Operating Instructions
Contents
1. denen a 7 6 Additional Possible 5 10 5 DiISplaY 12 8 Eror 13 9 EMC compliant 13 10 Block AQ RAN 14 11 Dimension Drawing EENE 14 The latest edition of these operating instructions may be downloaded from the internet as PDF file under www maxonmotor com category Service amp Downloads order number 201583 or in the e shop http shop maxonmotor com maxon motor ag Briinigstrasse 220 P O Box 263 CH 6072 Sachseln Tel 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 1 Safety Instructions A gt gt gt gt gt 2 maxon motor control Skilled Personnel Installation and starting of the equipment shall only be performed by experienced skil led personnel Statutory Regulations The user must ensure that the servoamplifier and the components belonging to it are assembled and connected according to local statuto2. 1 Motor 2 Motor 3 Ground Safety Earth 4 12 50 VDC 5 Power Gnd Power LED green ok red fault 1 Set value 2 Set value 3 Enable 4 Gnd 5 Tacho Input 6 8 Input Monitor Monitor 9 Ready 10 12V 12mA OUT 11 12V 12mA OUT Gnd 0 ne 9 8 CHANNEL B 7 CHANNEL 6 CHANNELA 5 CHANNEL A 4 2 3 5 80 Encoder 1 IxR Tacho Encoder Current r Sars eof Mao lt D 2 Ts 8 D 55 IxR P2 Offset Pa maxon motor maxon motor control P4 Imax 4 0 0 __ ADS 50 10 50V 10A 201583 P5 gain Made in Hungary 12 _ 76 al 103 14 maxon motor control July 2009 Edition Doc No 539076 07 Subject to change
3. iring External W inimum 3 12 50 VDC Ground Safty Earth Vec 12 50 VDC Power GND Oude JOSU S AWA JOSUesS yoeqpse 4WA yoeqpss sapooua yoeqpss July 2009 Edition Doc 539076 07 Subject to change 2 ae aB 5 ji aw WT 3w Wi 5 ii I 80 Ae eke 4 maxon motor control maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 4 Operating Instructions 4 1 Determine power supply requirements You may make use of any available power supply as long as it meets the mi nimal requirements spelled out below During set up and adjustment phases we recommend separating the motor mechanically from
4. aas eei aeae nae see dimension drawing Mo nting plate as cca ci Seige ina ERa for M4 screws Terminal iaeaea aeiiaaie eroan Power 5 poles Signal 12 poles Pite herena aae eA i E a E EREET R TEIE ERE ets 3 81 mm suitable for wire 0 14 1 mm multiple stranded wire or E 0 14 1 5 mm single wire Plug 01341651 for flat cable pitch 1 27 mm AWG 28 July 2009 Edition Doc No 539076 07 Subject to change maxon motor control 3 maxon motor Operating Instructions 4 Q DC Servoamplifier ADS 50 10 AseBuny 8910 WOL AOS 01 09 SAY JOIEISIOAOAIOS otot xew vd 101 U09 10 0W J0 ow ion 19830 Zd vw 08 AG TANNVHO L pu9 WVI3NNYHO 6 i 6 jeubis pu 100 VUZL ATL LE LNO VWEL ATL OL Apesy 6 1 9 pup v 2 95 yo uses6 qa for Different Modes of Operat pug G 08 21 A yeg Aejeg punoo 2
5. July 2009 Edition Doc No 539076 07 Subject to change maxon motor control 5 maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 4 3 Adjustment of the Potentiometers 4 3 1 Pre adjustment With the pre adjustment the potentiometers are set in a preferred position ADS units in original packing are already pre adjusted P1 P2 P3 P5 Offset 50 nmax 50 Imax 50 gain 10 4 3 2 Adjustment Encoder mode 1 Adjust set value to maximum e g 10 V and turn potentiometer Npa DC Tacho mode so far that the required speed is achieved IxR compensation 2 Set potentiometer P41 at the limiting value desired Maximum current in the 0 20 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 10 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 ad justed too high 4 Adjust set value to 0 V e g by short circuiting the set value 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
6. Inputs shi noackiae 10 10 V Ri 20 E E E E T 4 50 VDC 15 Input voltage DC tacho Tacho min 2 VDC max 50 VDC Ri 14 Encoder signals Channel A A B max 100 kHz TTL level Outputs Current monitor Monitor short circuit 10 10 VDC Ro 100 Q Speed monitor Monitor n short circuit 10 10 VDC Ro 100 Q Status reading READY Open collector short circuit protected 30 VDC IL lt 20 mA Voltage outputs Aux voltage short circuit protected 12 VDC 12 VDC max 12 Ro 1 Encoder 5 VDC max 80 mA Trim potentiometers IxR compensation Offset n max Imax gain LED indicator Bicolor AED once deere anette r a READY ERROR green ok red error Ambient temperature Humidity range 1 ier er eee 10 45 oTr lo lt 40 85 Non condensating 20 80 Mechanical data Weight E TA ca 380 g DIMENSIONS
7. potentiometer 1 0 5 20 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 laa 0 5 20 A and then for 0 9 seconds current is limited to the value set on potentiometer P8 leont 0 5 20 A After one second the cycle will repeat it self Pre adjustment P8 50 DIP switch 56 ON DIP switch 56 OFF 4 cyclical current limiter active maximum current limit active I A i Lax Toon P8 Loni gt 015 15 t 6 3 Maximal encoder frequency DIP switch 55 DIP switch S5 permits selection of the maximum encoder input frequency A max encoder frequency of 100 kHz is standard DIP switch 55 ON Max Input frequency is 10 kHz DIP switch 55 OFF 4 Max Input frequency is 100 kHz Encoder pulse maximum Encoder pulse maximum per turn motor speed per turn motor speed S 18 750 9375rmm_ 4688 rpm 128 _46875 2344rpm 256 __ 23438 1200mm s00 12000m _ 512 1721 rpm 11 719 rpm 1000 600 6 000 rpm 1024 586 1024 5 859 Note To achieve good control characteristics encoders with low impulse counts per turn should be run with the DIP switch 55 ON July 2009 Edition D
8. slightly Caution If the motor vibrates or becomes loud the amplification is ad justed too high Current controller mode 1 Set potentiometer laa at the limiting value desired Maximum current in the 0 20 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 in the motor data sheet and may not exceed 10A continuously 2 Adjust set value to 0 V Then set the motor current to 0 A with the poten tiometer P2 Offset Note A set value the 10 10 V range is equal to a current range of approx Imax e Configured as a current controller P1 P3 and P5 are not activated 6 maxon motor control July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 5 Functions 51 Inputs 511 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 10 10 V Input circuit differential Input resistance 20 differential Positive set value Set Value gt Set Value negative motor voltage or current motor shaft turns CCW Negative set value Set Value lt Set Value positive motor voltage or current motor shaft turns CW If a voltage is given at Enable the servoamplifier switches the motor v
9. TTL low max 0 8 V high 2 0 V It is strongly recommended that the encoder be used with a built in line driver If the encoder is used without a line driver without ChA and ChB 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 Male header front view 9 SG Ta 2 Pin configuration at Encoder input 10 1 Not connected 2 5 V 5 VDC max 80 mA 3 Gnd Ground 4 n c Not connected 5 A Inverted Channel A 6 A Channel A 7 B Inverted Channel B 8 B Channel B 9 n c Not connected 10 Not connected This pin configuration is compatible with the flat cable plugs in Encoder HEDL 55xx with Linedriver and the MR encoders with line driver type ML and L 8 maxon motor control July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 5 2 Outputs 5 2 1 Current monitor Monitor 1 The servoamplifier makes a current actual value available for monitoring pur poses 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 4 V A positive voltage on current monitor corresponds to a negative motor output current negative voltage on current monitor corresponds to a positive motor o
10. ent gt 10 A blink pattern e bad convection blink pattern e Short circuit on the motor winding blink pattern 12 maxon motor control July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 8 Error Handling Measures Defect Possible source of defect Shaft does not rotate Supply voltage lt 12 VDC Enable not activated Set value is 0 V Current limit too low Wrong operational mode Bad contacts Wrong wiring check power plug pin 4 check signal plug pin 3 check signal plug pin 1 and pin 2 check adjustment pot check DIP switch settings check wiring check wiring Speed is not controlled Encoder mode encoder signals DC Tacho mode tacho signals IxR mode compensation wrong 9 EMC compliant installation Power supply V Power Gnd e shielding normally required check plug encoder check plug signal pin 5 and 6 polarity check adjustment pot P1 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 50 10 side Terminal 3 Ground Safety Earth and or bottom of housing Motor side Motor housing or with motor housing mechanical design with low resis tive connection e Use separate cable Encoder cable e Although the ADS 50 10 can also be operated without a line dri
11. maxon motor maxon motor control 4 Q DC Servoamplifier ADS 50 10 Order number 201583 Operating Instructions July 2009 Edition The ADS 50 10 is a powerful servoamplifier for driving permanent magnet DC motors from 80 Watts up to 500 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 compensated speed control e Torque or current control The ADS 50 10 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 95 is achieved A built in motor choke combined with the high PWM frequency of 50 kHz allows the connec tion of motors with a very low inductivity In most cases an external choke can be omit ted Thanks to the wide input power supply range of 12 50 VDC the ADS 50 10 is very versatile and can be used with various power supplies The aluminium housing makes installation simple with terminal markings for easy connection Table of Contents Saiety INSITUCTIONS es ee 1 2 Data 2 3 3 Minimum External Wiring for Different Modes of Operation 4 4 Operating 5 E eee ae ee eee ae 5
12. oc No 539076 07 Subject to change maxon motor control 11 maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 7 Operating Status Display A two coloured red green LED shows the operating mode 71 No LED Reason e No supply voltage e Fuse fault e Wrong polarity of supply voltage e Short circuit of the 5 V output 7 2 LED shines green Blink pattern green LED Operating Conditions Te Amplifier is activated Enable LI Disable function active 7 3 LED shines red According to the blink pattern the following error messages can be identified Blink pattern red LED Operating Conditions If the power stage temperature ex OU nu ceeds a limit of approx 90 C the power stage is switches off disable status If a motor current of more than Uu tai approx 25 A is detected at the current actual value the power stage will be switched off disable status If the internal supply voltage cannot 0 uun ann be set up as expected the power amplifier is switched off disable status If the input frequency at the encoder fier is switched off 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 condition cannot be eliminated the error output will be disabled again immediately Reason e High ambient temperature blink pattern e continuous curr
13. oltage to the winding connections If the Enable input is not switched on 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 4 0 VDC Maximum input voltage 50 VDC Input resistance 15 Switching time typ 500 us by 5 V Minimum input voltage 0 VDC Maximum input voltage 2 5 VDC Input resistance 15 Switching time typ 100 by 0 V Minimum input voltage 2 0V Maximum input voltage 50 V Input resistance 14 Speed control range The speed range is set using Potentiometer P3 n set value For full speed control with 10 V the tacho input voltage range must be at least 2 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 potenti ometer 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 July 2009 Edition Doc No 539076 07 Subject to change maxon motor control 7 maxon motor 4 Q DC Servoamplifier ADS 50 10 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
14. on cannot be removed the output transistor will immediately change to the not conducting state again July 2009 Edition Doc No 539076 07 Subject to change maxon motor control 9 maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 6 Additional Possible Adjustments Potentiometer Function Position right _ _ 61 Adjustments potentiometer n and potentiometer P7 In most applications regulation setting is completely satisfactory using potentio meters P1 to P5 In special cases the transient response can be optimized by setting the P6 speed regulation gain potentiometer The P7 current regulator gain potentiometer can in addition be adapted to the dynamics of the current gain gain regulator It is recommend that the success of changes to the settings of P6 P7 lan checked by measuring the transient response with an oscilloscope at the Monitor and Monitor outputs 25 and P7 l 40 gain gain Pre adjustment P6 n 10 maxon motor control July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 6 2 Adjustments potentiometer P8 I and current limit mode DIP switch 56 It is standard that a maximum current limiter is activated DIP switch S6 OFF In this way the motor current is limited to the value set on
15. ry regulations Load Disconnected For primary operation the motor should be free running i e with the load disconnected Additional Safety Equipment An electronic apparatus is not fail safe in principle Machines and apparatus must the re 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 dange rous for the user to open the unit or make repairs to it Danger Do ensure that during the installation of the ADS 50 10 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 wrong polarity will destroy the unit Short circuit and earth fault The ADS 50 10 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 80 Watt If necessary the motor continuous current must be slightly reduced Generally the following applies Voc 10 0 075 mA e Supply voltage Vcc V e Nominal current Max con
16. 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 10 A short time 20 A The required voltage can be calculated as follows Known values Operating torque Mg mNm Operating speed rpm Nominal motor voltage Un Volt Motor no load speed at Un rpm Speed torque gradient of the motor An AM rom mNm Sought values gt Supply voltage Vcc Volt Solution U An 1 Voc ny SM 2 7 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 volt max voltage drop Consider The power supply must be able to buffer the back fed energy from brake opera tion e g in a condenser With electronically stabilized power supply units it is to ensure that the over current protection responds in no operating condition 4 2 Function of the potentiometers T a P2 Offset P4 Potentiometer Function Turn to the left C right Cy weak IxR compensation compensation compensation x at set value 0 V CCW CW jes maer at 10 V set value slower faster fo swe ata min ae 5A 20 P5 gain amplification lower higher
17. tinuous output current Ip mA e Terminal inductance Lmotor MH Sought value e Additional required external inductance so that the continuous current only reduces by max 10 as a result of warming mH 1 extern gt Electrostatic Sensitive Device ESD July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 2 Performance Data 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 Electrical data Nominal supply Voltage V oc ccececcecceceeeeeeeeeneeeeeeeeececaeaeeeeeeesesecaeeeeeeeseseecaeeeeeeeeeeees 12 50 VDC Absolute minimum supply Voltage V oc 11 4 VDC Absolute maximum supply Voltage V cc 52 5 VDC Max output voltage cued eed sedans 0 9 Vcc output current Imax 20A Continuous OUTPUT curret 10A Switching smarre 50 kHz 95 widthicurrent cOmtroller 22 2 5 kHz Built in MOtOr paari 75
18. utput current 5 2 2 Speed monitor Monitor The speed monitor is primarily intended for the qualitative estimation of the dy namics The absolute speed is determined by the properties of the speed sen sors 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 corresponding speed Nmax CCW OV corresponding speed 0 rpm 10 V corresponding speed Nnmax 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 nor mal cases i e no faults switched to Gnd In the case of a fault due to excess temperature excess current voltage progressing error or too high encoder in put frequency the output transistor is disabled Ready Imax lt 20 l 8 Polyfuse al Gnd An external additional voltage is required Input voltage range max 30 VDC Load current lt 20 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 situati
19. ver using an encoder with a line driver is recommended as this improves interference resistance e shielding normally required e Use separate cable Analogue signals Set value Tacho Monitor e 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 shielding necessary See also block diagram in chapter 10 In practical terms only the complete equipment comprising all individual components mo tor amplifier power supply unit EMC filter cabling etc can undergo an EMC test to ensure interference free CE approved operation maxon motor control 13 July 2009 Edition Doc No 539076 07 Subject to change maxon motor 4 Q DC Servoamplifier ADS 50 10 Operating Instructions 10 Block Diagram Case 12V OUT 12V OUT Enable Ready Ground 5V 80MA Safety Gnd 13 Supply Earth Encoder A eath Encoder A Converter optional Encoder B 12 50VDC Encoder B Power Gnd 12V cont 54 Set value P7 gain Set value PWM Control amp MOSFET Protection Full Bridge Logic Tacho Input Motor Current Voltage Detector Detector P2 Offset Monitor n Monitor 11 Dimension Drawing Dimensions in mm
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