Maxon motor 380200 Manuale utente

maxon motor

maxon motor control 1-Q-EC Ampliﬁer DEC Module 50/5

Order number 380200

Operating Instructions Edition April 2015

The DEC Module 50/5 (Digital EC Controller) is a small

1-quadrant digital controller for the control of brushless DC motors

(Electronic Commutated motors) up to 250 W.

The used EC motor must be equipped with digital Hall sensors.

Features:

• Digital speed control

operates as «closed loop» or as «open loop» speed controller

• Maximum speed 80 000 rpm (motor with 1 pole pair)

• Set value input through external analogue voltage (0 ... +5 V)

• 3 different speed ranges selectable

• Direction of rotation preset by a digital signal

• The output stage can be enabled or disabled

• Maximum output current limit adjustable up to 10 A

• Motor speed can be monitored with the «Monitor n» output

• Status indication via «Ready»output

• Blockage protection (current limit for blocked motor)

• Protective functions: undervoltage, overvoltage and thermal overload

• Standardized connector strip, pitch 2.54 mm

Thanks to the wide input power supply range of 6...50 VDC (optional 5 VDC operation possible), the DEC Module

50/5 is very versatile and can be used with various power supplies.

A sturdy PI speed controller design is an ideal premise for immediate operation.

The well-priced and miniaturized OEM module seamlessly integrates into applications. Now the customer can

fully focus on developing his/hers own device - while being able to make use of maxon motor‘s vast drive know-

how. For start-up maxon motor offers a comprehensive Evaluation Board.

The latest edition of these operating instructions may be downloaded from the internet as a PDF-ﬁle under

www.maxonmotor.com, category «Service & Downloads», order number 380200 or

in the e-shop http://shop.maxonmotor.com.

Table of Contents

1 Safety Instructions ............................................................................................................................................. 2

2 Technical Data ................................................................................................................................................... 3

3 Pin assignment DEC Module 50/5 ..................................................................................................................... 5

4 Commissioning Instructions............................................................................................................................... 6

5 Functional Description of Inputs and Outputs.................................................................................................... 7

6 Protective functions ......................................................................................................................................... 14

7 Block Diagram ................................................................................................................................................. 15

8 Dimensional Drawing ....................................................................................................................................... 16

9 Accessories (not included in delivery) ............................................................................................................. 16

10 Appendix «Motherboard Design Guide» ....................................................................................................... 16

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1-Q-EC Ampliﬁer DEC Module 50/5 Operating Instructions

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

1 Safety Instructions

Skilled Personnel

Installation and commissioning of the equipment shall only be performed by

experienced, skilled personnel.

Statutory Regulations

The user must ensure that the ampliﬁer and the components belonging to it

are assembled and connected according to local statutory regulations.

Disconnect Load

For primary operation the motor should be free running, i.e. with load discon-

nected.

Additional Safety Equipment

Any electronic apparatus is, in principle, not fail-safe. Machines and appara-

tus must therefore be ﬁtted with independent monitoring and safety equip-

ment. If the equipment breaks 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 authorized personnel only or by the manufacturer.

Improper repairs can result in substantial dangers for the user

Danger

During installation of the DEC Module, make sure to disconnect all apparatus

from the electrical supply.

After switch-on, do not touch any life parts!

Wiring Procedure

All electrical connections should only be connected or disconnected when the

power is switched off.

Max. Supply voltage

Make sure that the supply voltage is between 6 and 55 VDC. Voltage higher

than 56 VDC or wrong polarity will destroy the unit.

Short Circuit and Earth Fault

The ampliﬁer is not protected against winding short circuits against ground

safety earth and/or GND!

Electrostatic sensitive device (ESD)

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Operating Instructions 1-Q-EC Ampliﬁer DEC Module 50/5

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

2 Technical Data

2.1 Electrical data

Nominal supply voltage +V

..................................................................... 6 … 50 VDC (optional 5 VDC

)

Absolute minimum supply voltage +V

cc min

........................................................... 6 VDC (optional 5 VDC

)

Absolute maximum supply voltage +V

cc max

.................................................................................... 55 VDC

Max. output voltage ...................................................................................................................... 0.95 • V

Continuous output current I

cont

................................................................................................................5 A

Max. output current I

max

.........................................................................................................................10 A

Switching frequency.......................................................................................................................46.8 kHz

Max. speed (motor with 1 pole pair) ......................................................................................... 80 000 rpm

2.2 Inputs

«Set value speed» ........................................................Analogue input (0 ... 5 V); Resolution: 1024 steps

«Enable» ......................................................................+2.4 … +55 V (R

= 100 kΩ) or switch against V

«Direction» ...................................................................+2.4 … +55 V (R

= 100 kΩ) or switch against V

Speed range «DigIN1 » ...............................+2.4 … +55 V (R

pull-up

= 47 kΩ at 5 V) or switch against Gnd

Speed range «DigIN2 » ...............................+2.4 … +55 V (R

pull-up

= 47 kΩ at 5 V) or switch against Gnd

«Set current limit» .............................................................................external resistor (

W) against Gnd

Hall sensors ................................................................ «Hall sensor 1», «Hall sensor 2», «Hall sensor 3»

2.3 Output

Motor speed «Monitor n» ............................................................... Digital output signal, 5 V (R

= 47 kΩ)

Status indication «Ready» .............................................................. Digital output signal, 5 V (R

= 47 kΩ)

2.4 Voltage output

+5 VDC output voltage «V

Hall» ............................................................................+5 VDC, max. 35 mA

2.5 Motor connections

Motor connections ...................................... «Motor winding 1», « Motor winding 2», « Motor winding 3»

2.6 Ambient temperature

Operation .................................................................................................................................-10 ... +45°C

Storage .....................................................................................................................................-40 ... +85°C

2.7 Humidity range

Non condensating .......................................................................................................................20 ... 80 %

2.8 Protective functions

Current limitation (cycle-by-cycle) ........................................................... adjustable up to maximum 10 A

Blockage ........................................................................ Motor current limitation if motor shaft is blocked

Undervoltage shutdown ....................................................................................... shutdown if V

< 6 VDC

Overvoltage shutdown ....................................................................................... shutdown if V

> 56 VDC

Thermal overload protection of power stage .............................................. shutdown if T

power stage

> 100°C

2.9 Mechanical data

Weight ........................................................................................................................................ approx. 9 g

Dimensions (LxWxH). ......................................................................................... 43.18 x 27.94 x 12.7 mm

....................................................................................................................................... 1.7 x 1.1 x 0.5 Inch

2.10 Terminals

Pin header 1 ..................................................................................................................................2 x 9 pins

.......................................................................................................... double-row, pitch 2.54 mm (0.1 Inch)

Pin header 2 ....................................................................................................................................... 8 pins

............................................................................................................single row, pitch 2.54 mm (0.1 Inch)

1 5V operating see chapter «10.8.2 Low Voltage +5V operation»

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1-Q-EC Ampliﬁer DEC Module 50/5 Operating Instructions

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

2.11 Standards

The described device has been successfully tested for compliance with the

below listed standards. In practical terms, only the complete system (the fully

operational equipment comprising all individual components, such as motor,

servo controller, power supply unit, EMC ﬁlter, cabling etc.) can undergo an

EMC test to ensure interference-free operation.

Important Notice

a The device’s compliance with the mentioned standards does not im-

ply its compliance within the ﬁnal, ready to operate setup. In order to

achieve compliance of your operational system, you must perform EMC

testing of the involved equipment as a whole.

Electromagnetic compatibility

Generic

standards

IEC/EN 61000-6-2 Immunity for industrial environments

IEC/EN 61000-6-4 Emission standard for industrial environ-

ments

Applied

standards

IEC/EN 61000-6-4

EN 55011

(CISPR11)

RF disturbances

IEC/EN 61000-4-3 Radiated electromagnetic ﬁeld > 10V/m

IEC/EN 61000-4-4 Electrical fast transient burst +/- 2 kV

IEC/EN 61000-4-6 RF conducted disturbances 10Vrms

IEC/EN 61000-4-8 Power frequency magnetic ﬁeld 30A/m

Others

Safety

standards

UL File Number E172472, E92481 or E76251; unassembled

printed circuit board

Reliability MIL-HDBK-217F

Reliability prediction of electronic equipment

Environment: Ground, benign (GB)

Ambient temperature: 298 K (25°C)

Component stress: In accordance with cir-

cuit diagram and nominal power

Mean Time Between Failures (MTBF):

1‘434‘315 hours

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Operating Instructions 1-Q-EC Ampliﬁer DEC Module 50/5

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

3 Pin assignment DEC Module 50/5

Top view

3.1 Pin assignment

Pin Signal Description

1 W1 Motor winding 1

2 W1 Motor winding 1

3 W2 Motor winding 2

4 W2 Motor winding 2

5 W3 Motor winding 3

6 W3 Motor winding 3

7 +Vcc Supply voltage 6...50 VDC

8 +Vcc Supply voltage 6...50 VDC

9 Gnd Ground

10 Gnd Ground

11 Vcc Hall +5 VDC output voltage

12 n.c. do not connect

13 H1 Hall sensor 1

14 Gnd Ground

15 H2 Hall sensor 2

16 Gnd Ground

17 H3 Hall sensor 3

18 Monitor n Speed monitor output

19 Ready Status indication output

20 DigIN1 Digital input 1

21 DigIN2 Digital input 2

22 Enable Enable input

23 Direction Direction input

24 Gnd Ground

25 Set current limit Set current limit input

26 Set value speed Set value speed input

17 18 19

DEC Module 50/5

maxon motor

6 maxon motor control

1-Q-EC Ampliﬁer DEC Module 50/5 Operating Instructions

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

4 Commissioning Instructions

4.1 Power supply layout

Any available power supply can be used, as long as it meets the minimum

requirements shown below.

During commissioning and adjustment phases, we recommend to mechani-

cally separate the motor from the machine to prevent damage due to uncon-

trolled motion!

Power supply requirements

Nominal output voltage 6 VDC < VCC < 50 VDC

Absolute minimum output voltage 6 VDC

Absolute maximum output voltage 55 VDC

Output current depending on load, continuous max. 5 A

acceleration, short-time max. 10 A

The required supply voltage can be calculated as follows:

Known values

ÖOperating torque MB [mNm]

ÖOperating speed nB [rpm]

ÖNominal motor voltage UN [V]

ÖMotor no-load speed at UN, n0 [rpm]

ÖSpeed/torque gradient of the motor Dn/DM [rpm/mNm]

Sought value

ÖSupply voltage VCC [V]

Solution

VBB

cc 3.0

95.0

1

§



Select a power supply capable of supplying this calculated voltage under

load. The formula takes into account a maximum PWM duty cycle of 95%

and a 0.3 V maximum voltage drop (at maximum output current) of the power

stage.

What speed can be reached with a given power supply:



ª



ª B

ccB M

VVn 0

3.095.0

Note

ÖDuring controlled deceleration, the power supply must be able to buffer

the back-fed energy e.g. in a capacitor.

ÖThe under voltage protection switches off the DEC Module 50/5, as soon

as the supply voltage VCC drops below 6 V. Therefore, at low supply vol-

tage VCC attention has to be payed to the voltage drop over the supplying

cables.

maxon motor control 7

maxon motor

Operating Instructions 1-Q-EC Ampliﬁer DEC Module 50/5

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

5 Functional Description of Inputs and Outputs

5.1 Inputs

5.1.1 Speed range and mode selection with «DigIN1» and «DigIN2»

The digital inputs «DigIN1» [20] and «DigIN2» [21] determine both, the ope-

ration mode (digital speed controller or digital speed actuator) and the speed

range in speed set value mode.

Motor type

DigIN1 DigIN2 1 pole pair 4 pole pair 8 pole pair

0 0 Open loop speed control, 0...95 % PWM

depending on the «Set value speed» input voltage

1 0 500...5 000 rpm 125...1 250 rpm 62...625 rpm

0 1 500...20 000 rpm 125... 5 000 rpm 62...2 500 rpm

1 1 500...80 000 rpm 125...20 000 rpm 62...10 000 rpm

Please note

ÖIf the signal level of the digital inputs DigIN1 [20] and DigIN2 [21] are

changed, the new levels are adopted by a disable-enable procedure.

If the input «DigIN» is not connected (ﬂoating) or a voltage higher than 2.4 V

is applied, the input is active.

Logic 1 Input not connected (ﬂoating)

Input voltage > 2.4 V

Input active

If the input «DigIN» is set to ground potential or a voltage smaller than 0.8 V

is applied, the digital input is inactive

Logic 0 Input set to Gnd

Input voltage < 0.8 V

Input inactive

The inputs «DigIN1»and «DigIN2» are protected against overvoltage.

Digital input 1 Pin number [20] «DigIN1»

Digital input 2 Pin number [21] «DigIN2»

Input voltage range 0 ... +5 V

Input impedance 47 kΩ pull-up resistor against 5 V

Continuous overvoltage protection -55 ... +55 V

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1-Q-EC Ampliﬁer DEC Module 50/5 Operating Instructions

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

5.1.2 Set value «Set value speed»

The external analogue set value is predetermined at the «Set value speed»

input [26]. The «Set value speed» input sets the rotational speed of the motor

shaft.

By adjusting the signal levels on digital inputs «DigIN1 [20]» and

«DigIN2 [21]» the speed range must be set in advance.

Motor type

DigIN1 DigIN2 1 pole pair 4 pole pair 8 pole pair

0 0 Open loop speed control, 0...95 % PWM

depending on the «Set value speed» input voltage

1 0 500...5 000 rpm 125...1 250 rpm 62...625 rpm

0 1 500...20 000 rpm 125...5 000 rpm 62...2 500 rpm

1 1 500...80 000 rpm 125...20 000 rpm 62...10 000 rpm

Note

ÖIf the signal level of the digital inputs DigIN1 [20] and DigIN2 [21] are

changed, the new levels are adopted by a disable-enable procedure.

Set value voltage Description

0 V ... 0.1 V Operation at minimum speed

0.1 V ... 5.0 V Linear speed adjustment

The actual speed value is calculated according the following formula:

Known values

Ö Minimum speed (see table above) nmin [rpm]

Ö Maximum speed (see table above) nmax [rpm]

Ö Set value voltage Vset [V] respectively speed n [rpm]

Sought value

Ö speed n [rpm]

Sought value

Ö Set value voltage Vset [V]

Solution



minminmax

9.4

1.0 nnn

nset 

ª



Solution

Vset 1.09.4

minmax

min 

§



The «Set value speed» input is protected against overvoltage.

Set value speed input Pin number [26] «Set value speed»

Input voltage range 0 ... +5 V (referenced to Gnd)

Resolution 1024 steps (4.88 mV)

Input impedance 107 kΩ (in range 0 ... +5 V)

Continuous overvoltage protection -55 ... +55 V

aThe change rate of the set value signal is limited internally with a ramp

function. It nominally takes 1 s to reach the maximum speed for the

selected speed range. This time can be shortened proportionally by

deﬁning smaller set value increments.

maxon motor control 9

maxon motor

Operating Instructions 1-Q-EC Ampliﬁer DEC Module 50/5

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

Adjusting set values via PWM control

Instead of an analog voltage, a PWM signal with a ﬁxed frequency and ampli-

tude can be used to adjust the speed set value.

The desired change in the set value is achieved by variation of the duty cycle

in the range 0…100%. Both the amplitude and the duty cycle have an inﬂu-

ence on the resulting speed. The mean value of the applied PWM voltage

corresponds to the analog input signal for the speed set value.

Nominal value amplitude PWM set value 0…5 V

Max. value amplitude PWM set value -55…+55 V

Frequency range PWM set value 500 Hz…20 kHz

Modulation PWM set value 0…100%

Continuous overvoltage protection -55…+55 V

Examples:

motor type: 1 pole pair

speed range: 500...20‘000 min-1



minminmax

9.4

1.0 nnn

nset 

ª



PWM cycle 1: 33 % PWM @ 0 V … 12 V à4.0 V à16'020 rpm

t [µs]

Voltage [V]

2.5

7.5

12.5

-2.5

20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

PWM cycle 1

PWM cycle 2

PWM cycle 3

PWM cycle 4

PWM cycle 5

PWM cycle 2: 60 % PWM @ 0 V … 10 V à6 V limited to 5 V (max. set value voltage) à20'000 rpm

PWM cycle 5: 90 % PWM @ 0 V … 2.5 V à2.25 V à9'056 rpm

PWM cycle 4: 50 % PWM @ 0 V … 5 V à2.5 V à10'051 rpm

PWM cycle 3: 75 % PWM @ -2.5 V … 7.5 V à5.0 V à20'000 rpm

maxon motor

10 maxon motor control

1-Q-EC Ampliﬁer DEC Module 50/5 Operating Instructions

April 2015 Edition / document number 1094861_PDF_E - 05 / subject to change

5.1.3 «Enable»

The «Enable» input enables or disables the power stage.

If a voltage higher than 2.4 V is applied to the «Enable» input, the ampliﬁer is

activated (Enable). A speed ramp will be performed during acceleration.

Enable Input voltage > 2.4 V Motor shaft running

If the input is not connected (ﬂoating) or ground potential is applied to the

«Enable» input, the power stage is high impedant and the motor shaft free-

wheels and slows down (Disable).

Disable Input not connected (ﬂoating)

Input set to Gnd

Input voltage < 0.8 V

Power stage switched off

The «Enable» input is protected against overvoltage.

Enable Pin number [22] «Enable»

Input voltage range 0 ... +5 V

Input impedance 100 kΩ (in range 0 ... +5 V)

Continuous overvoltage protection -55 ... +55 V

Delay time max. 40 ms

5.1.4 «Direction»

The «Direction» input determines the rotational direction of the motor shaft.

When the level changes, the motor shaft slows down with a ramp to standstill,

and accelerates with a speed ramp in the opposite direction, until the target

speed is reached again.

If the input is not connected (ﬂoating) or ground potential is applied to the

«Direction» input, the motor shaft runs clockwise (CW).

CW Input not connected (ﬂoating)

Input set to Gnd

Input voltage < 0.8 V

Clockwise (CW)

If a voltage higher than 2.4 V is applied to the «Direction» input, the motor

shaft runs counter-clockwise (CCW).

CCW Input voltage > 2.4 V Counter-clockwise (CCW)

The «Direction» input is protected against overvoltage.

Direction Pin number [23] «Direction»

Input voltage range 0 ... +5 V

Input impedance 100 kΩ (in range 0 ... +5 V)

Continuous overvoltage protection -55 ... +55 V

Delay time max. 40 ms

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