Maxon Motor & Motor Controller Manual

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1 Maxn Mtr & Mtr Cntrller Manual Nte: This manual is nly fr use fr the Maxn mtr and cntrller utlined belw. This infrmatin is based upn the tutrial vides fund nline and thrugh testing. NOTE: Maximum Permitted Supply Vltage: VDC. D nt exceed 76 VDC r wrng plarity, r it will destry the unit. Minimum utput vltage is 8 VDC. Cntinuus Max Output Current: 10 A / shrt-time (acceleratin, < 20 secnds) max. 30 A. Necessary Equipment: Mtr (EC 90 flat Ø90 mm, brushless, 90 Watt, with Hall sensrs, PN # ) Mtr Cntrller (ESCON 70/10, 4-Q Servcntrller fr DC/EC Mtrs, 10/30 A, VDC, PN # ) Maxn Mtr Cntrller Sftware (ESCON Setup Studi 2.2/Firmware 0150h) Suitable Cables fr Pwer (J1) : mm 2 multi-cre & single wire, AWG Suitable Cables fr Mtr (J2) : mm 2 multi-cre & single wire, AWG Suitable Cables fr Hall Sensrs (J3) : mm 2 multi-cre & single wire, AWG J4 will nt be used. The HABIP mtr des nt have an encder. Suitable Cables fr Digital I/Os (J5) : mm 2 multi-cre & single wire, AWG Suitable Cables fr Analg I/Os (J6) : mm 2 multi-cre & single wire, AWG Sftware Set-Up (Fr Testing with Arduin Un): Cnnect the servcntrller t the cmputer that will be running the mtr sftware via USB. Open ESCON Studi 2.2. The Startup Wizard shuld begin autmatically. If this des nt start autmatically, g t the Tls drpdwn menu and select Setup Wizard. Read the safety instructins and select Yes, I have read the abve instructins. Click Next. A descriptin f the device cnnected is shwn. Duble-check t ensure that it is the crrect mtr cntrller. Click Next. Select Maxn EC Mtr. Click Next. Enter the mtr data that is needed. Fr the mtr being used n the HABIP, the cnstants that need t be inputted are as fllws: 2/14/2017 1

2 Speed Cnstant: 135 RPM/V Thermal Time Cnstant Winding: 34.1 s Number f Ple Pairs: 12 Enter the system data that is needed. Nte: This is nt necessarily just based upn the mtr. Ensure that the values inputted here are the maximums fr the entire system s as t ensure that the system is nt harmed. The values fr the HABIP systems that are t be inputted are as fllws: Max Permissible Speed: 5000 RPM (3190 RPM N Lad Speed) 2590 RPM Nminal Current: A Max Output Current Limit: A The next page is entitled Detectin f Rtr Psitin. Under the Select Type f Sensr drp-dwn menu, click Digital Hall Sensrs. Select maxn fr Hall Sensr Plarity. Select the type f sensr being used fr measuring the speed. Fr the mtr being utilized by the HABIP teams, select Available Hall Sensrs, as there is n encder. Select the desired mde f peratin. There are three mdes: Current Cntrller Speed Cntrller (Clsed Lp) Speed Cntrller (Open Lp) Select Speed Cntrller (Clsed Lp) fr the HABIP mtr. This next page is the Enable page. This page is used t determine the input necessary t start up the mtr. There are several Enable functinalities: Enable Enable & Directin Enable CW Enable CCW Enable CW & CCW 2/14/2017 2

3 There is a sectin t assign this functinality: Select a digital input (1, 2, 3 r 4) t assign the Enable functinality t it. Fr the HABIP mtr, assign it t Digital Input 2. The plarity must als be specified as either High Active r Lw Active. Fr the HABIP mtr, specify the plarity as High Active. Click Next. This page will define the input functinality. There are several ptins fr inputs: Analg Set Value PWM Set Value 2 Fixed Set Value Fixed Set Value Fr the HABIP mtr, assign the input as PWM Set Value Speed at: 10% : RPM Speed at 90% : RPM This next page is t set the current limit n the mtr. There are several types f current limit functinality: Analg Current Limit PWM Current Limit 2 Fixed Current Limit Fixed Current Limit Specify the maximum value fr current. Fr HABIP, select Fixed Current Limit. Write dwn A. The speed ramp page allws fr several pssibilities fr the mtr: Analg Ramp Fixed Ramp N Ramp Active Select Fixed Ramp and write 1000 RPM/s fr bth the acceleratin and deceleratin f the HABIP mtr. The minimal speed page is used t allw fr a lw speed t be the Write 0.0 RPM fr the Minimal Speed. 2/14/2017 3

4 Fr the ffset page, there are multiple ptins: Analg Offset PWM Offset RC Serv Offset Fixed Offset Select Fixed Offset and set t 0.0 RPM. This next page will set up the digital inputs and utputs f the mtr cntrller system. Nte: One f the digital inputs will be marked as Enable if it has been selected earlier as ne. Digital Input 1: Nne Stp Digital Input 2: Nne Stp Digital I/O 3: Stp Ready Speed Cmparatr Current Cmparatr Digital I/O 4: Stp Ready Speed Cmparatr Current Cmparatr Set up the mtr cntrller as fllws fr the HABIP mtr: Digital Input 1: PWM - Set Value Digital Input 2: Enable Digital I/O 3: Nne Digital I/O 4: Nne Nte: Be sure t duble-check that the inputs are within the cnstraints set by Maxn. The digital inputs and digital inputs/utputs have different requirements. The analg inputs will be selected at this page: Analg Input 1: Actual Speed 2/14/2017 4

5 Analg Input 2: Actual Current Averaged There are three analg utputs available frm the cntrller. They have multiple ptins fr functinality: Nne Fixed Value Actual Current Actual Current Averaged Actual Speed Actual Speed Averaged Demand Current Demand Speed Temperature Pwer Stage This next page will be used t specify any analg utputs that were chsen in the previus step. Speed at: V : RPM Speed at V : 5000 RPM Current at V : A Current at V : A This next page shws the cnfiguratin summary. Click Shw Wiring Overview. This will shw the wiring verview fr the mdule based upn the cnfiguratin determined by the ptins chsen abve. 2/14/2017 5

6 Wiring Diagram 2/14/2017 6

7 2/14/2017 7

8 2/14/2017 8

9 2/14/2017 9

10 Fr Use With Arduin Un Fr Testing Straight Mtr Cmmands: NOTE: An Arduin Un utputs an 8-bit PWM signal. The mtr cntrller takes a 12-bit PWM signal. This sectin f the guide will be utilized t take tests withut the use f a MSP430, and instead with an Arduin. This will be withut a PID cntrller, s that data abut a system might be cllected and a plant mdel f the system be created. N IMU is attached in this setup. Example Sketch: 2/14/

11 The abve sketch shws the cmmunicatin between the mtr cntrller and the Arduin Un. This sketch nly send a PWM signal t mtr and mtr cntrller. This des nt include any 2/14/

12 frm f PID cntrller r reactin wheel cntrl. This sketch is used fr testing the mtr t ensure gd cmmunicatin between the mtr, mtr cntrller, and Arduin. The settings in the previus sectin must all be cmpleted first, as they are saved t the mtr cntrller. Set up the mtr cntrl sftware fr data cllectin, as specified abve. Uplad the abve sketch nt the Arduin Un that is being used t cntrl the mtr cntrller. Hk up the Arduin, mtr cntrller, mtr, and switch as seen abve in the pinut diagram. Regulatin Tuning After setting up the mtr and mtr cntrller in the Startup Wizard, Regulatin Tuning will autmatically pp up. Select Aut-Tuning. Sectin T Be Cmpleted Sn. Click Start. 2/14/

13 Test results, similar t the nes seen abve, shuld appear. Click Finish. 2/14/

14 Setting Up the Data Recrder Tl Upn pening the Data Recrding Tl, click Settings. The abve image will be seen. The fur channels n the left hand side have many ptins fr recrding infrmatin fr the mtr: Actual Speed Actual Speed Averaged PWM Input Hall Sensr Pattern Psitin Cunter Hall Sensr Psitin Cunter Encder RC Serv Input Analg Input 1 Analg Input 2 Ptentimeter 1 Ptentimeter 2 Temperature Pwer Stage External Supply Vltage Current Analg Set Value Demand Current 2/14/

15 Current Set Value Speed Analg Set Value Demand Speed Speed Ramp Value Offset Adjust Analg Set Value Offset Adjust Demand Value Analg Speed Ramp Actual Speed Ramp Acceleratin Actual Speed Ramp Deceleratin Analg Output 1 Analg Output 2 Pwer Index Mtr Pwer Index Amplifier Fr testing with the Arduin Un, the ptins selected are: Actual Speed Actual Current PWM Input The values belw these ptins are t specify hw the user wants t plt the data n the Data Recrding Tl. The Data Sampling area f the settings shws hw lng the user wants t run the test and hw many samples will be taken. The first tw bxes are able t be edited. The last is autmatically calculated. Fr this riginal test, apprximately 1 minute f data is desired, s 60,000 ms was inputted int the settings. Depending upn the set-up f the mtr, the sectin belw may be changed. If using a switch as utlined abve, select Single Trigger. Select Digital Signal. Select Enable ut f the several ptins. Fr mde, select Disable Enable. The time delay may then be decided belw. This shws the amunt f time it will take until the Data Recrding Tl will take recrd data. Click OK. The Data Recrding Tl is nw set up. In rder t initiate the data recrding, flip the switch. T exprt the cllected data, right click within the plt and click Exprt Recrded Data. Example Data: 2/14/

16 Fr Use With Arduin Un Fr Testing with IMU (Withut PID, t be Added Later) NOTE: The IMU utputs a 14-bit signal in regards t the gyrscpe. The Arduin Un 2/14/

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