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maxon motor

Operating Instructions

4-Q-EC Servoamplifier DES 70/10

5.3.3 CAN ID (CAN Identification)

The CAN-ID (node address) is set at DIP switch

S1 ... 7

All addresses can be coded from 1 ... 127 using the binary code.

Switch Binary

code

Valence

1 2

2 2

3 2

4 2

5 2

6 2

7 2

If the valences of all switches set at ON are added together, this gives the set
CAN-ID (node address).

Examples:
The following table can be used as a guide, but is not comprehensive.

Switch

1 2 3 4 5 6 7

Valence

1 2 4 8 16

CAN-ID

Switch

setting

Calculation

1 0 0 0 0 0 0

0 1 0 0 0 0 0

0 0 0 0 0 1 0

1 1 0 0 0 1 0 1

127

1 1 1 1 1 1 1

1 + 2 + 4 + 8 +

16 + 32 + 64

Note

•

CAN-ID = 0 is invalid and overwritten with CAN-ID = 1.

•

DIP-Switches 8 to 10 have no impact on the CAN-ID.

April 2006 Edition / Subject to change

maxon motor control

Содержание 4-Q-EC

Страница 1: ...e using a PC RS232 or CAN This is particularly beneficial with series application as all adjustments and parameters can be set quickly numerically and easily reproduced The set value specification can be made conventionally with an analogue input 0 5 V or 10 V RS232 or CAN bus interface The sinusoidal commutation causes minimal torque ripple and low motor noise Table of Contents 1 Safety Instructi...

Страница 2: ...aks down if it is operated incorrectly if the control unit breaks down or if the cables break etc it must be ensured that the drive or the complete apparatus is kept in a safe operating mode Repairs Repairs may be made by authorised personnel only or by the manufacturer It is dangerous for the user to open the unit or make repairs to it Danger Do ensure that during the installation of the DES 70 1...

Страница 3: ...ed 2 3 Outputs Monitor configurable by DIP Switch 10 10 10 V R0 1 kΩ fg 900 Hz 0 5 V R0 1 kΩ fg 900 Hz Status reading Ready open collector max 30 VDC IL 20 mA 2 4 Voltage outputs Encoder supply voltage 5 VDC max 100 mA Hall sensors supply voltage 5 VDC max 50 mA Auxiliary supply voltage 5 VDC max 20 mA 2 5 Interfaces RS232 RxD TxD max 115 200 bit s CAN CAN_H CAN_L max 1 Mbit s 2 6 Trim potentiomet...

Страница 4: ...maxon motor 4 Q EC Servoamplifier DES 70 10 Operating Instructions 3 Minimum External Wiring for Different Modes of Operation 4 maxon motor control April 2006 Edition Subject to change ...

Страница 5: ...Supply voltage VCC V Solution 2 9 0 1 0 V M M n n n U V B B N CC Choose a power supply capable of supplying this calculated voltage under load The formula takes a max PWM cycle of 90 and a 2 volts max voltage drop at DES 70 10 into account Consider The power supply must be able to buffer the back fed energy from brake opera tion e g in a condenser With electronically stabilized power supply units ...

Страница 6: ... potentiometer P4 gain slowly until amplification is set suffi ciently high Important If the motor vibrates or becomes loud the selected amplifica tion is too high and the potentiometer P4 must be readjusted until the instability of the drive s closed loop ceases under all loads 4 Adjust set value to zero e g by short circuiting the set value Then with the potentiometer P2 Offset set the motor spe...

Страница 7: ... Input resistance 50 kΩ Positive set value Set Value 2 5 VDC Negative set value Set Value 2 5 VDC DIP Switch 9 ON Required external potentiometer 1 kΩ Note on set value range 0 5 V If using a set value range 0 5 V do not connect Set Value Signal clamp pin 1 5 1 2 Enable If a voltage is given at Enable the servoamplifier switches the motor voltage to the winding connections If the Enable input is n...

Страница 8: ...input is not switched off floating or is connected to Gnd the mo tor speed is not affected The STOP input is protected against overvoltage Input resistance 17 kΩ 5 V 12 kΩ 24 V STOP disabled Minimum input voltage 0 VDC Maximum input voltage 0 8 VDC STOP enabled Minimum input voltage 2 4 VDC Maximum input voltage 50 VDC 5 1 5 Toggle monitor signal Digital 1 If the Digital 1 input is not switched on...

Страница 9: ...le process refer to 5 1 2 Enable must be carried out to activate the new mode 5 1 7 Encoder Encoder supply voltage 5 VDC max 100 mA Maximum encoder frequency 1 MHz Voltage value TTL Low max 0 8 V High min 2 0 V Internal Line Receiver EIA standard RS 422 It is recommended to use an encoder with built in line driver Male connector front view Pin configuration at Encoder input 1 n c Not connected 2 5...

Страница 10: ... The signal is proportional to the speed DIP Switch S10 Ð OFF DIP Switch S10 Ï ON Output voltage range 0 5 VDC 10 10 VDC Ripple max 0 02 V max 0 08 V Resolution approx 0 0125 V 400 Steps approx 0 05 V 400 Steps Output resistance RO 1 kΩ 1 kΩ Cutoff frequency fg 900 Hz 900 Hz Example nmax corresponding to 0 V 10 V 0 rpm corresponding to 2 5 V 0 V nmax corresponding to 5 V 10 V Current monitor Monit...

Страница 11: ...nge max 30 VDC Load current 20 mA Caution The load current must be limited by an external barrier resistance up to 20 mA maximum off 1 1 1 1 1 1 1 1 1 1 Version 1 Standard pre adjusted Error output J403 short circuited 0 Ω J404 not mounted open The open collector output is in normal cases i e no faults switched to Gnd In case of a fault the error output is not conducting see also 6 2 Version 2 Spe...

Страница 12: ...Stop bit 1 Protocol none Connection DES PC Servoamplifier DES 70 10 PC Interface RS232 DIN41652 Signal clamp pin 18 Gnd Pin 5 Gnd Signal clamp pin 19 RS232 RxD Pin 3 TxD Signal clamp pin 20 RS232 TxD Pin 2 RxD 5 3 2 CAN Interface CAN high CAN low Standard type CAN high speed ISO 11898 compatible Maximum bit rate 1 Mbit s Max number of CAN nodes fan out 127 Protocol CAN 2 0B CAN frame type Standard...

Страница 13: ...switches set at ON are added together this gives the set CAN ID node address Examples The following table can be used as a guide but is not comprehensive Switch 1 2 3 4 5 6 7 Valence 1 2 4 8 16 32 64 CAN ID Switch setting Calculation 1 1 0 0 0 0 0 0 1 2 0 1 0 0 0 0 0 2 32 0 0 0 0 0 1 0 32 35 1 1 0 0 0 1 0 1 2 32 127 1 1 1 1 1 1 1 1 2 4 8 16 32 64 Note CAN ID 0 is invalid and overwritten with CAN I...

Страница 14: ...rent is also permitted for a short time Imax 3 Icont whereby the length of time is dependent on the previous history of the current path Example 1 a b During the time ta 1 a higher current is permitted for motor acceleration The cur rent is then limited to the continuous output current Icont If the motor is operated long term with the continuous output current Icont no higher current is permitted ...

Страница 15: ...ncorrectly Input frequency of encoder signal too high 3 Error 2 Wrong setting of encoder resolution system parameter encoder resolution set incorrectly 4 Error 3 Hall sensor 3 not found Hall sensor 3 incorrectly wired Damaged Hall sensor 3 in the motor System parameter Encoder Resolution set too low 5 Error 4 Over current error Short circuit in the motor winding Power supply cannot supply enough a...

Страница 16: ...Terminal 1 Ground Safety Earth and or bottom of housing Motor side Motor housing or with motor housing mechanical design with low resistive connection Use separate cable Direct connection motor Hall cable 30 cm on DES 70 10 Shield casing over motor Hall connection cable expecting EC 45 EC 60 Connect shielding on both sides or Lowest resistive connection of motor housing and Ground Safety Earth ter...

Страница 17: ...signals with small signal level and electro magnetically harsh environment Normally connect shielding on both sides Place shielding on one side if there are 50 60 Hz interference problems Digital signals Enable Stop Digital 1 Digital 2 Ready No shielding necessary See also block diagram in chapter 8 In practical terms only the complete equipment comprising all individual compo nents motor amplifie...

Страница 18: ...A OUT Gnd CAN high CAN low Gnd 1 RXD TXD Gnd 1 Motor winding 1 Motor winding 2 Motor winding 3 1 1 0R Hall sensor 1 Hall sensor 2 Hall sensor 3 1 1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 10 111213141516171819 20 76 103 12 29 13 2 180 174 maxon motor LED green ok red fault gain P4 Imax P3 Offset P2 nmax P1 maxon motor control 4 Q EC Servoamplifier 228597 70V 10A DES70 10 Made in Switzerland Power Set value En...

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