Speeder Motion EasyServo Series Manuale utente
EasyServo
Digital Servo Amplifier
USER’S MANUAL
MODELS:
ESD04
ESD08
ESD10
ESD12
Safety Warnings
• The warning symbol shown at left denotes an important safety consideration. Please read this manual
Carefully before performing any of the procedures contained herein. Failure to follow these instructions
may result in fire, severe injury, or fatality.
• Have a qualified electrical maintenance technician install, adjust and service this equipment. Follow the
National Electrical Code and all other applicable electrical and safety codes, including the provisions of
the Occupational Safety and Health Act (OSHA), when installing equipment.
• The question mark symbol shown at left denotes shortcuts, reminders, or additional information which
does not affect the safe operation of the drive.
• Reduce the chance of an electrical fire, shock, or explosion by proper grounding, over-current
protection, thermal protection, and enclosure. Follow sound maintenance procedures.
• It is possible for a drive to run at full speed as a result of a component failure. Please ensure that a
master switch has been placed in the AC line to stop the drive in an emergency.
• Circuit potentials are at 115 VAC or 230 VAC above earth ground. Avoid direct contact with the
printed circuit board or with circuit elements to prevent the risk of serious injury or fatality. Use a non-metallic
screwdriver for adjusting the calibration trim pots.
General Information
The EasyServo family of servo amplifiers is an economical solution to today’s complex motion-
control needs. The EasyServo combines a Digital Signal Processor (DSP), controller, heat sink and
power supply in one standalone, DIN-rail mountable or panel-mounted unit. The EasyServo can be
operated as a stand-alone unit or as a digital amplifier.
The EasyServo controls brushless motors with a high switching (carrier) frequency for virtually silent
operation. Most servomotors used today require high precision control and a smooth, sinusoidally
commutated signal. An on-board DSP provides commutation by generating the three-phase sine
wave, using feedback information from an optical encoder.
The servo will accept feedback from an encoder that includes Hall sensor feedback information. It
accepts commands from a variety of sources, including analog voltage, PWM and internal reference
signals. The control will operate in current (torque) mode,velocity mode, or position (step and
direction) mode. Upon initial start up, the motor is commutated using the hall sensors—for the first
two or three mechanical degrees of motor rotation—to map the encoder; The hall-effect information is
unnecessary thereafter.
The EasyServo’s built-in RS-232 serial communications port and servo control program,
MotionView™, make programming extremely simple. In fact, you could be up and running in less
than thirty minutes! Each EasyServo unit is an amplifier, power supply, controller and heat sink
integrated into a single standalone package. The EasyServo will only accept an encoder with Hall or
an encoder with hall-commutation tracks encoded on the feedback device.
Specifications
ELECTRICAL CHARACTERISTICS
Maximum Continuous Peak* Input Voltage
Continuous Phase Current Current (±10%, 50-60 Hz)
Drive Current (AC in) (AC Amps) (AC Amps) (VAC)
ESD504 6A 4 8 90 – 240
ESD508 12A 8 14 90 – 240
ESD608 12A 8 14 90 – 240
ESD610 15A 10 20 90 – 240
ESD612-3P 19A 12 20 90 – 240
Notes:
“-3P” = 3-phase input power models
Applies to all models:
AC Output Voltage Range (Sinusoidal, Three-Phase) 0–240 VAC RMS
Minimum Output Voltage Range 0 – 340 VAC
Acceleration Time Range (Zero to Max Speed) 0 – 6000 seconds
Deceleration Time Range (Max Speed to Zero) 0 – 6000 seconds
Speed Regulation (typical) ± 0.5 RPM
Input Impedance (+REF to COM and +REF to -REF) 47 Kohms
Power Device Switching Frequency (sinusoidal commutation) 16 KHz
Encoder power supply (max) +5 VDC @ 300 mA
Maximum encoder feedback frequency 3.0 MHz
ENVIRONMENT
Vibration
ESD500 Series 0.1 G (all frequencies)
ESD600 Series 0.5G max (20 – 50 Hz)
0.1G max (>50 Hz)
Shock 1.0 g @10 m/sec
Ambient Operating Temperature Range 0 to 40ºC
Ambient Storage Temperature Range -10 to 70ºC
Humidity 5 – 90% non-condensing
Altitude** 1500 m/5000 ft
**derate by 1% per 300m (1000 ft) above 1500m (5000 ft)
DIMENSIONS AND WEIGHT
Height (inches) 6.50
Width (inches) 4.38
Depth (inches) 7.50
Weight (lbs) 8.0
OPERATING MODES
Torque
Reference 0 ± 10 VDC or 0 to 10 VDC, scalable
Accuracy ± 0.01 amp
Current-Loop Bandwidth up to 2.5 kHz
Velocity
Reference 0 ± 10 VDC or 0 to 10 VDC
Accuracy ± 0.5 RPM
Velocity-Loop Bandwidth up to 300 Hz
Speed Range up to 8000:1
Position
Reference Step and direction signals or Master Encoder full quadrature
signal (software selectable).
Minimum Pulse Width 250 nanoseconds
Reference Max frequency 2 MHz
Position-Loop Bandwidth Up to200 Hz
Accuracy ±1 encoder count
CONNECTIONS
Serial Standard 9-pin D-shell
Encoder Feedback Standard 15-pin D-shell
I/O 15-pin removable terminal block or 25-pin D-shell
Controller Standard 25-pin D-shell
Power 8-pin removable terminal block
Windows® Software: MotionViewTM (Windows 95, 98, NT)
Dimensions
DIMENSION “A”
MODEL DIMENSION
ESD604 3.38 [86]
ESD608 4.38 [111]
ALL DIMENSIONS IN INCHES [MILLIMETERS]
Installation
Warning!
• The EasyServo must be mounted vertically for safe operation at the maximum current rating.
• Printed circuit board components are sensitive to electrostatic fields. Avoid contact with the printed
circuit board directly. Hold the EasyServo by the case only.
• Protect the control from dirt, filings, airborne particles, moisture, and accidental contact. Provide
sufficient room for access to the terminal block.
• Mount the control away from other heat sources. Operate within the specified ambient operating
temperature range. Additional cooling with an external fan may be recommended in certain
applications.
• Avoid excessive vibration to prevent intermittent connections.
• Do not disconnect any of the motor leads from the EasyServo unless power is removed or the control
is disabled. Opening any one motor lead may cause failure.
• The DIN-rail mounting tab is designed to bear only the weight of the EasyServo and heat sink. Make
sure enough slack exists in the wire routing to ensure that the cables do not tug or pull downward
against the DIN-rail mounting tab.
MOUNTING
Note
It may be necessary to add shock-absorbing “bumpers” to the back of the ESD500.
Mount the EasyServo vertically in the panel as shown in Figure 5.
1. Ensure that a 30 mm (1.2 inch) DIN rail is installed horizontally in the rear of the panel prior to
mounting the ESD500.
2. Ensure that the upper mounting tab on the back of the SS500 is in the UP position.
3. Hook the ESD500’S lower mounting tab under the DIN rail as shown in Figure 4a. The tab fit should
be snug.
4. Rotate the ESD500 upward, flush against the DIN rail, ensuring that the lower mounting tab remains
engaged by the DIN rail.
5. Once the ESD500 is flush against the DIN rail, push down on the mounting tab atop the drive
(Figure 4b). The mounting tab will latch onto the top of the DIN rail.
Install the bumpers as follows:
1. Peel off the adhesive cover from the clear bumper. Apply to the DIN rail tab of the EasyServo (the
moveable tab on the rear of the control that clamps onto the top of the DIN rail).
2. Mount the drive as indicated above.
3. Peel off the adhesive cover from the black bumper. Lift the bottom of the control (while it is still
clamped to the DIN rail) to open a slightly larger air gap between the EasyServo and the enclosure.
Apply the black bumper to the back of the EasyServo (the side facing the enclosure) approximately
one inch above the bottom. Release the drive. It should come to rest on the newly applied black
bumper.
WIRING
Warning!
Under no circumstances should power and logic leads be bundled together. Induced voltage can
cause unpredictable behavior in any electronic device, including motor controls.
• Use 18-28 AWG wire for reference and analog signal wiring. Use 12-16 AWG wire for AC line (L1
and L2) and motor (Phase U, V and W) wiring.
SHIELDING AND GROUNDING
Speeder Motion recommends the use of single-point grounding (SPG) for panel-mounted controls.
Serial grounding (a “daisy chain”) is not recommended. The SPG for all enclosures must be tied to
earth ground at the same point. The system ground and equipment grounds for all panel-mounted
enclosures must be individually connected to the SPG for that panel using 14 AWG (5.5 mm) or larger
wire. Refer to Figure 6 for wiring guidelines.
In order to minimize EMI, the chassis must be grounded to the mounting panel (Figure 6). Use 14
AWG (1.6 mm) or larger wire to join the enclosure to earth ground. A lockwasher must be installed
between the enclosure and ground terminal. To ensure maximum contact between the terminal and
enclosure, remove paint in a minimum radius of 0.25 in (6 mm) around the screw hole of the
enclosure.
Speeder Motion recommends the use of the special servo cables. If you specify cables other
please make sure all cables are shielded and properly grounded.
It may be necessary to earth ground the shielded cable (Figure 6). Ground the shield at the EasyServo
end and at the motor end.
If the EasyServo continues to pick up noise after grounding the shield, it may be necessary to add AC
line filtering devices and/or an output filter (between drive and servomotor).
EMI Protection
Electromagnetic interference (EMI) is an important concern for users of digital servo control systems.
EMI will cause control systems to behave in unexpected and sometimes dangerous ways. Therefore,
reducing EMI is of primary concern not only for servo control manufacturers, but the user
as well. Proper shielding, grounding and installation practices are critical to EMI reduction.
Enclosure
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