MCDC506 Full Digital DC Servo Driver

Summary

MCDC506 is a low-cost fully closed-loop digital DC servo driver designed and manufactured by our company using DSP control technology. It consists of three feedback loops (position loop, speed loop and current loop). It can work in position, speed and torque mode. It is suitable for DC servo motors with driving voltage of 50V and power below 200W.

Characteristic

1) Position control: Pulse and Direction (PULSE/DIR) or Dual Pulse (CW/CCW) signals for input light

2) Speed control: input voltage signal of modulus 0V-+3.3V (input by P1)

3) Torque control: input voltage signal of mode it0V-+3.3V (input by P1)

4) Optical isolation servo reset input interface ERC. Optical isolation fault alarm output interface ALM

5) Current Loop Bandwidth: (-3dB) 2KHz (Typical Value)

6) Speed Ring Bandwidth: 500Hz (Typical Value) Location Ring Bandwidth: 200Hz (Typical Value)

7) Input Interface of Orthogonal Encoder at Motor End: Differential Input (26LS32) can also be connected to Single End

8) RS232C interface downloads parameters through PC or text display9) Over-current, over-voltage, under-voltage, over-heat, over-speed, over-error, short-circuit protection green light means operation, red light means protection or off-line.

Technical index

1) Input DC Voltage Range 20-50V (Typical Value)

2) 200W Continuous Output Power

3) Continuous output current 6A 32KHz PWM.

4) Overload output current 18A (3 seconds)

5) protection

The peak value of overload output current is 30A t 10%.

Overvoltage Voltage Operation Value 65V

Undervoltage Voltage Action Value 18V

6) Maximum Pulse Input Frequency 300K

7) Maximum RS232C speed is 196Kbps (additional conversion interface is required).

8) Use environment

Occasion: avoid dust, oil mist and corrosive gas as far as possible

Temperature: 0 ~+50C

Storage temperature: -20C-+80C humidity: 40-90% RH

Cooling mode: natural cooling or forced air cooling.

9) Shape size 118x76x35

10) Weight about 200 grams

Servo system parameter adjustment and setting (potentiometer counterclockwise timing value decreases, clockwise timing value increases)

A: A four-bit double-row pin on the drive circuit board, working mode setting, from outside to inside, is defined as position 1-4.

1) Pulse direction of position mode when the short cap is not plugged in.

2) When inserted in position 1, the speed is controlled, and the speed input is made by Pos.ff.

3) When inserted in position 2, the force distance is controlled and the torque input is made by Pos.ff.

4) Position control positive/negative pulse input when inserted in position 1 and 2.

5) When inserted in position 3, the position controls the pulse/direction, but the rotation direction is opposite.

B: The potentiometer has 11 scales, which are reversed clockwise to the end and clockwise to the end. The middle is 5.

Pos.ff: Position Feedforward Regulation

Pos.P: Position proportional gain adjustment

Pos.D: Position Differential Adjustment

Vel.P: Speed proportional gain regulation

The servo system consists of three feedback loops (position loop, speed loop and torque (current) loop). The reaction speed of the inner loop current loop is the fastest, and that of the middle loop must be higher than that of the outer loop position loop. Failure to comply with this principle will cause shock or poor reaction. The design of servo driver can ensure that the current loop has good response efficiency. Users only need to adjust the parameters of position loop and speed loop. The parameters of the system always restrict each other. If only the gain of the position loop increases, the output instructions of the position loop may become unstable, so that the response of the whole servo system may become unstable. Usually the following steps can be taken to adjust the system:

1) Position feed-forward and position differential are set as potentiometer scale (3). Position gain and velocity gain are set at a lower scale (3). Then, without abnormal sound and vibration, the scale (0.5-1) lattice is reduced by gradually increasing the velocity gain at least with vibration.

2) Increasing the position gain has at least vibration. Add position differential to no vibration.

3) Increase position feed-forward to minimize Post-Band and overshoot.

4) If the motor has vibration during operation, the speed gain should be reduced appropriately.

5) If there is vibration when the motor stops, the position gain can be reduced or the position differential can be increased appropriately.

On the premise of no overshoot and no vibration in the whole response, the position gain should be set to the maximum. Then the velocity gain, position feed-forward and position differential are fine-tuned to find the best value.

Port specification

Control signal input/output port X1

Encoder Feedback Signal Input Port X2

When the current required by the encoder is less than 50 mA, it can be directly supplied by MCDC506. At this time, EGND should be connected to the encoder, E+5V to the encoder+5V, the encoder A signal to PA, and       encoder B to PB. When the current required by the encoder is more than 50 mA, an additional 5V power supply

is needed.

Power port X3

Typical servo connections are shown below.

When the control signal is co-anodized, the wiring is as follows:

When the control signal adopts the common negative connection method, the connection is as follows:

When the control signal adopts the differential connection method, the connection is as follows:

Note: When VCC is 5V, R is shorted;

     When VCC is 12V, R is 1K, which is greater than 0.125W.

     When VCC is 24V, R is 2K, which is greater than 0.125W.

     The resistor must be connected to the control signal

Wiring diagram