DA4709 / DA4718
Contents
1. T 3 2 SPJPeGifiealioiS e UT 4 3 Drive Overview 7 I VII se erste oe chic 2 cine Z u 5 uu unus 10 5 Explanation of Terminals Dip Switches amp Potentiometers 21 O 0 1 IV u u eee 25 7 Description of Inputs and Outputs 32 8 Basic Troubleshooting esse 37 9 Accessories amp Options 39 10 Warranties amp Disclaimers 40 UMP uie E 41 12 Mounting Din rail adapter 41 Used Symbols Indicates a warning or caution concerning operations that may lead to A death or injury to persons or damage to property if not performed correctly In order to use the drive safely always pay attention to these warnings Indicates a clarification of an operation or contains additional explanations or operational requirements for a procedure Reading these notes is much recommended ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 2 ElectroCraft powering innovation User Manual DA4709 DA4718 1 Safety amp Installation The DA4709 DA4718 requires installation by qualified personal which must pay attention to2. dk o g Oy o 9 g y C SPF FFF FM GPF P a MP an uo HK a NP aS uuo K eR EE LEE Sal e etie elle Ee ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 19 ElectroCraft powering innovation User Manual DA4709 DA4718 4 6 Wiring Example VI green Power Enable ElectroCraft FOY i Offset www electrocraft com Uim Error Aina Monitor n On Hamp Monitor I GND 4 Q Servo Amplifier for Brush DC Motors supply Voltage 1 1 70V Cont Current 09 18A Peak Current 18 36A i MS CE Manufactured under DIN ISO EN 9001 2000 Gain X2 1 QU Setval 1 Input GND 2 i Monitor teh SRI Error B GND IPC A 610 class 2 Set val Set val 10V T Tacho Pouer GND Pouer supplu PLZ O WE Dashed line only if DC tacho is used Setting of S1 Voltage Mode IxR Comp Mode Torque Mode Tacho Mode o Oy o go ok o Oy o 9 g t ox Gk CCC CFF FM ECF KF S Y U e WELLE E ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 20 ElectroCraft powering innovation User Manual DA4709 DA4718 5 Explanation of Terminals Dip Switches amp Potentiometers 5 1 Terminals Terminal Label Description S1 1 S1 2 S1 3 select mode Voltage XR o ig 951 4 select set value for max S1 Ima Oin S1 5 change set value to Offset pot Set val S1 6 select Ipeak on or off Pin 1 amp 2 connect to pow
3. a 4 xij e x E GOGG D E 7 A F e T E FO d a Cl i as 7 e e GOGG T ww Qo ep y ee S 2 OFS a 4 is e 112131 41 5 6 d JAM A a s amp aj ie t o i E al e A S d LV L CE M o M oM g a eu d he etg WW lt S eu S ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 24 ElectroCraft powering innovation User Manual DA4709 DA4718 6 Glossary Offset There are two distinct functions for the Offset Potentiometer 1 Levelling the position at which the motor stands still 2 Selection of the Set Value This task requires the switch S1 5 Set val to be in On position In any mode this feature is available and offers the possibility of a quick functional test It is advisable to begin the subsequent levelling procedure with an idle run of the motor However you cannot expect this calibration to be stable in the long term because the motor as well as the controller are always subject to thermal influences n max Use this potentiometer to adapt the desired maximum speed to the amplitude of the present set value Take care not to exceed meaningful limits An exaggerated value may entail problems for the control of the servo amplifier making it impossible e g to line up the system in speed control operation under load Gain The dynamical behaviour of the servo amplifier must be compatible to the particular connected m
4. 5 V 50 mA 10 V 20 mA 10 V 20 mA Open Collector Push Pull TTL 24 VDC Resistance 50 Ohm Analog 0 10 VDC Hesistance 200 Ohm max 20 mA Analog 0 10 VDC Hesistance 200 Ohm max 20 mA ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 D ElectroCraft powering innovation User Manual DA4709 DA4718 2 6 Control LEDs Power LED green Note The LED is lit when the operating voltage is present and the undervoltage protection circuit has not been initiated Error LED red The lamp is lit at overtemperature It disables only after reset the Enable input If the error condition persists i e temperature still too high this is immediately visible by the red LED ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 6 LEGE J0 ON MOd i AND i AO0d HT LX ElectroCraft powering innovation oso CN cO TT N er q C rt S P E q o O O gt s Q e 2 u S e m OD Qo n gt Oo c JO Uuo N gt i CNS JOWUO 1 9 aues p ds l due o 2 mans A c e JO4J3 O El ui JOJIUO A EA KE mo esueg EX juano p yua uny Kjddng AOV AOL J Ji duuv JeMog AS n 8A19S aeb rg ix Fi xew JeMog ueeJ6 Joje nDes 10jejnBes A AOL Oude lt lt v Oude yuan yuan p ds KOLT H
5. 18 36A i MS CE Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany Monitor I Error B GND IPC A 610 class 2 Set val Set val 10V T Tacho C3 Q D U _ 3 o0 3 a O a Power supply 3122 71 UDE ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 13 ElectroCraft powering innovation User Manual DA4709 DA4718 4 2 1 Adjustment procedure for xR mode 1 Potentiometer pre setting refer chapter 5 2 2 Choose the maximum set value e g 10 V Turn the potentiometer n max until the desired maximum speed is reached with unloaded motor 3 Adjust the current limiter to a value requested by you with the max potentiometer It is of major importance that this value is lower than the maximum admissible constant current see motor data sheet To measure the motor current use a current probe in one of the motor cables with an oscilloscope or a multimeter or the Monitor l output 4 Slowly raise the value of the Gain potentiometer If the motor begins to work unsteadily to vibrate or to cause excessive noise carefully lower the gain factor again until the instability symptoms have disappeared for all load selections 5 Set the set value to zero and adjust the Offset potentiometer to the standstill of the motor 6 Slowly increase xH value The gain must be sufficient that even for a higher motor load the number of revolutions does not sign
6. DA4718 Cogging A term used to describe non uniform angular velocity Cogging appears as jerkiness especially at low speeds Continuous rated current The maximum allowable continuous current a motor can handle without exceeding the motor temperature limits Continuous stall torque Is the amount of torque at zero speed which a motor can continuously deliver without exceeding its thermal rating To determined by applying DC current through two windings with locked rotor while monitoring temperature It s specified with motor windings at maximum rated temperature and 25 C ambient temperature motor mounted to a heat sink Refer to individual specs for heat sink size Controller A term describing a functional block containing an amplifier power supplies and possibly position control electronics for operating a servomotor or step motor Demag current The current level at which the motor magnets will start to be demagnetized This is an irreversible effect which will alter the motor characteristics and degrade performance Drive Its an electronic device that controls torque speed and or position of an AC or brushless motor Typically a feedback device is mounted in or on the motor for closed loop control of velocity and position Driver Is the electronics which convert step and direction inputs to high power currents and voltages to drive a step motor The step motor driver is analogous to the servomotor amplifier s log
7. WW LY Oe Een 3 S1 1 S1 2 S1 3 Function Mode Off Off Off Speed Control by DC tacho On Off Off opeed Control by Voltage On On Off IxR Compensation Off Off On Torque Control S1 4 Imax Methods of entering the current limit Off max extern The current limit is entered using an external voltage to X2 7 On max intern The limit is set using the internal potentiometer max 1 5 Set val Methods of entering the set value Off Set val extern External selection using a voltage between X2 1 and X2 2 On Set val intern The internal Offset potentiometer is used S1 6 Ipeak Pulsed Current The output delivers a pulsed current for a phase of 100 ms Off I peak On corresponding to the double value of max If needed the pulsed current is activated again after 400 ms On I peak Off The feature is disabled ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 23 User Manual DA4709 DA4718 Setting I max intern Set value extern Ipeak off I max extern Set value extern Ipeak off I max intern Set value intern Ipeak on I max extern Set value intern Ipeak on I max intern Set value extern lpeak on I max extern Set value extern Ipeak on I max intern Set value intern Ipeak off I max extern Set value intern Ipeak off ElectroCraft powering innovation Voltage Mode IxR Mode Torque Mode Tacho Mode CPF ro E Bogen aa lt D C d ca
8. 100 cm 39 CA6020 Blue 200 cm 79 CA6030 Blue 300 cm 118 e Braking module ASO BM 70 30 ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 39 ElectroCraft powering innovation User Manual DA4709 DA4718 10 Warranties amp Disclaimers e Contents are subject to change without notice e Electrocraft will not be liable in any way for direct indirect incidental or consequential damages caused by the use of this product or document e Per Electrocrafts Terms amp Conditions the user of Electrocrafts accepts all responsibility and risks involved with applying this product into their machinery and indemnifies Electrocraft against all damages e Any reproduction of this product and document is strictly prohibited Limited Warranty Electrocraft products unless otherwise stated in specifications are warranted for a period of 18 months from date of shipment to be free from defects in materials workmanship and to conform to the specifications Liability under this warranty shall be limited to the repair or replacement but not to the installation of any defective product at Seller s option Products will be repaired or replaced at the Sellers option Under no circumstance shall the user repair or modify the product Failure to adhere to this will void all warranty For Warranty Repair or Technical Assistance contact Customer Support North America USA amp Canada Motion Control T
9. 4 To optimize the response time slowly raise the value of the Gain potentiometer If the motor begins to work unsteadily to vibrate or to cause excessive noise carefully lower the gain factor again until the instability symptoms have disappeared for all load selections 5 Set the set value to zero and adjust the Offset potentiometer to the standstill of the motor ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 16 ElectroCraft powering innovation User Manual DA4709 DA4718 4 4 Wiring Example IV Tacho Mode green Power ElectroCraft Eo red Error Ott 15 Offset www electrocraft com Error n max Monitor n Gain 4 Q Servo Amplifier for Brush DC Motors supply Voltage 1 1 70V Cont Current 09 18A Peak Current 18 36A i MS CE X2 Manufactured under DIN ISO EN 9001 2000 a i Setval 1 Enoble Monitor n NJ 10k 5 E Ram Design Made in e n i Patent Germany 4 3 Error 4 B GND El Set val I max B od TEE LSE T 3 O m Power supply 1125671 UDE ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 17 ElectroCraft powering innovation User Manual DA4709 DA4718 4 4 1 Adjustment procedure for Tacho mode 1 Potentiometer pre setting refer chapter 5 2 2 Choose the maximum set value e g 10 V Turn the potentiometer n max until the desired maximum speed is reached with unloaded motor 3 A
10. User Manual DA4709 DA4718 ElectroCraft powering innovation 4 Q PWM Servo 09 18 A For Brush Commutated DC Motors up to 1260 W DA4709 DA4718 aar lt a lt a Y EN B lt J Servo amplifier in a small size rugged aluminium housing in bookshelf form Different methods of mounting for fast installation Tool free connections for power terminations Inputs and outputs via RJ45 CAT5 plug Operation mode with simple DIP switch setting User adjustable current limit Wide range supply voltage between 11 and 70 VDC for different kinds of DC power supplies Protected against over temperature and over current MOSFet technology efficiency 9596 Continuous current up to 09 18 A model dependent Basic drive description The DA4709 DA4718 servo amplifiers are designed to drive DC brush type motors They require a single DC power supply for operation The drives are to be used with a single motor They have the functionality to operate as an independent speed control or high performance servo The drives are protected against short circuits under voltage over temperature and over current It has multiple modes of operation and serves as a reliable choice for your motion control needs ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 1 ElectroCraft powering innovation User Manual DA4709 DA4718 Table of Contents 1 Safety amp Installation
11. aged items have to be replaced e Provide for a large contact area between shields and mounting plate e The motor has to be grounded in the prescribed manner e The drive is an Electrostatic Sensitive Device ESD Electrostatic discharge needs to be avoided NOTE Certain applications may involve special requirements Consult Factory ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 3 User Manual DA4709 DA4718 2 2 1 Specifications Electrical Data Power Supply Voltage Auxiliary Voltage Input Nominal Current Peak Current Maximum Power only achievable with additional heatsink amp proper mounting See accessories Switching Frequency Efficiency Induction Specification amp caution for low inductance motors Power connector Signal terminals ElectroCraft powering innovation 11 to 70 VDC Residual ripple lt 5 The lower limit is monitored by integrated undervoltage trip WARNING Do not exceed 70V Overvoltage will damage the drive 5 to 30 VDC Supply voltage for the Error output Refer chapter 7 2 9 18 A model dependent 18 36 A model dependent 630 1260 W model dependent 50 kHz 95 Optional choke modules are often an economical solution for low inductance or other motors if an overheating situation occurs in regular intervals Contact factory service for details The diameter must be suited for the connecting wi
12. alue representing the motor current The proportionality factor is fixed to 1V DA4709 0 5V DA4718 per 1A motor current Additional information about the schematic refer chapter 3 2 Range of Output Voltage 10 V to 10 V Output Impedance 100 Ohm Permanent Output Current 20 mA max source and sink ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 36 ElectroCraft powering innovation User Manual DA4709 DA4718 8 Basic Troubleshooting The servo amplifier has included some different protective functions Under voltage and over temperature are monitored and shown with the LED s at the front side Important The motor starts only by resetting the Enable Before resetting an error by resetting the Enable make sure that the cause of the failure is eliminated Motor oscillates e The gain of the servo amplifier is too high Reduce the gain pot or in IxR mode the the IxR pot Motor runaway e The feedback loop is open Check wiring e The polarity of the motor or of the tacho is permuted e No load at torque mode e Reduce the maximal speed with pot n max Motor noise e Reduce gain with gain pot e Use additional choke in the motor Motor has no torque e Increase the admissible current with max pot Motor drifts at standstill e Adjust the offset with the offset pot e The input value for the set value isn t stable Motor is going hot at standstill e Use an additional choke in ser
13. different for low level signals or in an environment with strong magnetic interference e Connect the shield on either end of the cable For 50 60 Hz interference remove the shield on one side Digital Signals Enable Ramp Error e Noshielding required To verify a trouble free operation and the conformity to CE regulation it makes only sense to test the system as a whole with all components installed motor amplifier supply pack EMC filters cables etc Y O Note To improve the resistance to the noise immunity always connect unused logical inputs to a fix potential GND or 5V Do not connect the CAT5 connectors to any network ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 10 User Manual DA4709 DA4718 4 1 Wiring Example I Voltage Mode X3 Enable ott On SEU Uim ZEFFOF Monitor n Hamp Monitor I GND green Power red Error Offset n max Gain Voltage Ix Torque max Set val peak Monitor Error 8 GND Set val Set val 10V Tacho Power supply T1731 UDG ElectroCraft powering innovation ElectroCraft www electrocraft com 4 Q Servo Amplifier for Brush DC Motors Supply Voltage 11 70V Cont Current 09 18A Peak Current 18 36A ds WIS CE Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 Q CD S U 3 O aA ElectroCraft E Mail info elec
14. djust the current limiter to a value requested by you with the max potentiometer It is of major importance that this value is lower than the maximum admissible constant current See motor data sheet To measure the motor current use a current probe in one of the motor cables with an oscilloscope or a multimeter or the Monitor l output 4 Slowly raise the value of the Gain potentiometer If the motor begins to work unsteadily to vibrate or to cause excessive noise carefully lower the gain factor again until the instability symptoms have disappeared for all load selections 5 Set the set value to zero and adjust the Offset potentiometer to the standstill of the motor ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 18 ElectroCraft powering innovation User Manual DA4709 DA4718 4 Wiring Example V green Power Enable Odi ElectroCraft 5U i Offset WwwWw electrocraft com Uim n max Monitor m Ramp Gain Monitor I GND 4 Q Servo Amplifier for Brush DC Motors supply Voltage 1 1 70V Cont Current 09 18A Peak Current 18 36A i DB CE Manufactured under DIN ISO EN 9001 2000 Setval Design Made in pete 10U Monitor Error ga GND IPC A 610 class 2 Set val Tacho Set val 10V Tacho Power GND Power supply Tet 70 UDE Dashed line only if DC tacho is used Setting of S1 Voltage Mode IxR Comp Mode Torque Mode Tacho Mode o 9 9 gk WH o g
15. eAjeg n JeAJeg zx ye q nbiol YX peedg E Mail info electrocraft com www electrocraft com May 2009 ElectroCraft ElectroCraft powering innovation User Manual DA4709 DA4718 3 2 Input amp Output Schematics Diff Input SetVal Diff Input Tacho 5V V14C300 2k2 Input Enable X3 7 Input Ramp 100nF V14C300 4k7 Input max X3 3 X3 5 X3 7 V14C300 Output Monitor n Output E Output Monitor utput Error ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 8 ElectroCraft powering innovation User Manual DA4709 DA4718 3 3 Control Elements ge y 9 lt lt AS KR a c Ce 2 e e sjeje o eter 3 4 Operation Modes Voltage Mode In the voltage mode the drive is watching the output voltage as a feedback voltage The drive can not regulate the speed exactly if the motor is loaded with a higher load This mode is used e g in conveyors with nearly constant load to control the speed Tacho Mode In the tacho mode the feedback information is coming as a voltage signal from a tacho mounted at the motor The speed regulation is very good at each load condition and qualified for each application to control exactly the speed of a system IxR Mode The IxR mode is a voltage mode with an additional factor to correct the speed under changing the load The factor which is adjusted with the IxR po
16. echnologies 800 697 6715 Email info electrocraft com Customer Support Europe except Germany Middle East Africa Australia Central amp South America Customer service at 44 0 127 050 8800 Email EMEAsales electrocraft com Customer Support Germany Customer service at 49 0 711 727205 0 Email info electrocraft de ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 40 ElectroCraft powering innovation User Manual DA4709 DA4718 11 Dimensions 119 0 112 0 All dimensons in mm 12 Mounting Din rail adapter Fwd DIN7982 3 5x9 5 Lad DA47xx E09 Subject to change without prior notice ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 41
17. er supply X1 Pin 3 amp 4 connect to motor Pin 5 shield for the motor cable Pin 1 amp 2 input set value Pin 4 amp 5 input tacho feedback Pin 3 amp 6 voltage output 10 VDC Pin 7 input max extern Pin 8 GND Pin 1 input Enable Pin 2 voltage output 5 VDC Pin 3 voltage input for Error X2 Tacho xu Pin 4 output signal Error Pin 5 voltage output speed monitor Pin 6 input Ramp Pin 7 voltage output for current Pin 8 GND 123450678 X2 X3 Pinning of CAT5 connectors ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 21 ElectroCraft powering innovation User Manual DA4709 DA4718 5 2 Potentiometers 4 i lt c9 lt Potentiometer Function Turning to the Left Turning to the Right ccW cw Offset Zero Offset motor stands Motor rotates Clockwise rotation still counterclockwise n max Definition of max number Value is decreased Value is increased of revolutions Gain Gain Factor lowered Factor raised IxR IxR offset compensation Low compensation High compensation max Set value for max current Upper limit lowered Upper limit raised Potentiometer setting for start up Offset n max Gain IxR max Middle Middle Left stop Left stop Middle ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 22 ElectroCraft powering innovation User Manual DA4709 DA4718 5 3 Dip switches M we amp ar
18. esistance of the device decreases with an increase in temperature Open loop A system in which there is no feedback Motor motion is expected to faithfully follow the input command Stepping motor systems are an example of open loop control ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 29 ElectroCraft powering innovation User Manual DA4709 DA4718 Pulse Width Modulation PWM 1 A PWM controller amplifier switches DC supply voltage on and off at fixed frequencies The length of the on off interval or voltage waveform is variable 2 Pulse width modulation PWM describes a switch mode as opposed to linear control technique used in amplifiers and drivers to control motor voltage and current PWM offers greatly improved efficiency compared to linear techniques Regeneration The action during motor braking in which the motor acts as a generator and takes kinetic energy from the load converts it to electrical energy and returns it to the amplifier Resonance Oscillatory behaviour caused by mechanical limitations Ringing Is an oscillation of a system following a sudden change in state Speed Describes the linear or rotational velocity of a motor or other object in motion Tachometer A small generator normally used as a rotational speed sensing device The tachometer feeds its signal to a control which adjusts its output to the motor accordingly called closed loop
19. feedback control Thermal protection A thermal sensing device mounted to the motor to protect it from overheating This is accomplished by disconnecting the motor phases from the drive in an over temperature condition ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 30 ElectroCraft powering innovation User Manual DA4709 DA4718 Torque Is a measure of angular force which produces rotational motion This force is defined by a linear force multiplied by a radius e g lb in or Nm Torque is an important parameter of any motion control system Two Quadrants Refers to a motion system which can operate in two quadrants by changing the direction of the motor speed ore in one quadrant with active accelerate and decelerate Watt One horsepower equals 746 watts ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 31 ElectroCraft powering innovation User Manual DA4709 DA4718 7 Description of Inputs and Outputs 7 1 Digital Inputs Enable Activating or Disabling the Output Stage If the Enable input is at GND potential or not wired at all the output stage remains in the locked state The motor stands still or slow down without brake To reactivate the output stage a voltage signal 3 5V to the Enable input is necessary If the ramp function is applied as well it will immediately be carried out after the activation of the connector Additi
20. ic ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 28 ElectroCraft powering innovation User Manual DA4709 DA4718 Encoder Is a feedback device which converts mechanical motion into electronic signals The most commonly used rotary encoders output digital pulses corresponding to incremental angular motion For example a 1000 line encoder produces 1000 pulses every mechanical revolution The encoder consists of a glass or metal wheel with alternating transparent and opaque stripes detected by optical sensors to produce the digital outputs Efficiency The ratio of power output to power input Feedback It is a signal which is transferred from the output back to the input for use in a closed loop system Four quadrants Refers to a motion system which can operate in all four quadrants i e velocity in either direction and torque in either direction This means that the motor can accelerate run and decelerate in either direction Inductance The electrical equivalent to mechanical inertia that is the property of a circuit which has a tendency to resist current flow when no current is flowing and when current is flowing has a tendency to maintain that current flow NTC Negative Temperature Coefficient A negative temperature coefficient thermistor is used to detect and protect a motor winding from exceeding its maximum temperature rating it is also used in a servo amplifier R
21. ies with the motor See accessories Motor speed too low e Increase the range with pot n max e Increase the admissible current with max pot e Supply voltage too low ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 37 ElectroCraft powering innovation User Manual DA4709 DA4718 No motion even though enable is on e Check power supply and the wiring e Overheating protection is active Overtemperature e Use an additional heatsink see accessories e Reset the amplifier Note Beware that the maximal working temperature of 80 C in the driver is not reached otherwise the drive will be switched off ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 38 User Manual DA4709 DA4718 9 Accessories amp Options Mounting adaptor for Din rail Connecting module Choke modules Heatsink No Fan MA0025 WA2509 IA2100 with 2 x 50 uH and IA2101 with 2 x 100 uH HA3008 ElectroCraft powering innovation TM e Heatsink 1 Fan HA3018 e Heatsink 2 Fans HA3028 e Shielded CAT5 Cables CA2005 Red 50 cm 20 CA2010 Red 100 cm 39 CA2020 Red 200 cm 79 CA2030 Red 300 cm 118 CA8005 Yellow 50cm 20 CA8010 Yellow 100 cm 39 CA8020 Yellow 200 cm 79 CA8030 Yellow 300 cm 118 CA4005 Grey 50 cm 20 CA4010 Grey 100 cm 39 CA4020 Grey 200 cm 79 CA4030 Grey 300 cm 118 CA6005 Blue 50 cm 20 CA6010 Blue
22. ificantly decrease ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 14 User Manual DA4709 DA4718 4 3 Wiring Example Ill Torque Mode Off On green Power red Error Offset Error Monitor n ElectroCraft n max Gain Error Set val Set val 10V Tacho Power supply 3122 71 UDE Monitor n 8 Ramp Monitor B ov ElectroCraft powering innovation ElectroCraft www electrocraft com 4 Q Servo Amplifier for Brush DC Motors Supply Voltage 11 70V Cont Current 09 18A Peak Current 18 36A is DMS CE Manufactured under DIN ISO EN 9001 2000 Design Made in Patent Germany IPC A 610 class 2 C3 Q D U _ 3 o0 3 a O a E Mail info electrocraft com www electrocraft com May 2009 15 ElectroCraft powering innovation User Manual DA4709 DA4718 4 3 1 Adjustment procedure for Torque mode 1 Potentiometer pre setting refer chapter 5 2 2 Adjust the current limiter to a value requested by you with the max potentiometer It is of major importance that this value is lower than the maximum admissible constant current see motor data sheet To measure the motor current use a current probe in one of the motor cables with an oscilloscope or a multimeter or the Monitor l output 3 Choose the maximum set value e g 10 V Turn the potentiometer n max until the desired maximum current is reached
23. lternative the set value can be entered using an external potentiometer 10 kOhm For this purpose connect the slide resistance to Set val the left stop to 10V and the right stop to 10V This procedure requires that the Set val input to be bridged to GND see also chapter 4 1 The admissible range for the set value is limited by the programmed max speed value In this case the desired maximum speed can be selected according to the maximum input voltage Note If the motor does not stop at input voltage 0 V fine tuning has to be performed using Offset potentiometer ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 34 ElectroCraft powering innovation User Manual DA4709 DA4718 Tacho Tacho Analog Tachometer Feed Back The Tacho Tacho inputs transmit an analog set value for the number of revolutions from a tachometer coupled to the motor back to the servo amplifier This feature improves the accuracy of speed control stable even in cases of a large load change The input is given in form of a differential amplifier without ground connection Additional information about the schematic refer chapter 3 2 Range of Input Voltage 50 V to 450 V Input Impedance 50 kOhm Permanent Input Protection 60 V to 60 V WARNING Correct polarity is crucial Otherwise the motor operates at maximum speed without any control A I max Current limit Normally the max p
24. onal information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 VDC Input Impedance 4 7 kOhm to GND Permanent Input Protection 0 6 to 50 VDC Enable activated gt 3 5 VDC Enable disabled 0 6 V open or connected to GND Ramp To turn the Ramp function on off use Plug X3 pin 2 to pin 6 Additional information about the schematic refer chapter 3 2 Range of Input Voltage 0 to 24 V Input Impedance 4 7 kOhm to GND Permanent Input Protection 0 6 V to 450 V Ramp activated 23 5 V Ramp deactivated 0 6 V open or connected to GND Ramp Time 9 Sec Note If not using the Ramp function jumper GND pin 8 to Ramp Input ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 32 ElectroCraft powering innovation User Manual DA4709 DA4718 7 2 Digital Outputs Error Monitoring Output Whenever a system failure occurs i e overtemperature or over current the Error output responds LO position and the red LED on the front panel is lit The drive output stage is switched off and the error will not reset until the user resets the drive by switching the enable input If the error occurs again the problem still exists The output is applicable in three different modes A As Open Collector LO active TTL compatible or up to 30 V industrial logic B As Push Pull output with R 50 Ohm when connecting the upper voltage signal to input Uin With Uin 24 V an SPS with ph
25. or current may be measured e g using current probe with effective value display or by means of an ammeter located in the motor line I max decides on the maximum possible motor current The following limits have to be observed Leftstop 5 96 of rated current of 9 A 18 A model dependent Right stop 100 96 of rated current 0 10 96 Note Do not overheat the motor For this reason the max limit should always be selected lower than the maximum admissible constant current Ramp The ramp time defines the increasing time to reach the scheduled value The ramp is active after the drive is enabled also after changing the Set value for both directions The function works in all modes The ramp function is activated with input X3 Pin7 IxR Mode The IxR mode is a voltage mode with an additional factor to correct the speed under changing the load The speed regulation is good but not stable for all load conditions Tacho Mode In the tacho mode the feedback information is coming as a voltage signal from a tacho mounted at the motor ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 26 ElectroCraft powering innovation User Manual DA4709 DA4718 Torque mode In this mode the driver controls only the current into the motor The speed of the motor depends on the load because only the output force of the motor is regulated Voltage Mode In the voltage mode the drive is watching
26. otentiometer is used to adjust the maximum current required for the motor With this analog input it is possible to do that by an external signal from 0 to 10 VDC or with an external 10 kOhm potentiometer see also chapter 4 6 For this purpose connect the slide resistance to max the left stop to GND and the right stop to 10V Additional information about the schematic refer chapter 3 2 Range of Input Voltage Oto 10 VDC 9A 9A DA4709 1 8A 18A DA4718 Input Impedance 100 kOhm Permanent Input Protection 30 V to 30 V Set val Set val 10V 10kOhm Tacho Note For this application set DIP switch S7 5 to Off position ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 35 ElectroCraft powering innovation User Manual DA4709 DA4718 7 4 Analog Outputs Monitor n Motor Speed Output This feature shows the motor voltage in form of a voltage signal together with the correct sign The proportionality between signal and actual value is 0 1V per 1V Additional information about the schematic refer chapter 3 2 Range of Output Voltage 10 V to 10 V Output Impedance 100 Ohm Permanent Output Current 20 mA max source and sink When measuring the speed with a known set value input voltage this output can directly serve as speed display as long as the drive can work in a closed loop regulation Monitor I Motor Current Output Monitor I delivers a result Sign v
27. otocoupler inputs can directly be controlled C Together with a bridge between the 5V output and Uin input applicable as Push Pull output for a connection to TTL or CMOS Logics without external upper voltage signal Additional information about the schematic refer chapter 3 2 Range of Output Voltage 0 6 V Uin 0 6 V with Uin 5 V to 30 V Output Impedance 50 Ohm Permanent Output Current 100 mA max source and sink Note The logical state of this output is clearly visible by the red Error LED on the front panel ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 33 ElectroCraft powering innovation User Manual DA4709 DA4718 7 3 Analog Inputs Set val Set val Inputs for Set Values An external 10 10 V analog signal for speed or current are entered using Set val and Set val inputs If the effective voltage is OV the motor stops If the effective voltage is positive there is also a positive voltage between Motor and Motor output If the input is negative the output consequently will be negative as well These inputs are given in form of a differential amplifier so each of them can be related to ground This offers the possibility to preset the level control in only one direction Additional information about the schematic refer chapter 3 2 Range of Input Voltage 10 V to 10 V Input Impedance 20 kOhm Permanent Input Protection 30 V to 30 V As an a
28. otor The adjusting procedure is performed using the Gain potentiometer A bad adaptation i e if the Gain value has been selected too high can be easily recognized by excessive motor vibration or noise Consequential mechanical damages cannot be excluded furthermore an overtemperature situation may arise due to high currents inside the motor When setting the Gain value during a stop the result most probably will have to be accommodated one more time because the dynamical reaction of the motor at a higher speed will not be sufficient Always remember that this potentiometer does not only act on the gain itself but also on the frequency of the entire control loop ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 25 ElectroCraft powering innovation User Manual DA4709 DA4718 IxR This potentiometer is helpful to stabilize the speed in a certain range after a change of the load First detect the number of revolutions at the lower level then raise the load and adapt the speed using the xA potentiometer An optimum precision of the compensation however is not realistic because the behaviour of the motor after a load change is only predictable in a certain tolerance If the motor current during the alignment procedure starts to oscillate these disturbances may be suppressed using the Gain potentiometer I max The following action requires the motor to be operated with maximum load The mot
29. res of the current load The recommendation is 1 5 mm AWG16 the minimum is 0 13 mm AWG28 Maximum wire diameter with respect to the plug contact is 2 5 mm AWG14 otrip the wire insulation of the cables on a length of 10mm For stranded wire use end sleeves with the corresponding length Wire ends have to be inserted into the contact until they reach the stop For the cabling of the RJ45 plugs we recommended shielded CAT5 cables The cables are available in different colours and lengths in the system accessories ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 User Manual DA4709 DA4718 2 2 Mechanical Data Mechanical Dimensions L x W x H Weight Mounting 2 3 Ambient Conditions Operation Temperature Storage Temperature Humidity Non Condensing Overtemperature Protection 2 4 Digital and Analog Inputs Enable Ramp max Set value Tacho 2 5 Outputs Auxiliary Voltage Output 5V Auxiliary Voltage Output 70V Auxiliary Voltage Output 70V Error Monitor Monitor n ElectroCraft powering innovation 120 x 85 x 27 5 mm 220 g M3 screws or Din Rail Mounting 10 to 45 C 40 to 85 C 20 to 80 RH 80 C Active High TTL 24 VDC Resistance 4 7 kOhm Active High TTL 24 VDC Resistance 4 7 kOhm Analog 0 10 VDC Resistance gt 100 kOhm Analog 10 10 VDC Resistance 20 kOhm Analog 50 50 VDC Hesistance 50 kOhm
30. significant safety and other regulatory standards They should be thoroughly familiar with the entire system before beginning installation Before final operation of machine be sure to test hookup with motor but disconnected from the load Improper wiring could cause a motor run away condition and cause serious injury or damage to the machine and persona Before starting installation of the DA4709 DA4718 be sure that main power is disconnected After powering the drive it should not be touched by hand or risk shock Take care that in case of regeneration or in brake operation the energy recovery must be buffered by the power supply and or a braking module Ensure with electronically stabilized power supplies that protection circuit isn t react Don t switch off the power supply while the motor is turning in this case the drive could be destroyed by regeneration We recommend connecting a capacitor of 1000 uF per each ampere output current close to power input in parallel Do not repair or open drives enclosure Result would result in personal injury and would void all warranties The DA4709 DA4718 comply with the European directive EN 61800 3 1996 The followings points must followed e A metal mounting plate with correct grounding is mandatory e For installation purposes tooth lock washers have to be used e For most wiring schemes only shielded cables are admissible to suppress interference with other devices Dam
31. tentiometer is only an approximate value The speed regulation is good but not stable for all load conditions It is a compromise between voltage mode and tacho mode Torque Mode In the torque mode the drive does only control the current in the motor This control loop is very fast but the speed is moving with the load due to the constant current This mode is used in application with force control or as a fast power amplifier for position systems ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 9 ElectroCraft powering innovation User Manual DA4709 DA4718 4 Wiring According to the safety directives a correct cable selection is mandatory Regular inspection is advisable Damaged burned or kinked items have immediately to be exchanged Power Power e Power GND e Normally no shielding required e When connecting several amplifiers to the same supply pack use star point wiring Motor Wiring gt 30 cm e Only shielded cables are recommended e Connect the shield to the ground lug of the servo amplifier e A separate cable has to be used e Choke modules are useful to reduce PWM pulses Connection to hall and encoder 30 cm e Only shielded cables are recommended e Connect the shield to the controller e A separate cable has to be used Analog Signals max Set val Set val Monitor I Monitor n Tacho Tacho e n most cases no shielding required This may be
32. the output voltage as a feedback voltage Brushed motor In brush type motors commutation is done electromechanically via the brushes and commutator Commutation Is a term which refers to the action of steering currents or voltages to the proper motor phases so as to produce optimum motor torque In brush type motors commutation is done electromechanically via the brushes and commutator In brushless motors commutation is done by the switching electronics using rotor position information obtained by Hall sensors Back EMF The voltage generated when a permanent magnet motor is rotated This voltage is proportional to motor speed and is present regardless of whether the motor winding s are energized or de energized Brushless motor A Class of motors that operate using electronic commutation of phase currents rather than electromechanical brush type commutation Brushless motors typically have a permanent magnet rotor and a wound stator Closed loop This is broadly applied term relating to any system in which the output is measured and compared to the input The output is then adjusted to reach the desired condition In motion control the term typically describes a system utilizing a velocity and or position transducer to generate correction signals in relation to desired parameters ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 27 ElectroCraft powering innovation User Manual DA4709
33. trocraft com www electrocraft com May 2009 11 ElectroCraft powering innovation User Manual DA4709 DA4718 4 1 1 Adjustment procedure for Voltage mode 1 Potentiometer pre setting refer chapter 5 2 2 Choose the maximum set value e g 10 V Turn the potentiometer n max until the desired maximum speed is reached with unloaded motor 3 Adjust the current limiter to a value requested by you with the max potentiometer It is of major importance that this value is lower than the maximum admissible constant current See motor data sheet To measure the motor current use a current probe in one of the motor cables with an oscilloscope or a multimeter or the Monitor l output 4 Slowly raise the value of the Gain potentiometer If the motor begins to work unsteadily to vibrate or to cause excessive noise carefully lower the gain factor again until the instability symptoms have disappeared for all load selections 5 Set the set value to zero and adjust the Offset potentiometer to the standstill of the motor ElectroCraft E Mail info electrocraft com www electrocraft com May 2009 12 ElectroCraft powering innovation User Manual DA4709 DA4718 4 2 Wiring Example Il IxR Comp Mode green Power ElectroCraft red Error Hv Off On Offset www electrocraft com Error n max Monitor n Gain 4 Q Servo Amplifier for Brush DC Motors supply Voltage 1 1 70V Cont Current 09 18A Peak Current
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