Operating Instructions
Contents
1. pole pair 4 pole pairs 8 pole pairs open i 12 000 rpm 3 250 rom 1 625 rom closed ia 90 000 rpm 22 500 rpm 11 250 rom Important Some motor types allow only one speed range See maxon catalogue Max permissible speed Multipole motors maxon EC flat motors should only be operated with a closed JP1 built in jumper other wise the control amplification would be too high and the speed controller would start to oscillate The motor voltage cannot be reduced to 0 V because of the commutation process therefore the motor must be operated at a minimum speed depending on op erating voltage load and motor type The minimum speed is determined by the speed con stants and minimum motor voltage The AECS s mini mum motor voltage is around 10 of operating volt age Example Voc 24 V kn 195 rpm V gt Motor voltage Uy 2 4 V Nmin approx 500 rom 5 4 Speed mode Jumper JP2 Speed control is deactivated by closing jumper JP2 The motor turns with the maximum speed Jumper JP2 Speed mode open fils Speed control closed loop closed is True commutation 8 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 6 Inputs and Outputs 6 1 Inputs 6 1 1 Direction The motor shaft s direction is predetermined through the Direction input Input voltage range 0 45V Input current max 2002. uA internal current source at 5 V Overvoltage protection not protected Clockwise CW Input open or input voltage gt 4 0 V Counter clockwise CCW Set input to Gnd or input voltage lt 1 0 V Wiring examples Switch Relay contact NPN transistor Optocoupler Logic component 5 ib 5V 200 A Dir lt 1 i le c Gnd A ij Clockwise CW Switch Contact Transistor Transistor HIGH Level open open blocked blocked gt 4 0 V Ic 0 Ic 0 Counter clockwise CCW Switch Contact Transistor Transistor LOW Level closed closed conductive conductive lt 1 0V lc 200 uA lc 200 pA April 2006 Edition Subject to change maxon motor control 9 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 6 1 2 Brake If the input is not wired or the applied voltage is greater than 4 0 V the brake function is deactivated If the input is placed at Gnd potential or the applied voltage is lower than 1 0 V the brake function is activated and the motor shaft slows down to a halt short circuiting the motor windings The motor windings remain short circuited until the brake function is deactivated Input voltage range 0 5V Input current max 200 uA internal current source at 5 V Overvoltage protection Not protected Brake function not active Input open or input voltage gt 4 0 V Brake function aktive Set input to Gnd or input voltage lt 1 0 V Wiring examples Switch Relay contact NPN transi
3. cesecceeeeseeeeeeneeceeeseeeeeeeseeeeeeseeeeseseeseeeneeeeesesieeetenes 74x 51 x 20mm FASTONING 2 53 manaia e e e 4 distance pins hexagonal M3 internal thread Mounting hole separation eee eeeseeeeeeeeeeeeneeeeeeenaeeeeeseeeeseeaeeeeeeaeeesenaeeeeenaeeeene 63 2 x 40 6 mm 2 7 Terminals Power Signal Serew terminals I Tsiena a onen etaa lens es aean aa eae PaRaS PeR 9 poles Pittin a ee ER ee ce 2 54 mm AWG 2020 ances ss a a nae a 0 14 0 5 mm Motor terminal TOKA AETA aA TE E EAEE TT EATA TAAA E 3 poles Pitch EE E A A A ee ed E E 2 54 mm AWG 26 20 eana nae e Saal aaa Ss tel s 0 14 0 5 mm Flex print connector Jg anena n E EE inte e 4 poles Pith aditya re ee aa aaan Nae Sein EEA ey ei dns cect Era aA EE EN E wei oe 1 0 mm April 2006 Edition Subject to change maxon motor control 3 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 3 Minimum External Wiring 3 1 Power Supply Motor Application with maxon EC motor 4 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 3 2 Set value input with internal potentiometer P1 April 2006 Edition Subject to change maxon motor control 5 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 4 Operating Instructions 4 1 Power supply layout Any available power supply can be used as long as it meets the minimum re quirements set out be
4. ct to change Depending on the rotor start position and size of the coupled load there is a short build up procedure prior to the motor s run up During the start up procedure the motor shaft may temporarily make right left rotary motions The following points are detrimental to the start up procedure e high friction torque e very high load moment of intertia e high voltages above motor s nominal voltage Note Start up problems may occur in unfavourable applications through the principle of sensorless commutation Multipole motors maxon EC flat motors should only be run with a closed JP1 built in jumper otherwise the control amplification would be too high and the speed controller starts to oscillate This behavior is particularly noticeable in maxon flat motors Vcc gt motor nominal voltage The AECS s current limitation is around 5 A in which operation is permissible during max 20 s The maximum continuous current is 3 A otherwise thermal overload would occur The AECS s power stage and motor are not protected against thermal overload maxon motor control 7 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 5 3 Speed range Jumper JP1 The maximum speed is limited by the supply voltage and the speed that can be best adjusted at the set value input Jumper JP1 allows two speed ranges Maximum speed Jumper JP1 Motor with Motor with Motor with 1
5. d d aaa a aa a da aaan aE AE aiaa aiaa 4 4 Operating IMSrUCONS icenian aaaea ada aada aaa aiaa aaa 6 5 RUNCHONS ANG SIGNALS esenee n a a a Eaa a ca A aa aaa a adai 7 G nputsand OUPU Seea E A aa A RA E EA E 9 TV PAUVASSIQUUIMISIN aen a a a E E E E A 15 8 Bl ck Diagrami spannen a eA A E E E a a E E REES 17 9 Dimension DraWING s 22esccesiascacaacedesceetatiens auncvdszestancie a eae E E E E E ERE A N ENA ANES 17 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 215738 maxon motor ag Br nigstrasse 220 P O Box 263 CH 6072 Sachseln Tel 41 41 666 1500 Fax 41 41 666 16 50 www maxonmotor com maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 1 Safety Instructions Skilled Personnel Only experienced skilled personnel should install and start the equipment Statutory regulations The user must ensure that the amplifier and the components belonging to it are assembled and connected according to local statutory regulations Load disconnected For initial operation the motor should be free running i e with the load disconnected Additional safety equipment Any electronic apparatus is in principle not fail safe Machines and apparatus must therefore be fitted with independent monitoring and safety equipment If the equipment breaks down if it is operated incorrectly if t
6. d monitor NOS The NOS output Non Operating Signal can be used for status monitoring Output voltage range 0 45V Output current max 10 mA against Gnd Voltage value low Motor shaft turns max 0 3 V Voltage value high Motor shaft stops 5 V 4 7 kQ internal pull up resistor at 5 V Note Cable failure or lack of supply voltage cannot be monitored High level is displayed during the motor s start up cycle April 2006 Edition Subject to change maxon motor control 13 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 6 2 3 Monitor n The motor shaft s set speed can be monitored at the electronics Monitor n out put The set speed is available as a digital signal high low and corresponds to half the commutation frequency Output voltage range 0 5V Output current max 10 mA against Gnd Voltage value low max 0 3 V Voltage value high 5 V 22 kQ internal pull up resistor at 5 V Sought frequency at the Monitor n output N set Z Pol iorn T nn Hz igre 20 Nset Speed rpm Zpoi Number of the motor s pole pairs Sought motor shaft speed Jois n 20 na rpm Z Pol fmonitor n Frequency at the Monitor n output Hz Zpo Number of the motor s pole pairs 14 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 7 Pi
7. eeseeeeeeneeeeeeeeeeeeeaeeeeeeaeeeenenaeeeseneeeeesnaeeeene 5A Switching frequency Of power stage eeeeceeeeeeeseeeeeeeeeeeeeeeeeeeeeeeaeeeeaeeeeaeeeeieeeeneeeeaae typ 40 kHz Speed range motor with 1 pole Pair eceeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeaees typ 1000 90 000 rpm 2 2 Inputs DIGG CUON rea i a ibesdusstzasse E aR aches logic signal 5 V or switch against Gnd Open or high level clockwise at Gnd counter clockwise Braken nakataa a a a logic signal 5 V or switch against Gnd Open or high level motor shaft turns at Gnd motor shaft stops Disable kisii a eee ein a atk logic signal 5 V Open or low level motor shaft turns High level motor is separated from supply SEL Vale cei se eter Be ie eh ten ahs T cease ae analogue input 0 8 5 V 2 3 Outputs Monitor Mranata a heen ae open collector pull up 22 KQ at 5 V 10 mA Speed monitoring NOS ceeceeseeeeeeeeeeeeeeeeeeeseees open collector pull up 4 7 KQ at 5 V 10 mA Control voltage OUT wind hated Atte iath op iaaiiai aaia analogue output 0 5 V 2 4 Motor connections Motor winding 1 Motor winding 2 Motor winding 3 2 5 Ambient temperature humidity range Operations EE AAE ene i Ao ee ee st tl ee 0 40 C SILOE e e E A E sedge A aertyhet ela seceeitia ete 40 85 C NO CONGENSALON aniisi E E ieee TE 20 80 2 6 Mechanical data ALSTED aAA E E PE ev A E E TE EA T E TE approx 20 g Dimensions LXW X FH eeeecee
8. ext Rox S 2 4V 6000 o 60009 o April 2006 Edition Subject to change maxon motor control 11 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 6 1 4 Set value Set value input via external power supply The voltage at the Set value input predetermines the speed set value The speed changes proportionately to the set value Input voltage range 0 8 5 V reference against Gnd Input impedance gt 1MQ Overvoltage protection not protected Set value input via internal potentiometer P1 The Set value input J1 clamp 6 must be connected to the Control voltage OUT output J1 clamp 7 Note The lower and upper limitation of speed adjustment must be observed see chapter 5 3 Speed range Jumper JP1 Set value input via external potentiometer Internal potentiometer P1 at right end stop Value of external potentiometer 100 kQ 12 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 6 2 Outputs 6 2 1 Control voltage OUT If the internal potentiometer P1 is used for speed adjustment the Control volt age OUT output clamp 7 must be electrically connected to the Set value in put clamp 6 Output voltage range 0 45V Output impedance approx 10 kQ Potentiometer P1 right end stop 5 VDC Potentiometer P1 left end stop OV 6 2 2 Spee
9. he 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 only be carried out by authorised personnel or the manufacturer It is dangerous for the user to carry out any repairs Danger Ensure that no apparatus is connected to the electrical supply during installation of the AECS 35 3 After switching on do not touch any live parts Wiring procedure All cable connections should only be connected or disconnected when the power is switched off Max supply voltage Make sure that the supply voltage is between 8 and 35 VDC Voltages higher than 35 VDC or of wrong polarity will destroy the unit Start up procedure Start up problems may occur in unfavourable applications through the principle of sensorless commutation This is the case with high friction torque a very high load moment of intertia and in general applications of flat motors operated at high voltages above motor s nominal voltage Electrostatic sensitive device ESD gt PPRPP PP PP 2 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 2 Performance Data 2 1 Electrical data Supply voltage Veg iseis errn diaa a e es e i rE aie 8 35 VDC Contin ouso tp t current leontina a aeaaea ae a aa aa asaan Enan 3A Max output current Imax limited internally eee
10. low During set up and adjustment phases we recommend separating the motor mechanically from the machine to prevent damage from uncontrolled motion Power supply requirements Output voltage Vcc min 8 VDC Vcc max 35 VDC Ripple lt 5 Output current depending on load continuous max 3A acceleration short time max 5A The required voltage can be calculated as follows Known values e Operating torque Mg mNm Operating speed ng rpm Nominal motor voltage Un V Motor no load speed at Un No rpm Speed torque gradient of motor An AM rom mNm Sought values e Supply voltage Vcc V Solution U An 0 Choose a power supply that can supply this calculated voltage under load The formula takes account of a 1 5 max voltage drop at power stage What speed do reach with my power supply ns V sv _ Sta N Note Please note chapter 6 1 2 Brake when using the Brake input 6 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 4 2 Pre adjustment 1 Q EC Amplifier AECS 35 3 sensorless With the pre adjustment the potentiometers are set in a preferred position AECS units in the original packing are already pre set Pre adjustment P1 Speed 50 JP1 Speed range open JP2 Speed mode open Functions and Signals 5 1 Start up procedure A 5 2 Current limitation April 2006 Edition Subje
11. maxon motor maxon motor control 1 Q EC Amplifier AECS 35 3 Order number 215738 Operating Instructions April 2006 Edition The AECS Analogue EC Controller Sensorless is a 1 quadrant EC amplifier for controlling electronically com mutated brushless DC motors Rotor position sensors Hall sensors are not required e The electronics are flexible to use due to their wide input voltage range 8 35 VDC e A fixed current limitation restricts motor current to 5 A max e Motor speed is regulated and if required can be ad justed by the built in potentiometer or an externally predetermined set value e Speed can be monitored through the speed monitor output e A Brake input allows the motor shaft to slow down to a halt e The Direction input adjusts motor direction e The Disable input can interrupt the power supply to the motor e Motor connection either by using screw terminals or flex print connector for maxon flat motors e The current rotor position is evaluated by using the back EMF sensing technique e The integrated power MOS FET power stage produces a high efficiency level Table of contents i Safety MAStHUCUONS isnan nina Sate ed seg cay rade Sead wading hace a ada oa a aa aa a aa Ea 2 2 Performance Datar icicicscsccgsistteiascecencavdecnsaquiesaacgeias EE E A aa AARE aaa ibe vases adaezersaytaacncavaeecd 3 3 Minim m External WIN Q es sesiesisvesssecadiecteaatcnssncceseechecqiies sevenseesteaguica
12. n assignment 7 1 Pin assignment J1 Power Signal Monitor n Speed monitoring NOS Control voltage OUT Set value Disable Brake Direction Gnd Voc 8 35VDC PN OF ADN CO O Screw terminal 9 poles Pitch 2 54 mm AWG 26 20 0 14 0 5 mm 7 2 Pin assignment J2 motor connection 1 23 1 Motor winding 1 2 Motor winding 2 3 Motor winding 3 Screw terminal 3 poles Pitch 2 54 mm AWG 26 20 0 14 0 5 mm Note Motor terminals matching e g April 2006 Edition Subject to change maxon EC motor maxon EC motor maxon EC motor maxon EC motor EC 16 sensorless EC 22 sensorless EC 32 EC 40 maxon motor contro 15 maxon motor 1 Q EC Amplifier AECS 35 3 sensorless Operating Instructions 7 3 Pin assignment J3 4 poles flex print connector 1 Motor winding 1 2 Motor winding 2 3 Motor winding 3 4 Neutral point Y not used Flex print connector 4 poles top contact style Pitch 1 0mm Note Motor terminals matching e g maxon EC 14 Flat motor sensorless maxon EC 20 Flat motor sensorless maxon EC 32 Flat motor sensorless maxon EC 45 Flat motor sensorless 16 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 8 Block Diagram Set value Voc 8 35V GND Direction Motor winding 1 Disable Three A Phase Motor winding 2 Bridge Brake Motor winding 3 Control voltage OUT NOS Current detect Moni
13. stor Optocoupler Logic component 5VA A 5V 200 Ai Bra ken 4 I c Gnd A f af Brake function not active Switch Contact Transistor Transistor HIGH Level open open blocked blocked gt 4 0 V Ic 0 Ic 0 Brake function active Switch Contact Transistor Transistor LOW Level closed closed conductive conductive lt 1 0V Ilo 200pHA J Ig 200 pA The maximum permitted brake speed is limited by the maximum permitted short circuit current and maximum kinetic energy e I lt 10A e W lt 20 Ws The values can be calculated as follows A The maximum permitted brake speed can be calculated from the motor data nax 10A k Rpp 0 13Q rpm max permitted brake speed limited by brake Kn Speed constant rom V current I 10 A Rpn pn Terminal resistance phase phase Q With the given moment of inertia the maximum speed can be determined using the following formula max permitted brake speed 365 limited by kinetic energy 10 000 rpm Wk 20 Ws Jpt J Jr Rotor inertia gcm J Load inertia g cm 10 maxon motor control April 2006 Edition Subject to change maxon motor Operating Instructions 1 Q EC Amplifier AECS 35 3 sensorless 6 1 3 Disable Enable or disable the power stage If the input Disable is not wired or placed at Gnd potential or the applied voltage is lower than 0 4 V the amplifier is acti va
14. ted If the applied voltage is greater than 2 4 V the power stage is blocked and the motor shaft freewheels and slows down The Disable input is protected against overvoltage Input voltage range Input impedance Max input voltage Power stage active Power stage inactive Wiring examples 0 24 VDC approx 6 kQ resistance against Gnd 0 25 VDC Input open or set to Gnd or input voltage lt 0 4 V Input voltage gt 2 4 V a switch open Enable switch closed Disable Switch Relay contact NPN transistor Optocoupler Logic component Power stage active Switch Contact Transistor Transistor LOW Level Motor winding fed with current open open blocked le 0 blocked lge 0 Power stage inactive Switch Contact Transistor con Transistor con HIGH Level Motor shaft freewheels and closed closed ductive le gt 0O ductive lg gt 0 slows down b switch open Switch Relay contact NPN transistor Disable switch closed Enable Optocoupler f V ox Power stage active Switch Contact Transistor con Transistor con Motor winding fed with current closed closed ductive lb gt 0 ductive l gt 0 Power stage inactive Switch Contact Transistor Transistor Motor shaft freewheels and open open blocked Ic 0 blocked I 0 slows down Calculation help Known value Vex 3 3 24 VDC Sought value y
15. tor n 9 Dimension Drawing Dimensions in mm L A S S j 6 1 A 63 2 5 1 be 8 ba 73 4 7 20 April 2006 Edition Subject to change maxon motor control 17
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