITH HALL SENSORS Figure 4 26 maxon EC motor with Hall Sensors J2 J3 ...

Page 34: ...ent ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice MAXON EC MOTOR WITH HALL SENSORS ENCODER Figure 4 27 maxon EC motor with Hall Sensors Encoder J2 J3 J4 ...

Page 35: ...re Parts List Order number Description 432793 2 poles pluggable screw type terminal block pitch 5 0 mm labeled 1 2 432794 4 poles pluggable screw type terminal block pitch 5 0 mm labeled 1 4 425564 5 poles pluggable screw type terminal block pitch 3 5 mm labeled 1 5 425565 6 poles pluggable screw type terminal block pitch 3 5 mm labeled 1 6 425566 7 poles pluggable screw type terminal block pitch ...

Page 36: ...otor control 5 36 Document ID rel5543 ESCON Servo Controller Edition November 2015 ESCON 70 10 Hardware Reference 2015 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l e f t b l a n k ...

Page 37: ... J5 19 Figure 3 11 DigIN1 Circuit 20 Figure 3 12 DigIN2 Circuit 20 Figure 3 13 DigIN3 Circuit analogously valid also for DigIN4 21 Figure 3 14 DigOUT3 Circuit analogously valid also for DigOUT4 21 Figure 3 15 DigOUT3 Wiring Examples analogously valid also for DigOUT4 22 Figure 3 16 Analog I Os Plug J6 23 Figure 3 17 AnIN1 Circuit analogously valid also for AnIN2 24 Figure 3 18 AnOUT1 Circuit analo...

Page 38: ...able 3 10 Motor Plug J2 Specification Accessories 14 Table 3 11 Hall Sensor Plug J3 Pin Assignment 15 Table 3 12 Hall Sensor Plug J3 Specification Accessories 15 Table 3 13 Encoder Socket J4 Pin Assignment 16 Table 3 14 Encoder Socket J4 Accessories 16 Table 3 15 Encoder Cable 17 Table 3 16 Digital I Os Plug J5 Pin Assignment Cabling 19 Table 3 17 Digital I Os Plug J5 Specification Accessories 19 ...

Page 39: ...urrounding system 11 informatory signs 4 intended purpose of the device 4 interfaces location and designation 29 L LEDs 26 M mandatory action signs 3 motor chokes additional 28 N notations used 3 O operating license 11 operating status display 26 order numbers 275934 17 347919 28 403968 25 422969 7 425564 35 425565 35 425566 35 432793 35 432794 35 P performance data 7 potentiometers 26 precautions...

Page 40: ...all parts thereof is protected by copyright Any use including reproduction translation microfilming and other means of electronic data processing beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag is not permitted and subject to prosecution under the applicable law maxon motor ag Brünigstrasse 220 P O Box 263 CH 6072 Sachseln Switzerland Phone 41 41 66...

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