Maxon motor EC Series User manual

Edition March 2019

maxon EC motor EC-i30 with integrated electronics

Document ID: rel8710

Operating Manual

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.com

The EC-i30 with integrated electronics is a brushless, speed-controlled

4-quadrant drive with four pole pairs. It is available as 55 Watt version

with two shaft ends:

Functions

• Commutation with Hall sensors

• Digital speed control

• Speed range: 250…6’000 rpm

• Current limitation, non-adjustable

• Overvoltage and undervoltage switch-off

• Short-term overcurrent with I2T limitation possible

• Temperature monitoring of electronics

• Protection against reverse polarity of supply voltage

• Set value speed via analog signal 0…10 V

• Speed monitor delivers speed-proportional frequency signal

• Parameter setting via power line communication (optional, by factory setting)

• Variants with control input «Enable» or «Direction»

Contents

READ THIS FIRST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3 Functional Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

4 Protective Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

5 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

Order

number Variant

Nominal

speed

[rpm]

Output

[W]

618864 5-wire, CW «Enable» 6’000 20

619301 5-wire, CW «Direction» 6’000 20

maxon EC motor

2Document ID:: rel8710 EC-i30 IE

Edition: March 2019 Operating Manual

Safety Guidelines

Qualified

personnel

Do not engage with any work unless you possess the necessary skills.

Legal

requirements

Observe any regulation applicable in the country and/or at the site of implementation with regard to

health and safety/accident prevention and/or environmental protection.

Make sure that all associated devices and components are installed according to local regulations.

Additional safety

equipment

Be aware that, by principle, an electronic apparatus can not be considered fail-safe. Therefore, you must

make sure that any machine/apparatus has been fitted with independent monitoring and safety equip-

ment. If the machine/apparatus should break down, if it is operated incorrectly, if the control unit breaks

down or if the cables break or get disconnected, etc., the complete drive system must return – and be

kept – in a safe operating mode.

Repairs Be aware that you are not entitled to perform any repair on components supplied by maxon motor.

Danger to life Touching live wires causes death or serious injuries!

• Consider any power cable as connected to live power, unless having proven the opposite!

• Make sure that neither end of cable is connected to live power!

• Make sure that power source cannot be engaged while work is in process!

• Obey lock-out/tag-out procedures!

• Make sure to securely lock any power engaging equipment against unintentional engagement

and tag it with your name!

Max. supply

voltage

The connected supply voltage must be between 8 VDC and 28 VDC. Permanently applied voltages

above 30 VDC will destroy the unit.

Electrostatic sen-

sitive components

The built-in electronics can be destroyed by externally applied electronic discharges during transport,

installation, and during operation.

• Make sure to wear working cloth in compliance with ESD.

• Handle the device with extra care.

• Limit the voltage between flange and any live parts to 500 VDC

Temperature During operation, the temperature of housing, flange, or other components may exceed 60°C.

READ THIS FIRST

These instructions are intended for qualified technical personnel.

Prior commencing with any activities…

• you must carefully read and understand this manual and

• you must follow the instructions given therein.

The EC-i30 with integrated electronics 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.

Therefore, you must not put the device into service,…

• unless you have made completely sure that the other machinery – the surrounding system the device is intended to

be incorporated to – fully complies with the requirements stated in the EU directive 2006/42/EC!

• unless the surrounding system fulfills all relevant health and safety aspects!

• unless all respective interfaces have been established and fulfill the stated requirements!

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EC-i30 IE Document ID:: rel8710 3

Operating Manual Edition: March 2019

Terms used

4-Q speed

controller

The motor produces positive torque in the selected or programmed direction. When the speed set value

is reduced or the direction changed (direction preselection version) the load is actively decelerated as to

the factory-set speed ramp.A load can be permanently decelerated.

Remark

When the load is decelerated, energy is fed back to the operating voltage supply. Thereby, the operating

voltage can undesirably increase and can damage in parallel connected consumers. Use an operating

voltage supply with feed-in possibility or a brake choppers to prevent excessive voltage surges.

Brake chopper Limits the operating voltage to a preset value as soon as its feed-in should rise above the threshold

value.

Direction

CW/CCW

As seen towards the mounting flange:

• CW = shaft turns to the right (clockwise)

• CCW = shaft turns to the left (counterclockwise)

IP40 Protected against access to dangerous parts with a wire, tool, or similar ≥Ø 1 mm and against solid for-

eign bodies ≥Ø 1 mm. No protection against water.

Max. torque

Mmax [mNm]

The maximum torque the motor can produce for a short term. It is limited by the overload protection of

the electronics.

Max. current

Imax [A]

Supply current with which the peak torque is generated at nominal voltage. With an active speed con-

troller, the supply current is not proportional to the torque, but also depends on the supply voltage. As a

result, this value only applies at nominal voltage.

maxon EC motor

4Document ID:: rel8710 EC-i30 IE

Edition: March 2019 Operating Manual

1 Technical Data

All data in the document are typical values.

For detailed information consult the data sheet at the end of this document.

Motor Data

Nominal voltage VDC 24

No load speed rpm 6’000

No load current mA 107

Nominal speed rpm 6’000

Nominal torque mNm 32.6

Nominal current A 1.19

Max. torque mNm 105

Max. current A6.5

Max. efficiency %75.4

Mechanical Data

Rotor inertia g·cm2 6.69

Radial play —preloaded bearings

Max. axial load

dynamic N 9

statistic N48.8

supported N2’510

Max. radial load 10 mm from flange N30

Weight g160

Thermal Data

Thermal resistance housing/ambient air K/W-1 5.89

Thermal resistance winding/housing K/W-1 13

Thermal time constant winding s34.1

Thermal time constant motor s 1’030

Max. winding temperature °C 155

Max. temperature of electronics °C 100

Connections

Operating voltage +VIN red AWG 20 / 0.52 mm2

Operating voltage GND black AWG 20 / 0.52 mm2

Speed setpoint «Set value speed» white AWG 24 / 0.20 mm2

Speed monitor «Monitor speed» green AWG 24 / 0.20 mm2

Control input «Enable» or «Direction» grey AWG 24 / 0.20 mm2

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EC-i30 IE Document ID:: rel8710 5

Operating Manual Edition: March 2019

Controller Data

Operating voltage +VIN VDC +8…+28

Max. output voltage V(+VIN x 0.97) − 0.5

Output current, continuous Icont A4.5

Max. output current Imax Firmware A6.5

Hardware A8.0

Clock frequency of power stage kHz 50

Sampling rate of speed controller Hz 1’000

Velocity range rpm 250…6'000

Direction version «Enable» —CW

Direction version «Direction» —CCW / CW

Inputs

Speed set value «Set value speed» Analog input 0…10.0 V (10.1 V); 101 kΩ

Resolution: 4’096 steps

Outputs

Speed monitor «Monitor speed» Digital output 3.3 V; 4.1 kΩ

Protective Functions

Inverse polarity protection up to max. −30 VDC

Undervoltage protection cuts off at VCC <7.5 VDC

engages at VCC >7.7 VDC

Overvoltage protection cuts off at VCC >29.5 VDC

engages at VCC <28.5 VDC

Temperature monitoring cuts off at T >100 °C (typical)

engages at T <90 °C (typical)

Overvoltage protection (transient) bipolar Transzorb diode 400 W·ms

Ambient Conditions

Temperature range

Operation °C −40…+40

Operation with reduced

power output °C +40…+85

Storage °C −40…+35

Humidity (condensation not permitted) %20…80

Voltage Supply

Ripple %<5

Load-dependent output current (recommended) A≥3

Output current min VDC 8.5

max VDC 28

Safe against forced supply if load is being decelerated.

With additional brake chopper if operating voltage rises too high due to active feed-in.

maxon EC motor

6Document ID:: rel8710 EC-i30 IE

Edition: March 2019 Operating Manual

1.1 Speed / Torque / Operating Voltage Diagram

Provisional, calculated data. Measurement pending.

Figure 1 Speed / Torque / Operating voltage diagram

1.2 Dimensional Drawing

Figure 2 Dimensional drawing [mm]

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EC-i30 IE Document ID:: rel8710 7

Operating Manual Edition: March 2019

2 Installation

Electrostatic Sensitive Devices (ESD)

The built-in electronics can be destroyed by externally applied electronic discharges during transport,

installation, and during operation.

• Make sure to wear working cloth in compliance with ESD.

• Handle the device with extra care.

• Limit the voltage between flange and any live parts to 500 VDC.

Possible irreversible Damage of Motor

• Until completion of the installation, individual components can be permanently damaged by improper

handling. Therefore, handle the components with particular care.

• Max. torque of flange screws is 1.1 Nm (grade 8.8 screws).

• A high heat dissipation by mounting to a large-scale metallic structural element permits higher power

output of the motor. However, in turn, the circuit board temperature protection can no longer ade-

quately protect the winding.

• Cable outlet preferably downwards.

2.1 EMC-compliant Installation

Cable length ≤300 mm:

• Usually, no shielding is required.

• Star wiring recommended if several EC-i30 with integrated electronics are supplied by a com-

mon power supply.

Cable length >300 mm:

• The voltage drop in the connection cable must be minimized by choosing a sufficiently large

wire cross section.

• In electromagnetically harsh environments, use of shielded cables connected to ground at both

ends can improve immunity against interferences.

• Release cable shielding on one side if 50/60 Hz interference problems occur.

• The incidence surface for interferences can be reduced by shortening the unshielded original

connection cable.

• Immunity against interferences and speed stability in case of fluctuating loads can be accom-

plished by routing the set speed value signal separately in a shielded cable that is put to ground

on both sides. In addition to the set speed value signal, a second ground (GND) line must also

be carried in this separate cable, but only connected on the motor side. The external set value

speed signal must be potential-free.

maxon EC motor

8Document ID:: rel8710 EC-i30 IE

Edition: March 2019 Operating Manual

2.2 Minimal Wiring

Figure 3 Set point «Set value speed» and (depending on version) activation «Enable» or direction

preselection «Direction» from external power supply

Figure 4 Set point «Set value speed» from external power supply and (depending on version)

activation «Enable» or direction preselection «Direction» with potential-free contact

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EC-i30 IE Document ID:: rel8710 9

Operating Manual Edition: March 2019

Figure 5 Set point «Set value speed» via external potentiometer and (depending on version)

activation «Enable» or direction preselection «Direction» from external power supply

Figure 6 Set point «Set value speed» via external potentiometer and (depending on version)

activation «Enable» or direction preselection «Direction» with potential-free contact

maxon EC motor

10 Document ID:: rel8710 EC-i30 IE

Edition: March 2019 Operating Manual

3 Functional Description

3.1 Inputs

3.1.1 Set point «Set value speed»

The motor speed is set with the analog input «Set value speed». The input is protected against overvolt-

age up to the maximum operating voltage.

Figure 7 «Set value speed» – Input circuitry

The speed set value is set with the voltage at the set value input. The set speed is controlled by the con-

troller. Changes to speed set value are executed by a delayed internal speed ramp.

A set value smaller a predefined minimum voltage (Table 1) disables the power stage, the motor shaft

coasts.

Table 1 «Set value speed» – Setpoint range

Pin assignment Connection wire «Set value speed», white

Input voltage range 0…+10.1 V (referenced to GND)

Input impedance 101 kΩ (in range of 0…+11.1 V)

68 kΩ (in range of +11.1 V…+VIN)

Continuous overvoltage protection −30…+30 V

Nominal design point 10.0 VDC equals 6'000 rpm

Set Value Function Remarks

0.00…0.21 V IDLE mode Motor not engaged or coasts

0.21…0.42 V Operation at minimal speed (250 rpm)

0.42…10.0 V Linear speed setting between 250 rpm

and 6‘000 rpm

10.0…10.1 V Linear speed setting between 6‘000 rpm

and 6‘060 rpm

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