Electro-Craft EA4709 Manual de usuario

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

For Brushless-Commutated DC Motors up to 1260 W

EA4709 / EA4718

•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 and ramp function

•Wide range supply voltage between +9 and +70 VDC for different kinds of DC-power

supplies

•Protected against overtemperature and over-current

•MOSFet-technology, efficiency 97%

•Continuous current up to 9 / 18 A (model dependent)

Basic drive description: The EA4709 / EA4718 servo amplifiers are designed to drive DC

brushless 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.

4–Q PWM Servo – 09 / 18 A

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

Table of Contents

1. Safety & Installation .........................................................................3

2. Specifications:..................................................................................4

3. Drive Overview..................................................................................7

4. Wiring...............................................................................................10

5. Explanation of Terminals, Dip Switches, & Potentiometers.......21

6. Glossary .......................................................................................... 25

7. Description of Inputs and Outputs................................................31

8. Basic Troubleshooting...................................................................35

9. Accessories & Options .................................................................. 37

10. Warranties & Disclaimers .............................................................. 38

11. Dimensions .....................................................................................39

12. Mounting Din rail adapter ..............................................................39

Used Symbols

Indicates a warning or caution concerning operations that may lead to

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.

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

1. Safety & Installation

The EA4709 / EA4718 requires installation by qualified personal which must

pay attention to 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 personal.

Before starting installation of the EA4709 / EA4718, 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 µF 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 EA4709 / EA4718 comply with the European directive EN61800-3 (1996).

The followings points must followed:

•A metal mounting plate with correct grounding is mandatory.

•For installation purposes, tooth lock washers have to be used.

•For most wiring schemes, only shielded cables are admissible, to

suppress interference with other devices. Damaged items have to be

replaced.

•Provide for a large contact area between shields and mounting plate.

•The motor has to be grounded in the prescribed manner.

•The drive is an Electrostatic Sensitive Device (ESD). Electrostatic

discharge needs to be avoided.

NOTE:

Certain applications may involve special requirements. Consult Factory!

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

2. Specifications:

2.1 Electrical Data

Power Supply Voltage

+9 to +70 VDC

(Residual ripple <5 %)

(The lower limit is monitored by

integrated undervoltage trip)

WARNING: Do not exceed 70V.

Overvoltage will damage the drive.

Auxiliary Voltage Input

+5 to +30 VDC

Supply voltage for the /Error output.

(Refer chapter 7.2)

Nominal Current 9 / 18 A (model dependent)

Peak Current 18 / 36 A (model dependent)

Maximum Power (only achievable with

additional heatsink & proper mounting,

see accessories.)

630 / 1260 W (model dependent)

Switching Frequency 50 kHz

Efficiency 97 %

Induction Specification & caution for low

inductance motors 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.

Power connector The diameter must be suited for the

connecting wires of the current load. The

recommendation is 1,5 mm2(AWG16),

the minimum is 0,13 mm2(AWG28).

Maximum wire diameter with respect to

the plug contact is 2,5 mm2 (AWG14).

Strip 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.

Signal terminals 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.

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

2.2 Mechanical Data

Mechanical Dimensions L x W x H 120 x 85 x 27.5 mm

Weight 210 g

Mounting M3 screws or Din Rail Mounting

2.3 Ambient Conditions

Operation Temperature -10 to +45 oC

Storage Temperature -40 to +85 oC

Humidity (Non Condensing) 20 % to 80 % RH

Overtemperature Protection +80 °C

2.4 Digital and Analog Inputs

Enable TTL, +24 VDC; Resistance = 10 kOhm

Hall A, B, C TTL, +5 VDC; Resistance = 1 kOhm

Encoder Channel A, B TTL, +5 VDC; Resistance = 1 kOhm;

max. 78 kHz

Set value Analog -10 – +10 VDC ;

Resistance = 20 kOhm

2.5 Outputs

Auxiliary Voltage Outputs +5V +5 V / 50 mA for each;

100 mA if connected in parallel

Auxiliary Voltage Output +10V +10 V / 10 mA

Auxiliary Voltage Output -10V -10 V / 10 mA

/Error Open Collector / Push Pull / TTL /

+24 VDC; Resistance = 50 Ohm

Mon I Analog 0 – +10 VDC ;

Resistance = 200 Ohm; max. 20 mA

Mon n Analog 0 – +10 VDC ;

Resistance = 200 Ohm; max. 20 mA

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

2.6 Control LEDs

Power/Error LED green

Status LED red

2.7 Status Table

State LED green LED red /Error-Output Reset

Reset / Selftest Off On / Off LOW --

Normal On Off HIGH --

Hall error Off Flash 5x/s LOW Enable

Encoder error Off Long flash 1x/s

Duty cycle 90%

LOW Enable

Overtemperature Off Flash 1x/s LOW Enable

Current limiter On On HIGH Auto

Out of control On Flash 5x/s HIGH Auto

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

3. Drive Overview

3.1 Block Diagram

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

3.2 Input & Output Schematics

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

3.3 Control Elements

3.4 Operation Modes

PWM Mode

In the PWM mode the input voltage of the set value is directly converted to a PWM-signal at

the output. The drive works in open loop and the complete regulation circuit is switched off.

In this mode the drive is used e.g. as a power amplifier for a positioning system.

Hall Mode

At hall mode the feedback information is coming from hall switches which are mounted in

the motor or a hall encoder which is mounted at the motor. The speed regulation is good at

each load condition and qualified for each application to control the speed of a system also

for high speed application.

Encoder Mode

At encoder mode feedback information is coming from the encoder signals. The encoder is

mounted at the motor. The speed regulation has got a high performance at each load

condition and qualified for each application to control exactly the speed of a system

especially for low speed application. The maximum achievable speed in this mode is limited

through the encoder input frequency.

Torque Mode

At torque mode the drive does only control the current of 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 positioning systems.

User Manual EA4709 / EA4718

ElectroCraft®E-Mail: info@electrocraft.com www.electrocraft.com May 2009

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 ⊕- Power GND)

•Normally no shielding required.

•When connecting several amplifiers to the same supply pack, use star point

wiring.

Motor Wiring (> 30 cm)

•Only shielded cables are recommended.

•Connect the shield to the ground lug of the servo amplifier.

•A separate cable has to be used.

•Choke modules are useful to reduce PWM-pulses.

Connection to hall and encoder (> 30 cm)

•Only shielded cables are recommended.

•Connect the shield to the controller.

•A separate cable has to be used.

Analog Signals (I max, +Set val., -Set val., Mon I; Mon n)

•In most cases no shielding required. This may be different for low level signals or

in an environment with strong magnetic interference.

•Connect the shield on either end of the cable. For 50/60 Hz interference, remove

the shield on one side.

Digital Signals (Enable, /Error)

•No shielding 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.).

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.

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