maxon motor control ESCON Servo Controller Hardware Reference Edition November 2015 ESCON 36/2 DC Servo Controller P/N 403112 Hardware Reference Document ID: rel5869 maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.
TABLE OF CONTENTS 1 About 3 1.1 1.2 1.3 2 Specifications 2.1 2.2 3 7 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Setup 11 3.1 3.2 3.3 3.4 3.5 3.6 3.7 4 About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 About the Device . . . . . . . . . . . . . . . . .
About About this Document 1 About 1.1 About this Document 1.1.1 Intended Purpose The purpose of the present document is to familiarize you with the ESCON 36/2 DC Servo Controller. It will highlight the tasks for safe and adequate installation and/or commissioning. Follow the described instructions … • to avoid dangerous situations, • to keep installation and/or commissioning time at a minimum, • to increase reliability and service life of the described equipment.
About About the Device Type Symbol Information Table 1-2 1.1.5 Meaning Requirement / Note / Remark Indicates an activity you must perform prior continuing, or gives information on a particular item you need to observe. Best Practice Indicates an advice or recommendation on the easiest and best way to further proceed. Material Damage Indicates information particular to possible damage of the equipment.
About About the Safety Precautions 1.3 About the Safety Precautions • Make sure that you have read and understood the note “READ THIS FIRST” on page A-2! • Do not engage with any work unless you possess the stated skills (chapter “1.1.2 Target Audience” on page 1-3)! • Refer to chapter “1.1.
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Specifications Technical Data 2 Specifications 2.1 Technical Data ESCON 36/2 DC (403112) Electrical Rating Inputs & Outputs Voltage Outputs Potentiometer Motor Connections Interface Status Indicators Physical Nominal operating voltage +VCC 10…36 VDC Absolute operating voltage +VCC min / +VCC max 8 VDC / 38 VDC Output voltage (max.) 0.98 x +VCC Output current Icont / Imax (<60 s) 2A/4A Pulse Width Modulation frequency 53.6 kHz Sampling rate PI current controller 53.
Specifications Technical Data ESCON 36/2 DC (403112) Temperature Environmental Conditions Altitude *2) 2-8 −30…+45 °C Extended range *1) +45…+81 °C Derating Figure 2-1 Storage −40…+85 °C Operation 0…6’000 m MSL Extended range *1) 6’000…10’000 m MSL Derating Figure 2-1 *2) Humidity *1) Operation 5…90% (condensation not permitted) Operation within the extended range (temperature and altitude) is permitted.
Specifications Standards 2.2 Standards The described device has been successfully tested for compliance with the below listed standards. In practical terms, only the complete system (the fully operational equipment comprising all individual components, such as motor, servo controller, power supply unit, EMC filter, cabling etc.) can undergo an EMC test to ensure interference-free operation.
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Setup Generally applicable Rules 3 Setup IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION The ESCON 36/2 DC is considered as partly completed machinery according to EU Directive 2006/42/ EC, Article 2, Clause (g) and is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.
Setup Determination of Power Supply 3.2 Determination of Power Supply Basically, any power supply may be used, provided it meets the minimal requirements stated below. Power Supply Requirements Output voltage +VCC 10…36 VDC Absolute output voltage min. 8 VDC; max. 38 VDC Output current Depending on load • continuous max. 2 A • short-time (acceleration, <60 s) max. 4 A 1) Use the formula below to calculate the required voltage under load.
Setup Cabling 3.3 Cabling Here you can get the connection information required to commission your ESCON 36/2 DC. You will find all details for both approaches, Plug&Play and making your own cables. PLUG&PLAY Take advantage of maxon’s prefab cable assemblies. They come as ready-to-use parts and will help you to reduce commissioning time to a minimum. a) Check the «Cable Selector» (Table 3-6) to find the cable assemblies’ order number matching the setup you will be using.
Setup Connections 3.4 Connections The actual connection will depend on the overall configuration of your drive system and the type of motor you will be using. Some connections must be established in a given way, while for motor (J2/J2A and encoder (J4/J4A) alternative plug-in locations can be chosen from. Follow the description in given order and choose the connection scheme that suits the respective components you are using. For corresponding wiring diagrams chapter “4 Wiring” on page 4-33. 3.4.
Setup Connections 3.4.2 Motor (J2 / J2A) Potential Destruction Use only one of the two sockets – either J2 or J2A! SOCKET J2 Figure 3-4 Motor Socket J2 J2 & Head A Prefab Cable Head B Pin Color Pin 1 white Motor (+M) Motor + 2 brown Motor (−M) Motor − 3 black Motor shield Cable shield Table 3-9 Signal Description Motor Socket J2 – Pin Assignment & Cabling DC Motor Cable (403962) Cable cross-section 2 x 0.34 mm2 shielded Length 1.
Setup Connections SOCKET J2A Figure 3-5 Motor Socket J2A J2A & Head A Prefab Cable Head B Pin Color Pin Signal Description 1 Motor (+M) Motor + 2 Motor (−M) Motor − Table 3-11 Motor Socket J2A – Pin Assignment Specification / Accessories Type 2 poles, spring-loaded contacts, pitch 2.5 mm Suitable cables Suitable tools Table 3-12 3-16 Rigid 0.14…0.5 mm2, AWG 26-20 / wire stripping length 6 mm Flexible 0.2…0.5 mm2, AWG 24-20 / wire stripping length 6 mm 0.25…0.
Setup Connections 3.4.3 Encoder (J4 / J4A) Potential Destruction Use only one of the two sockets – either J4 or J4A! SOCKET J4 Figure 3-6 Encoder Socket J4 J4 & Head A Prefab Cable Head B Pin Color Pin Signal Description 1 Motor (+M) Motor +M (note below) 2 +5 VDC Encoder supply voltage (+5 VDC; ≤70 mA) 3 GND Ground 4 Motor (−M) Motor −M (note below) 5 Channel A\ Channel A complement 6 Channel A Channel A 7 Channel B\ Channel B complement 8 Channel B Channel B 9 not c
Setup Connections Encoder Cable (275934) Cable cross-section 10 x AWG28, round-jacket, twisted pair flat cable, pitch 1.27 mm Length 3.20 m Head A DIN 41651 female, pitch 2.54 mm, 10 poles, with strain relief Head B DIN 41651 Plug, pitch 2.54 mm, 10 poles, with strain relief Table 3-15 3-18 Encoder Cable Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Setup Connections SOCKET J4A Figure 3-7 Encoder Socket J4A J4A & Head A Prefab Cable Head B Pin Color Pin Signal Description 1 not connected – 2 +5 VDC Encoder supply voltage (+5 VDC; ≤70 mA) 3 GND Ground 4 not connected – 5 Channel A\ Channel A complement 6 Channel A Channel A 7 Channel B\ Channel B complement 8 Channel B Channel B 9 not connected – 10 not connected – Table 3-16 Encoder Socket J4A – Pin Assignment Specification / Accessories Type 2 x 5 poles, hal
Setup Connections Best Practice • Because of its resistance against electrical interferences, we recommend using differential scheme. Nevertheless, the controller supports both schemes – differential and single-ended. • The controller does not require an index impulse (Ch I, Ch I\). • For best performance, we strongly recommend using encoders with line driver. Otherwise, speed limitations may apply due to slow switching edges. Differential Min. differential input voltage ±200 mV Max.
Setup Connections Single-ended Input voltage 0…5 VDC Max. input voltage +12 VDC / −12 VDC Logic 0 <1.0 V Logic 1 >2.4 V Input high current IIH = typically −50 μA @ 5 V Input low current IIL = typically −550 μA @ 0 V Max. input frequency 100 kHz Figure 3-9 maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference Encoder Input Circuit Ch A “Single-ended” (analogously valid also for Ch B) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor.
Setup Connections 3.4.
Setup Connections 3.4.4.1 Digital Input 1 Input voltage 0…36 VDC Max. input voltage +36 VDC / −36 VDC Logic 0 typically <1.0 V Logic 1 typically >2.4 V Input resistance typically 47 kΩ (<3.3 V) typically 38.5 kΩ (@ 5 V) typically 25.5 kΩ (@ 24 V) Input current at logic 1 typically 130 µA @ 5 VDC Switching delay <8 ms PWM frequency range 10 Hz…5 kHz PWM duty cycle range (resolution) 10...90% (0.1%) RC Servo cycle duration 3…30 ms RC Servo pulse length 1…2 ms Figure 3-11 3.4.4.
Setup Connections 3.4.4.3 Digital Inputs/Outputs 3 and 4 DigIN Input voltage 0…36 VDC Max. input voltage +36 VDC Logic 0 typically <1.0 V Logic 1 typically >2.4 V Input resistance typically 47 kΩ (<3.3 V) typically 38.5 kΩ (@ 5 V) typically 25.5 kΩ (@ 24 V) Input current at logic 1 typically 130 µA @ 5 VDC Switching delay <8 ms Figure 3-13 DigIN3 Circuit (analogously valid also for DigIN4) DigOUT Max. input voltage +36 VDC Max. load current 500 mA Max. voltage drop 0.
Setup Connections Figure 3-15 maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference DigOUT3 Wiring Examples (analogously valid also for DigOUT4) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Setup Connections 3.4.
Setup Connections 3.4.5.1 Analog Inputs 1 and 2 Input voltage −10…+10 VDC (differential) Max. input voltage +24 VDC / −24 VDC Common mode voltage −5…+10 VDC (referenced to GND) Input resistance 100 kΩ (differential) 50 kΩ (referenced to GND) A/D converter 12-bit Resolution 5.07 mV Bandwidth 10 kHz Figure 3-17 3.4.5.2 AnIN1 Circuit (analogously valid also for AnIN2) Analog Outputs 1 and 2 Output voltage −4…+4 VDC D/A converter 12-bit Resolution 2.30 mV Refresh rate AnOUT1: 26.
Setup Connections 3.4.6 USB (J7) Figure 3-19 USB Socket J7 Note Column “Head B” (Table 3-22) refers to USB terminals of your PC.
Setup Connections 3.4.7 ESCON 36/2 DC Connector Set If you decide not to employ maxon motor’s prefab cable assemblies, you might wish to use the prepackaged kit that contains all connectors required to make up your own cabling. ESCON 36/2 DC Connector Set» (404404) For Socket J1 Specification Quantity Hirose crimping socket, 2 poles (DF3-2S-2C) 1 Hirose crimping contact for Socket (DF3-22SC…) 6 J2 Hirose crimping socket, 3 poles (DF3-3S-2C) 1 J4 3M Retainer Clip with Strain Relief, H=13.
Setup Jumpers 3.5 Jumpers STOP Check on safety precautions before continuing (page 1-5). JUMPER JP1 For maxon DC motor with integrated Motor/Encoder Ribbon Cable, activate the motor terminal by setting both jumpers to CLOSED (Figure 3-22, right). 3.
Setup Status Indicators 3.7 Status Indicators Light-emitting diodes (LEDs) indicate the actual operating status (green) and possible errors (red).
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Wiring 4 Wiring Figure 4-25 Interfaces – Designations and Location Remark The subsequent diagrams feature these signs: • PCB mounting hole • Ground safety earth connection (optional) maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring 4.1 maxon DC motor SOCKET J2 Figure 4-26 4-34 maxon DC motor (J2) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring 4.2 maxon DC motor with DC Tacho SOCKET J2 Figure 4-27 maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference maxon DC motor with DC Tacho (J2) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring 4.3 maxon DC motor with separated Motor/Encoder Cable SOCKETS J2 / J4 Figure 4-28 4-36 maxon DC motor with Encoder – separate Cables (J2 / J4) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring SOCKETS J2 / J4A Figure 4-29 maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference maxon DC motor with Encoder – separate Cables (J2 / J4A) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring SOCKETS J2A / J4 Figure 4-30 4-38 maxon DC motor with Encoder – separate Cables (J2A / J4) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring SOCKETS J2A / J4A Figure 4-31 maxon motor control ESCON Servo Controller ESCON 36/2 DC Hardware Reference maxon DC motor with Encoder – separate Cables (J2A / J4A) Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
Wiring 4.4 maxon DC motor with integrated Motor/Encoder Ribbon Cable SOCKET J4 Figure 4-32 maxon DC motor with Encoder – integrated Ribbon Cable (J4) Note For jumper settings chapter “ Jumper JP1” on page 3-30. 4-40 Document ID: rel5869 Edition: November 2015 © 2015 maxon motor. Subject to change without prior notice.
LIST OF FIGURES Figure 2-1 Derating Output Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 Figure 2-2 Dimensional Drawing [mm]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 Figure 3-3 Power Socket J1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 Figure 3-4 Motor Socket J2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LIST OF TABLES Z-42 Table 1-1 Notation used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Table 1-2 Symbols & Signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Table 1-3 Brand Names and Trademark Owners. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Table 2-4 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INDEX A O additionally applicable regulations 5 alerts 3 analog inputs 27 applicable EU directive 11 operating license 11 operating status, display 31 order numbers 275934 18 403112 7 403957 14 403962 15 403964 26 403965 22 403968 28 404404 29 C cables (prefab) DC Motor Cable 15 Encoder Cable 18 I/O Cable 6core 22 I/O Cable 7core 26 Power Cable 14 USB Type A - micro B Cable 28 country-specific regulations 5 P performance data 7 potentiometer P1 30 precautions 5 prerequisites prior installation 11 proh
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