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maxon motor ag

Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com

Edition November 2014

ESCON Servo Controller

Hardware Reference

maxon motor control

ESCON Module 50/5

Servo Controller

P/N 438725

Hardware Reference

Document ID: rel4734

Содержание ESCON Module 50/5

Страница 1: ...CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition November 2014 ESCON Servo Controller Hardware Reference maxon motor control ESCON Module 50 5 Servo Controller P N 438725 Hardware Reference Document ID rel4734 ...

Страница 2: ...5 6 Dimensional Drawing 36 5 7 ESCON Module Motherboard 438779 37 5 8 Spare Parts 50 TABLE OF CONTENTS READ 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 Module 50 5 is considered as partly completed machinery according ...

Страница 3: ...e and detailed information on the optionally available ESCON Module Motherboard 1 1 2 Target Audience The present 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...

Страница 4: ... including all parts thereof is protected by copyright Any use including repro duction 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 sub ject to prosecution under the applicable law Mandatory Action typical Indicates a mandatory action Hence you must Inform...

Страница 5: ... Target Audi ence on page 1 3 Refer to chapter 1 1 4 Symbols signs on page 1 3 for explanations of the symbols used in the following You must observe any regulation applicable in the country and or at the site of implementation with regard to health and safety accident prevention and or environmental protection Requirements Make sure that all associated devices and components are installed accordi...

Страница 6: ...s maxon motor control 1 6 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 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 ...

Страница 7: ... EC motor 150 000 rpm 1 pole pair Built in motor choke Inputs Outputs Analog input 1 Analog input 2 12 bit resolution 10 10 V differential Analog output 1 Analog output 2 12 bit resolution 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 mA Hall sensor signals H1 H2 H3 Encoder signals...

Страница 8: ...ce Table 2 4 Technical Data Figure 2 1 Dimensional Drawing mm Environmental Conditions Temperature Operation 30 45 C Extended range 1 45 75 C Derating 0 167 A C Storage 40 85 C Humidity 20 80 condensation not permitted Remark 1 Operation within the extended temperature range is permitted However a respective derating declination of max output current as to the stated value will apply ESCON Module ...

Страница 9: ...le Table 2 5 Standards Electromagnetic compatibility Generic 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 3 Radiated radio frequency electromagnetic field immuni...

Страница 10: ...on motor control 2 10 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 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 ...

Страница 11: ...ating voltage is between 10 50 VDC Supply voltages above 56 VDC or wrong polarity will destroy the unit Note that the necessary output current is depending on the load torque Yet the output current limits of the ESCON Module 50 5 are as follows continuous max 5 A short time acceleration max 15 A WARNING Risk of Injury Operating the device without the full compliance of the surrounding system with ...

Страница 12: ...overed 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 98 Controller s max voltage drop of 1 V 5 A KNOWN VALUES Operating torque M mNm Operating speed n rpm N...

Страница 13: ... Assignment Figure 3 2 Pin Assignment Table 3 6 Pin Assignment Pins 1 18 Pin Signal Description 1 2 Motor M Motor winding 1 DC motor Motor EC motor Winding 1 3 4 Motor M Motor winding 2 DC motor Motor EC motor Winding 2 5 6 Motor winding 3 EC motor Winding 3 7 8 VCC Nominal operating voltage 10 50 VDC 9 10 Power_GND GND Ground of operating voltage Ground 11 5 VDC Hall sensor supply voltage 5 VDC 3...

Страница 14: ...nment Table 3 7 Pin Assignment Pins 19 29 Pin Signal Description 19 DigIN DigOUT4 Digital input output 4 20 DigIN DigOUT3 Digital input output 3 21 DigIN2 Digital input 2 22 DigIN1 Digital input 1 23 GND Ground 24 AnOUT2 Analog output 2 25 AnOUT1 Analog output 1 26 AnIN2 Analog input 2 negative signal 27 AnIN2 Analog input 2 positive signal 28 AnIN1 Analog input 1 negative signal 29 AnIN1 Analog i...

Страница 15: ...or Subject to change without prior notice 3 3 2 Hall Sensor Figure 3 4 Hall Sensor 1 Input Circuit analogously valid also for Hall Sensors 2 3 Hall sensor supply voltage 5 VDC Max Hall sensor supply current 30 mA Input voltage 0 24 VDC Max input voltage 24 VDC Logic 0 typically 1 0 V Logic 1 typically 2 4 V Internal pull up resistor 10 kΩ referenced to 5 45 V ...

Страница 16: ...ential scheme Nevertheless the controller supports both schemes differential and single ended unsymmetrical The controller does not require an index impulse Ch I Ch I For best performance we strongly recommend using encoders with a line driver Otherwise speed limitations may apply due to slow switching edges Figure 3 5 Encoder Input Circuit Ch A Differential analogously valid also for Ch B Differe...

Страница 17: ...014 maxon motor Subject to change without prior notice Figure 3 6 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 ...

Страница 18: ... 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 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 typicall...

Страница 19: ...gously valid also for DigIN4 Figure 3 10 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 ...

Страница 20: ...ol 3 20 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice Figure 3 11 DigOUT3 Wiring Examples analogously valid also for DigOUT4 ...

Страница 21: ...nalogously 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 ...

Страница 22: ...Cabling Table 3 9 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 ...

Страница 23: ...er Document ID rel4734 3 23 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice 3 4 Potentiometer POTENTIOMETER P1 Figure 3 15 Potentiometer Location Adjustment Range Adjustment angle 210 Type Linear ...

Страница 24: ...reen Red off off INIT slow off DISABLE on off ENABLE 2x off STOPPING STOP 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...

Страница 25: ...34 4 25 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice 4 Wiring Figure 4 17 Interfaces Designations and Location Note The subsequent diagrams feature this symbol Ground safety earth connection optional ...

Страница 26: ...r control 4 26 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice 4 1 DC Motors MAXON DC MOTOR Figure 4 18 maxon DC motor ...

Страница 27: ...ol ESCON Servo Controller Document ID rel4734 4 27 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH DC TACHO Figure 4 19 maxon DC motor with DC Tacho ...

Страница 28: ...rol 4 28 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH ENCODER Figure 4 20 maxon DC motor with Encoder ...

Страница 29: ...rvo Controller Document ID rel4734 4 29 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice 4 2 EC Motors MAXON EC MOTOR WITH HALL SENSORS Figure 4 21 maxon EC motor with Hall Sensors ...

Страница 30: ...ment ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice MAXON EC MOTOR WITH HALL SENSORS ENCODER Figure 4 22 maxon EC motor with Hall Sensors Encoder ...

Страница 31: ...n examples Bring in additional Support If you are not trained in the design and development of printed circuit boards you will need additional support for this point maxon motor will be happy to provide you with a quote for designing and manufacturing a motherboard for your specific application CAUTION Dangerous Action Errors in implementing the Design can result in serious Injury Only proceed if ...

Страница 32: ...ing an external circuit breaker a TVS diode and a capacitor in the voltage supply cable In this regard please note the following recommendations Figure 5 23 Wiring of Voltage Supply Cable INPUT FUSE FU1 An input fuse FU1 is necessary in order to provide reverse polarity protection Together with an unipo lar TVS diode D1 this prevents current from flowing in the wrong direction TVS DIODE D1 To prot...

Страница 33: ...ional chokes are necessary Nevertheless the use of chokes in combination with additional filter components can be useful to reduce the emission of electro magnetic interference An additional choke must feature electromagnetic shielding a high saturation current minimal losses and a nominal current greater than the continuous current of the motor The below wiring example refers to an additional ind...

Страница 34: ...MBJ54A UR 54 V UBR 60 0 66 3 V 1 mA UC 87 1 V 6 9 A Diotec P6SMBJ54A UR 54 V UBR 60 0 66 6 V 1 mA UC 87 1 V 6 9 A Capacitor C1 Panasonic EEUFC1J221S Rated voltage 63 V capacitance 220 μF ripple current 1285 mA Rubycon 63ZL220M10X23 Rated voltage 63 V capacitance 220 μF ripple current 1120 mA Nichicon UPM1J221MHD Rated voltage 63 V capacitance 220 μF ripple current 1300 mA Motor Cable Motor Choke W...

Страница 35: ...otential is in place or required the ground plane should be connected to the earth potential via one or more capacitors The use of ceramic capacitors with 100 nF and 100 V is recommended 5 2 2 Layout Guidelines for the layout of the motherboard Connector pins 7 and 8 VCC operating voltage The pins should be connected to the fuse via wide conductive tracks Connector pins 9 10 and 23 ground All pins...

Страница 36: ...CON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice 5 4 Pin Assignment For detailed specifications chapter 3 3 Connections on page 3 13 5 5 Technical Data For detailed specifications chapter 2 Specifications on page 2 7 5 6 Dimensional Drawing For the dimensional drawing Figure 2 1 on page 2 8 ...

Страница 37: ...ct to change without prior notice 5 7 ESCON Module Motherboard 438779 The ESCON Module Motherboard subsequently named ESCON Module MoBo is available as an alter native to developing an own motherboard All required connections are already in place and designed as screw type terminals Figure 5 26 ESCON Module MoBo left with mounted ESCON Module 50 5 right Figure 5 27 ESCON Module MoBo Dimensional Dr...

Страница 38: ...ring information for the components required Figure 5 28 only for illustrative purposes and Table 5 13 Figure 5 28 ESCON Module MoBo Mounting on DIN Rail Table 5 13 ESCON Module MoBo mounting on DIN Rail Specification Accessories Specification Accessories Adapter for DIN rail PHOENIX CONTACT 2 x panel mounting base element 11 25 mm UMK SE11 25 1 2970442 2 x base element 45 mm UMK BE45 2970015 2 x ...

Страница 39: ... at the ESCON Module 50 5 5 7 2 1 Power Supply J1 Figure 5 29 ESCON Module MoBo Power Plug J1 Table 5 14 ESCON Module MoBo Power Plug J1 Pin Assignment Table 5 15 ESCON Module MoBo Power Plug J1 Specification Accessories J1 Signal Description Pin 1 Power_GND Ground of operating voltage 2 VCC Nominal operating voltage 10 50 VDC Specification Accessories Type Pluggable screw type terminal block 2 po...

Страница 40: ...ignment for maxon DC motor brushed Table 5 17 ESCON Module MoBo Motor Plug J2 Pin Assignment for maxon EC motor brush less Table 5 18 ESCON Module MoBo 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 moto...

Страница 41: ...5 31 ESCON Module MoBo Hall Sensor Plug J3 Table 5 19 ESCON Module MoBo Hall Sensor Plug J3 Pin Assignment Table 5 20 ESCON Module MoBo Hall Sensor Plug J3 Specification Accessories 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 Accesso...

Страница 42: ... Table 5 22 ESCON Module MoBo Encoder Socket J4 Accessories 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 retain...

Страница 43: ...ommend using differential scheme Nevertheless the controller supports both schemes differential and single ended The controller does not require an 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 Encoder Cable 275934 Cable cross section 10 x AWG28 round jacket twisted pair flat cabl...

Страница 44: ...e 5 24 ESCON Module MoBo Digital I Os Plug J5 Pin Assignment Table 5 25 ESCON Module MoBo 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 Ground 6 5 VDC Auxiliary output voltage 5 VDC 10 mA Specification Accessories Type Pluggable screw type...

Страница 45: ...le MoBo Analog I Os Plug J6 Pin Assignment Table 5 27 ESCON Module MoBo 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 Ground Specification Accessories Type Plugga...

Страница 46: ...14 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice 5 7 3 Wiring Note The USB interface is located directly at the ESCON Module 50 5 Note The subsequent diagrams feature this symbol Ground safety earth connection optional 5 7 3 1 DC Motors MAXON DC MOTOR Figure 5 35 ESCON Module MoBo maxon DC motor J2 ...

Страница 47: ...otor control ESCON Servo Controller Document ID rel4734 5 47 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH DC TACHO Figure 5 36 ESCON Module MoBo maxon DC motor with DC Tacho J2 ...

Страница 48: ...tor control 5 48 Document ID rel4734 ESCON Servo Controller Edition November 2014 ESCON Module 50 5 Hardware Reference 2014 maxon motor Subject to change without prior notice MAXON DC MOTOR WITH ENCODER Figure 5 37 ESCON Module MoBo maxon DC motor with Encoder J2 J4 ...

Страница 49: ...CON Servo Controller Document ID rel4734 5 49 ESCON Module 50 5 Hardware Reference Edition November 2014 2014 maxon motor Subject to change without prior notice 5 7 3 2 EC motors MAXON EC MOTOR WITH HALL SENSORS Figure 5 38 ESCON Module MoBo maxon EC motor with Hall Sensors J2 J3 ...

Страница 50: ...axon EC motor with Hall Sensors Encoders J2 J3 J4 5 8 Spare Parts Table 5 28 Spare Parts List Order number Description 444144 2 pole pluggable screw type terminal block 3 5 mm pitch labeled 1 2 444145 4 pole pluggable screw type terminal block 3 5 mm pitch labeled 1 4 444146 5 pole pluggable screw type terminal block 3 5 mm pitch labeled 1 5 444147 6 pole pluggable screw type terminal block 3 5 mm...

Страница 51: ...ions and Location 25 Figure 4 18 maxon DC motor 26 Figure 4 19 maxon DC motor with DC Tacho 27 Figure 4 20 maxon DC motor with Encoder 28 Figure 4 21 maxon EC motor with Hall Sensors 29 Figure 4 22 maxon EC motor with Hall Sensors Encoder 30 Figure 5 23 Wiring of Voltage Supply Cable 32 Figure 5 24 Wiring of Motor Winding 1 analogously valid also for Motor Windings 2 3 33 Figure 5 25 THT Footprint...

Страница 52: ...ment 39 Table 5 15 ESCON Module MoBo Power Plug J1 Specification Accessories 39 Table 5 16 ESCON Module MoBo Motor Plug J2 Pin Assignment for maxon DC motor brushed 40 Table 5 17 ESCON Module MoBo Motor Plug J2 Pin Assignment for maxon EC motor brushless 40 Table 5 18 ESCON Module MoBo Motor Plug J2 Specification Accessories 40 Table 5 19 ESCON Module MoBo Hall Sensor Plug J3 Pin Assignment 41 Tab...

Страница 53: ...m 11 informatory signs 4 intended purpose of the device 5 of this document 3 interfaces location and designation 25 L LEDs 24 M mandatory action signs 4 MoBo ESCON Module Motherboard 37 N notations used 3 O operating license 11 operating status display 24 order numbers 275934 43 403968 22 438725 7 438779 37 444144 50 444145 50 444146 50 444147 50 444148 50 P performance data 7 pin assignment 13 po...

Страница 54: ...ll 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 is not permit ted without the prior approval of maxon motor ag and will be subject to prosecution under the applicable law maxon motor ag Brünigstrasse 220 P O Box 263 CH 6072 Sachseln Switzerland Phone ...

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