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Operating Instructions

1. With the pre adjustment the potentiometers are set in a preferred position ADS E units in original packing are already pre adjusted 4 O LED Pre adjustment WP P1 IxR 0 j I P2 Offset 50 6 n Adjustment j ers P3 Nmax 50 refer to section 4 3 2 4 era P4 Imax 50 Mes P5 gain 10 96 i Ll ali Additional possible P7 Igain 40 96 adjustments P8 leont 50 96 refer to section 6 1 6 2 4 3 2 Adjustment Encoder mode 1 Adjust set value to maximum e g 10 V and turn potentiometer P3 Nmax so far DC Tacho mode that the required speed is achieved IXR compensation 2 Set potentiometer P4 Imax to the limiting value desired Maximum current in the O 10 A range can be adjusted in linear fashion with potentiometer P4 Important The limiting value Imax should be below the nominal current max continuous current as shown on the motor data sheet and may not exceed 5 A continuously 3 Increase potentiometer P5 gain slowly until the amplification is set large enough Caution If the motor vibrates or becomes loud the amplification is adjusted too high 4 Adjust set value to 0 V Then set the motor speed to 0 rpm with the potentiometer P2 Offset In addition only in the case of IXR compensation 5 Slowly increase potentiometer P1 IxR until the compensation is set large enough so that in the case of high motor load the motor speed remains the same or decreases only slightly Caut
2. more than approx uu an 12 5 A is detected at the current actual value the power stage will be switched off disable status If the internal supply voltage cannot be UUU UUU set up as expected the power amplifier is switched off disable status If the input frequency at the encoder input is gt 150 kHz the power amplifier is switched off UUUU U UUUU U The fault condition is stored In order to reset the fault condition the servoamplifier must be re released Enable If the cause of the fault condition cannot be eliminated the error output will be disabled again immediately Reason e High ambient temperature blink pattern e max continuous current gt 5 A blink pattern e bad convection blink pattern e Short circuit on the motor winding blink pattern 12 maxon motor control April 2006 Edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 8 Error Handling Defect Possible source of defect Measures Shaft does not rotate Supply voltage 12 VDC check power plug pin d22 Enable not activated check signal plug pin b2 Set value is 0 V check signal plug pin b6 and pin b8 Current limit too low check adjustment potentiometer P4 Imax Wrong operational mode check DIP switch settings Bad contacts check wiring Wrong wiring check wiring Speed is not controlled Encoder mode encoder signals check encoder signal DC T
3. NNO suitable for wire cross section 0 14 1 5 mm single wi Encoder ma single wire 0 10 1 0 mm multiple stranded wire 0 14 1 5 mm single wire Signal 0 10 1 0 mm multiple stranded wire Des BOW 0 14 1 5 mm single wire 0 14 1 5 mm multiple stranded wire 16 maxon motor control April 2006 Edition subject to change
4. acho mode tacho signals check pin d6 and d8 polarity IxR mode compensation wrong check adjustment potentiometer P1 IxR 9 EMC compliant installation Power supply Vcc Power Gnd e No shielding normally required e Star point shaped wiring if several amplifiers are supplied by the same power supply Motor cable e Shielded cable highly recommended e Connect shielding on both sides ADS_E 50 5 side Pin 28 Ground Safety Earth and or parts with low resistive connection to the front plane Motor side Motor housing or with motor housing mechanical design with low resistive connection e Use separate cable Encoder cable e Although the ADS E 50 5 can also be operated without a line driver using an encoder with a line driver is recommended as this improves interference resistance e No shielding normally required e Use separate cable Analogue signals Set value Tacho Monitor e No shielding normally required e Use cable shielding with analogue signals with small signal level and electromagnetically harsh environment e Normally connect shielding on both sides Place shielding on one side if there are 50 60 Hz interference problems Digital signals Enable Ready e No shielding necessary See also block diagram in chapter 10 In practical terms only the complete equipment comprising all individual components motor amplifier power supply unit EMC filter cabling etc can undergo an EMC test to ensure interference
5. al Possible Adjustments osre KENA ANAA EEKAN KEERA TAA NEENAKE nennen nnns 10 T Operating Status Display ette Eee Ee e A a ayia Ml EA 12 ME isrerdiu inel ro s7 f 0 13 9 EMC comipliant installati n eterne tire e n redde arb te ghe ete Gee idein eR RR aaa eaaa 13 10 Block Circuit DIagrarm iret e reote anal eel a ecd e aed ub eos Er a sa ERO ae a 14 11 Pin Allocation Connector DIN 41612 Version H7 F24 ssssssssssseeeeene enm ennemis 14 12 Biss EE 15 13 Accessories not part of delivery eene nnne rine trnen terrens nnn nitent 15 The latest edition of these operating instructions may be downloaded from the internet as a PDF file under www maxonmotor com category Service amp Downloads Order number 166143 maxon motor ag Br nigstrasse 220 P O Box 263 CH 6072 Sachseln Tel 41 41 666 1500 Fax 41 41 6661650 www maxonmotor com maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 1 Safety Instructions Skilled Personnel Installation and starting of the equipment shall only be performed by experienced skilled personnel Statutory Regulations The user must ensure that the servoamplifier and the components belonging to it are assembled and connected according to local statutory regulations Load Disconnected For primary operation the motor should be free running i e with the load disconnected Additional Safety Equipment An electronic app
6. aratus is not fail safe in principle Machines and apparatus must there fore be fitted with independent monitoring and safety equipment 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 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 ADS E 50 5 no apparatus is connected to the electrical supply After switching on do not touch any live parts Max Supply Voltage Make sure that the supply voltage is between 12 and 50 VDC Voltages higher than 53 VDC or of wrong polarity will destroy the unit Short circuit and earth fault The ADS E 50 5 amplifier is not protected against winding short circuits against ground safety earth or Gnd Motor choke The built in motor choke allows operation with almost all maxon DC motors with an output power higher than 10 Watt If necessary the motor continuous current must be slightly reduced PP Pr gt pep Generally the following applies L atom MH a v 0 15 mH Lys mH TH Ip mA 3 M e Supply voltage Vcc V e Nominal current Max continuous output current Ip mA e Terminal inductance Lyotor MH Sought value e Additional required external inductance so that the co
7. free CE approved operation April 2006 Edition subject to change maxon motor control 13 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 10 Block Circuit Diagram Front Plate 12V OUT 12V OUT Enable Ready Poly DIPS 5V fuse ET Ground 5V 80mA adl Safety Gnd 1K TM IK 12v 5 Q2v Supply lora P Encoder A eaii E optional Encoder AY FIV Converter PTC p Encoder B 22 4Voc 12 50VDC Encoder B DIPG do Ed 12V if I P8 cont Current gt limit DIP1 Set value P7 I gain 4 MOIOE Set value YN Y K PWM Control amp MOSFET DIP4 P5 gain P ngan 7 i i f pi precio Full Bridge AAA Y Y bj P3 n max t P4 Imax Motor Tacho Input i NE CNN K el LED 28 DIP2 Peter Current Voltage T Detector Detector DIP3 12V x 12V P2 Offset Monitor n Monitor I 11 Pin Allocation Connector DIN 41612 Version H7 F24 d b z 2 Encoder A Enable Encoder A 4 Encoder BY not connected Encoder B 6 Tacho Input Set value l not connected 8 Tacho Input i Set value Ready 10 12V 12mA OUT not connected 12V 12mA OUT 12 not connected Gnd not connected 14 Monitor n Gnd 5V 80mA 16 Monitor Gnd Gnd 20i co eee b dac ye de yip wate Hae eee Motor 22 Vcc 12 50VDC Qd cre eser eese sees vesci ees Motor 26 Motor 2B eee ere eerte cvOround Safety Earth 30 Motor 32 i o Rete b doa deba da quare ead ias Power Gnd 14 maxon motor con
8. hort time 10 A The required voltage can be calculated as follows Known values Operating torque Msg mNm Operating speed ng rpm Nominal motor voltage Uy V Motor no load speed at Uy no rpm Speed torque gradient of the motor An AM rpm mNm Legu Sought values c Supply voltage Vcc V Solution U An 1 Veo n M 2 V E AM 0 9 Choose a power supply capable of supplying this calculated voltage under load The formula takes into account a max PWM cycle of 90 and a 2 V max voltage drop Note The power supply must be able to buffer the back fed energy from brake operation e g in a condenser With electronically stabilized power supply units it is to ensure that the overcurrent protection responds in no operating condition 4 2 Function of the potentiometers Turn to the left right C P1 P1 IxR IxR compensation weak strong F compensation compensation Adjustment n 0 0 motor turns motor turns Pe P7 Onser at set value 0 V CCW cw max speed P3 P3 at 10 V set value t lower higher P5 P5 E amplification ED Potentiometer EE BE BE Be P6 e For additional possible adjustments refer to chapter 6 p e In use with the original frontplate the potentiometers are covered P8 April 2006 Edition subject to change maxon motor control 5 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 4 3 Adjustment of the Potentiometers 4 3 1 Pre adjustment
9. ion If the motor vibrates or becomes loud the amplification is adjusted too high Current controller mode 1 Set potentiometer P4 Imax to the limiting value desired Maximum current in the O 10 A range can be adjusted in linear fashion with potentiometer P4 Important The limiting value l4 should be below the nominal current max continuous current as shown on the motor data sheet and may not exceed 5 A continuously 2 Adjust set value to O V Then set the motor current to 0 A with the potentiometer P2 Offset Note e A set value in the 10 10 V range is equal to a current range of approx lmax Imax e Configured as a current controller P1 P3 and P5 are not activated 6 maxon motor control April 2006 Edition subject to change maxon motor Operating Instructions 5 Functions 5 1 Inputs 5 1 1 Set value 5 1 2 Enable Enable Disable 5 1 3 DC Tacho The set value input is wired as a differential amplifier Input voltage range Input circuit Input resistance Positive set value Negative set value 10 10 V differential 20 kQ differential Set Value Set Value negative motor voltage or current motor shaft turns CCW Set value Set Value positive motor voltage or current motor shaft turns CW If a voltage is given at Enable the servoamplifier switches the motor voltage to the winding connections If the Enable input is not switched o
10. lI lt lt 20 mA 2 4 Voltage outputs Aux voltage short circuit protected 12 VDC 12 VDC max 12 mA Ro 1 KQ Encoder supply voltage 2 2 ccccccceceeeceeeceaeceeeeeeeeeeeaeceeeeesaeaeaeeeeeeeseeeeeaees 5 VDC max 80 mA 2 5 Trim potentiometers IxR compensation Offset n max Imax gain 2 6 LED indicator Bi Colour LED EESE READY ERROR green READY red ERROR 2 7 Ambient temperature Humidity range SCIRET 10 45 C Neo Sata 40 85 C noncondensalirig EE E RRREEERERN FIERE PREMIERE 20 80 2 8 Mechanical data lI approx 175 g DIMENSIONS 0 ccccccceesescececececeeaeeeececeeeceaneeeeeeseeseeaeeeeeeeeeeas see dimension drawing chapter 12 2 9 Terminal Connector DIN 41612 esssssesesessseseene nennen nnn nennen nnne nnn nns n nnns nnne nns Version H7 F24 April 2006 Edition subject to change maxon motor control 3 Operating Instructions maxon motor 4 Q DC Servoamplifier ADS E 50 5 ywos As viz pug 912 IN 19poous ZP v Jepoou3 Z7 8 1epoou3 t pj g 1epoou3 v z anjen jas 9 d anjea jas 8 q 9 qeu3 X as C puo pia zig induj oyoeL 9 p 1nduj oyoey 8 p u 10juo N PEP 10juoI OLP Ape y 8 Z INO vulZ L AZ V OLP LNO WwZL Azt 012 puo ora ion for Diffe
11. maxon motor maxon motor control ADS E 50 5 Order number 166143 Operating Instructions April 2006 Edition The ADS E 50 5 is a powerful servo amplifier for driving permanent magnet DC motors up to 250 watts Four modes can be selected by DIP switches on the board e Speed control using tacho signals e Speed control using encoder signals e xR compensated speed control e Torque or current control The ADS E 50 5 is protected against excess current excess temperature and short circuit on the motor winding With the FET power transistors incorporated in the servoamplifier an efficiency of up to 9596 is achieved A built in motor choke combined with the high PWM frequency of 50 kHz allows the connection of motors with a very low inductivity In most cases an external choke can be omitted Thanks to the wide input power supply range of 12 50 VDC the ADS E 50 5 is very versatile and can be used with various power supplies The Europa card size allows the unit to be installed in a 19 subrack or in a plug in card system Thanks to the controller circuit design the ADS E 50 5 is easily and quickly installed Table of Contents T Safo Instructions ctio aad a eA edd ue Ft she aed etd Fe ead ee eR E 2 2 POMmonmance Datta NP 3 3 Minimum External Wiring for Different Modes of Operation sssssssseeene emnes 4 4 Operating Instructions intact ir ied ul E os utei ual ie s ed uad ae 5 5 siu loreet CE 7 6 Addition
12. n or is connected to the Gnd the power stage will be highly resistant and will be disabled The Enable input is short circuit protected Minimum input voltage Maximum input voltage Input resistance Switching time Minimum input voltage Maximum input voltage Input resistance Switching time Minimum input voltage Maximum input voltage Input resistance Speed control range 4 0 VDC 50 VDC 15 KQ typ 500 us 5 V 0 VDC 2 5 VDC 15 KQ typ 100 us 0 V 2 0 V 50 V 14 KQ The speed range is set using Potentiometer P3 Nmax max speed at maximum set value For full speed control with 10 V the tacho input voltage range must be at least 2 V Example for DC Tacho with 0 52 V 1000 rpm 2 0 V tacho voltage is equivalent to a speed of approx 3850 rpm If the full set value range has been used the lowest adjustable speed with the Nmax potentiometer is 3850 rpm Lower speed ranges can be reached through a reduced set value range or by using a DC tacho with a higher output voltage such as 5 V 1000 rpm maxon motor control 7 April 2006 Edition subject to change maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 5 1 4 Encoder Encoder supply voltage 5 VDC max 80 mA Maximum encoder frequency DIP switch S5 ON 10 kHz DIP switch S5 OFF 100 kHz Voltage value TTL low max 0 8 V high min 2 0 V It is strongly recommended that the encoder be used with a built in line d
13. ntinuous current only reduces by max 10 as a result of warming Electrostatic Sensitive Device ESD 2 maxon motor control April 2006 Edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 2 Performance Data 2 1 Electrical data Supply voltage Voc Ripple lt 596 enm eene 12 50 VDC Max output voltage ssssssssssssssssssessseneneee eret en enne tetris ssh inne EEEE ESSEE sn nete nnsi nlsi nnn 0 9 Vec Max output curtent Imaker ea ar ENEA AEREE E EEEE AREENAN RRS 10A Continuous output current lont n nmn nnn nennen nnne nens 5A SWICHING TREQUENGY E H 50 kHz ME eae e S 95 Band width current controller coniicit eoe raten esed sensa a aa aree X ERR MERE inn 2 5 kHz Built in motor CHOKE E 150 uH 5A 2 2 Inputs pula e es 10 10V R 20 KQ zog pede 4 50 VDC Rj 7 15 kQ Input voltage DC tacho Tacho Input min 2 VDC max 50 VDC Ri 14 KQ Encoder signals Channel A AV B BV max 100 kHz TTL level 2 3 Outputs Current monitor Monitor short circuit protected 10 10 VDC Ro 100 Q Speed monitor Monitor n short circuit protected 10 10 VDC Ro 100 Q Status reading READY eee max 30 VDC
14. on motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 6 3 Maximal encoder frequency DIP switch S5 DIP switch S5 permits selection of the maximum encoder input frequency A max encoder frequency of 100 kHz is standard Max Input frequency is 10 kHz Max Input frequency is 100 kHz maximum Encoder pulse per turn motor speed turn motor speed 880mm sd y O 8750m 93tmm 4688 rpm 2344 rpm 1200 rpm 500 12 000 rpm 1172 rpm 512 600 rpm 586 rpm Note To achieve good control characteristics encoders with low impulse counts per turn should be run with the DIP switch S5 ON f April 2006 Edition subject to change maxon motor control 1 1 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 7 Operating Status Display A bi colour red green LED shows the operating mode 7 1 NoLED Reason e No supply voltage e Fuse fault e Wrong polarity of supply voltage e Short circuit of the 5 V output 7 2 Green LED normal operation Blink pattern green LED Operating status LED on amplifier is activated Enable Disable function active 7 3 Red LED According to the blink pattern the following error messages can be identified Blink pattern red LED Operating Conditions If the power stage temperature exceeds a LI LI limit of approx 90 C the power stage is switches off disable status If a motor current of
15. onding speed Nmax CCW OV corresponding speed 0 rpm 10V corresponding speed nma CW 5 2 3 Status reading Ready The Ready signal can be used to report the state of operational readiness or a fault condition on a master control unit The Open Collector output is in normal cases i e no faults switched to Gnd In the case of a fault due to excess temperature excess current voltage processing error or too high encoder input frequency the output transistor is not conducting high resistance M max 30 V Ready 9 Polyfuse Imax lt 20 mA h Gnd I x ayd An external additional voltage is required Input voltage range max 30 VDC Load current lt 20 mA Note The fault condition is stored In order to reset the fault condition the servoampli fier must be re released Enable If the cause of the fault situation cannot be removed the output transistor will immediately change to the not conducting state again April 2006 Edition subject to change maxon motor control 9 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 6 Additional Possible Adjustments Potentiometer Position left D right Q o eedan continuous current limit lower higher 6 1 Adjustments potentiometer P6 Ngain and potentiometer P7 Igain In most applications regulation setting is completely sati
16. rent Modes of Operat JOJOIN 9CP 0c7 JOJON OEP HZZ ype Kaes punog ezz OQA 08 ZL 99A EZP E OA 08 ZL NA EZP pud Jamo zz pud Jamo ZEZ E ol 8 9 ta e ogg T Sao co hae io a 3 5 gt 9 8 a c p x z tL zu z ut z d o C O20 oO O O O OQ x lt a epourjunjueuno K pow pw uauno K Ed pow w juauno Ko RS epoui ju jueuno Rea Es WwW gt AouenbeyJsepoous KM Aouanbay Japooue y Aouanbey jepooue SIME EM Kouenbej jepoouo Feat E o uogogjesjosues EM Ed gt uono j s uosues ES uonosgjes osues Fe MEM uonoajas j0sues EE E E lo yoeqpes 43 Gy Bis yoeqpes 4 3 E xoeqpee 43 Ga xoeqpee 3 3 Gan ee 5 1 uonesueduioo yx L NES uonesueduioo yx i uonesueduioo yx DECEM uonesueduioo yx KAM ES E Q epouijueuno E E epoui jua uno Ex epoui jueuno Ram Ed epoui juauno ES S bo c 3 M April 2006 Edition subject to change 4 maxon motor control maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 4 Operating Instructions 4 1 Determine power supply requirements You may make use of any available power supply as long as it meets the minimal requirements spelled out below During set up and adjustment phases we recommend separating the motor mechanically from the machine to prevent damage due to uncontrolled motion Power supply requirements Output voltage Vcc min 12 VDC max 50 VDC Ripple lt 5 Output current depending on load continuous 5 A s
17. river If the encoder is used without a line driver without Encoder AY and Encoder BY speed breakdowns and max speed limits must be expected because of the slower switching slope The servoamplifier does not need any home impulse and N 8 maxon motor control April 2006 Edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 5 2 Outputs 5 2 4 Current monitor Monitor I The servoamplifier makes a current actual value available for monitoring purposes The signal is proportional to the motor current The Monitor output is short circuit protected Output voltage range 10 10 VDC Output resistance 100 Q Gradient approx 0 8 V A positive voltage on current monitor output corresponds to a negative motor current negative voltage on current monitor output corresponds to a positive motor current 5 2 2 Speed monitor Monitor n The speed monitor is primarily intended for the qualitative estimation of the dynamics The absolute speed is determined by the properties of the speed sensors and by the setting of the Nmax potentiometer The output voltage of the speed monitor is proportional to the number of revolutions The output voltage of the speed monitor is 10 V when the maximum number of revolutions set by the Nmax potentiometer has been reached The Monitor n output is short circuit protected Output voltage range 10 10 VDC Output resistance 100 Q Example 10V corresp
18. sfactory using potentiometers P1 to P5 In special cases the transient response can be optimized by setting the P6 Ngain potentiometer The P7 Igain potentiometer can in addition be adapted to the dynamics of the current regulator It is recommend that the success of changes to the settings of P6 and P7 be checked by measuring the transient response with an oscilloscope at the Monitor n and Monitor outputs Pre adjustment P6 Ngain 25 and P7 Igain 40 6 2 Adjustments potentiometer P8 Icon and current limit mode DIP switch S6 It is standard that a maximum current limiter is activated DIP switch S6 OFF as the only current limiter In this way the motor current is limited to the value set on potentiometer P4 Imax 0 5 10 A If DIP switch S6 is turned to ON a cyclical current limiter is also activated This current limiter method makes a certain level of motor protection against thermal overload possible For 0 1 seconds the motor current is limited to the value set on potentiometer P4 Imax 0 5 10 A and then for 0 9 seconds current is limited to the value set on potentiometer P8 lcont 0 5 10 A After 1 second the cycle will repeat itself Pre adjustment DIP switch S6 OFF and P8 leont 50 DIP switch S6 ON f DIP switch S6 OFF 4 cyclical current limiter active maximum current limit active max pe P8 Lon t 10 maxon motor control April 2006 Edition subject to change max
19. trol April 2006 Edition subject to change maxon motor Operating Instructions 4 Q DC Servoamplifier ADS E 50 5 12 Dimension Drawing Dimensions in mm 13 Accessories not part of delivery 13 1 Front panel Order number 167850 Dimensions in mm 25 06 2 5 natural colored anodised on both sides CO 5 TE 3 HE O O Ready Error Oe xR C P2 offset C P3 nmax CO P4 Imax O P5 gain 128 4 maxon motor mmc ADS E April 2006 Edition subject to change maxon motor control 15 maxon motor 4 Q DC Servoamplifier ADS E 50 5 Operating Instructions 13 2 Backplane with screw terminals Order number 166873 Dimensions in mm Encoder A z 2 Encoder B d 4 Encoder B z 4 Tacho Input d 6 Tacho Input d 8 Monitor n d14 Monitor d16 Ready z 8 12V 12mA OUT d10 12V 12mA OUT 210 Grid b16 1 Motor d26 z20 2 Motor d30 224 3 Ground Safety Earth 228 4 Vcc 12 50 VDC 022 5 6 7 130 Vcc 12 50 VDC 022 Power Gnd 232 Power Gnd 232 oooooo poeoceococooococoooooooo1 DHA DEC NDNAWNHA ONAN om 2g PL ages iog lt lt md ICCO ioo o RA E BP I sur oy SO o oo

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