MCAC506 Full Digital AC Servo Driver
Summary
MCAC506 is a low-cost fully closed-loop digital AC servo driver designed and manufactured by our company with DSP. 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 AC servo motors with driving voltage of 50V and power below 200W.
Characteristic
1) Position control: input optical isolation pulse and direction (PULSE/DIR) or dual pulse (CWCCW) signals
2) Speed control: input is analog 0V-+3.3V voltage signal (speed input by Pos.f)
3) Torque Control: Input is analog 0V-+3.3V voltage signal (Torque input by Pos.ff)
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)
7) Location Loop Bandwidth: 200Hz (Typical Value)
8) Input Interface of Orthogonal Encoder at Motor End: Differential Input (26LS32)
9) Download parameters via PC or text display using RS232C interface10) Overcurrent, 12T, Overvoltage, Undervoltage, Overheat, Overspeed, Overdifferential Protection
11) Green light means operation, red light means protection or offline.
12) Input DC Voltage Norm 820-50V (Typical Value)
13) 200W Continuous Output Power
14) Continuous output current 6A32KHz PWM
15) Overload output current 18A (3 seconds).
16) protection
The peak value of overcurrent action value is 30A 10%.
Overload i2t current action value 300% 5S overheat action value 80COvervoltage Voltage Action Value 65V Undervoltage Action Value 18V
17) Maximum Pulse Input Frequency 300K
18) Maximum RS232C speed of 196Kbps (additional conversion interface required)
19) Use environment
Occasion: avoid dust, oil mist and corrosive gas as far as possible
Working temperature; 0 ~+50C
Storage temperature: -20C-+80C
Humidity: 40-90% RH
Cooling mode: natural cooling or forced air cooling
20) Shape size 118x76x35
21) 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) Position mode pulse/direction 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 F.
4) Position control positive/negative pulse input when inserted in position 1 and 2.
5) The position controls the pulse/direction at position 3, but the rotation direction is opposite.
B: The potentiometer has 11 scales turned counter-clockwise to zero and clockwise to 10, with 5 in the middle.
Pos.ff: Position Feedforward Regulation Pos.P: Position Proportional Gain Regulation
Pos.D: Position Differential Adjustment Vel.P: Speed Proportional Gain Adjustment Tor.P: Current Proportional Gain Adjustment
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 delay 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. 6) If the motor has electromagnetic noise, reduce the current gain 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
Terminal number | symbol | Name | Description |
1 | PUL+ | Pulse signal positive input | Highly effective |
2 | PUL- | Pulse signal negative input | Low effective |
3 | DIR+ | Direction signal input | Highly effective |
4 | DIR- | Direction signal negative input | Low effective |
5 | ERC+ | Reset signal positive input | Highly effective |
6 | ERC- | Reset signal negative input | Low effective |
Encoder feedback signal input port X2 (D15 header)
Serial number | symbol | name | Description |
1 | GND | Output power ground |
|
2 | VCC | Output power | 50mA |
3 | PW | Magnetic pole W phase input | Single-ended connection |
4 | PV | Magnetic pole V phase input | Single-ended connection |
5 | PU | Magnetic pole U phase input | Single-ended connection |
6 | PZ+ | Encoder Z phase positive input |
|
7 | PB+ | Encoder B phase negative input |
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8 | PA+ | Encoder A phase negative input |
|
9 | PE | shield |
|
10 | NC |
|
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11 | NC |
|
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12 | NC |
|
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13 | PZ- | Encoder Z phase negative input |
|
14 | PB- | Encoder B phase negative input |
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15 | PA- | Encoder A phase negative input |
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Power port X3
Terminal number | Identification | symbol | name | Description |
1 | Motor phase wiring port | U | Motor U phase |
|
2 | V | Motor V phase |
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3 | W | Motor W phase |
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4 | Power input interface | GND | Input power ground |
|
5 | VDC | Input DC power |
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Control signal wiring
When the control signal is connected by a single terminal, the wiring diagram is as follows:
![MCAC506]( "MCAC506")
When the control signal is connected differently, the wiring diagram is as follows:
![MCAC506]( "MCAC506")
Note: When Vcc is 5V, R = 0
When Vcc is 12V, R = 1K, greater than 1/8W,
when Vcc is 24V, R = 2K, greater than 1/8W resistance must be connected to the control signal terminal.
Wiring diagram
The typical wiring diagram of the servo system is as follows:
![MCAC506]( "MCAC506")
The driver can provide a +5V, maximum power supply of 80mA to the encoder. By using the four-fold frequency counting method, the resolution of the encoder multiplied by four is the number of pulses per turn of the servo motor. :
Installation dimensions:
![MCAC506]( "MCAC506")