MABUCHI MOTOR DS-34EC1 Bedienungsanleitung
1
DS-34EC1
Instruction Manual
Notice to users
The unauthorized reproduction or replication in whole or in part of this operation manual is prohi ited. The prod-
uct’s performance, specifications, and appearance may e modified for improvements without advance notice.
Thank you for your understanding.
DS
-
34EC1
Controller
MABUCHI MOTOR CO., LTD.
Pu lication
Num er:
TKS-A10-000184
Date of Pu lication: Fe . 24. 2021
1
〇 Features
Please refer to 「1. Functions and characteristics」 for details.
Notes
This instruction manual descri es the functions and characteristics of the controller unit.
You should also refer to the respective instruction manual for detailed characteristics and
specifications of the motor you intend to use it with.
■24V and 36V attery powered drive
・Allowa le voltage range: 17 to 45V DC constant
■Rated output current: 9Arms
■Maximum output current: 50A
■Sinusoidal drive
■Speed control function
■Maximum regenerative current: -10A
■Function to protect the controller system
- Power supply undervoltage/overvoltage protection
- Overheat protection
- Overcurrent protection
- Sensor wire disconnection detection
- Motor lock detection
■CAN communication function (CAN2.0B compliant)
■Waterproof: IPx4 equivalent
■Mass: 220g
〇
Applica le products
Mo ility/AGV devices, etc.
〇
Product overview
This product is a controller that drives the Ma uchi Motor rushless motor IS-94 and MS-94 series.
It presumes use with mo ility or AGV devices equipped with 24V or 36V atteries, with speed
control and direction of rotation switching possi le through CAN communication.
2
FOR YOUR SAFTY
Read the safety warnings for proper use of this product.
Ma uchi Motor Co., Ltd. has no lia ility to indemnify damages, including any malfunction of the
motor resulting from failure to follow this operation manual. Thank you for your understanding.
Safety Precautions
- This controller is a device used to drive a specific motor.
Check that the motor type and model are compati le efore use.
If the wrong motor is used in conjunction with the controller, not only is performance not guaran-
teed, ut there is a risk of accidents and fire.
- Use a power supply that meets the specifications of the product in which this controller is used.
Misuse can lead to damage y urnout, electric shock, or fires.
- Use a wire size that conforms to the specifications. Misuse can lead to damage y urnout, electric
shock, or fires.
- This controller is not equipped with a reverse connection protection circuit. If necessary, select the ap-
propriate protection circuit for your needs.
Failure to protect the circuit can lead to fires or malfunction.
- Do not insert lead wires or motor terminals into household electrical outlets. This carries the risk of
causing electric shock, injury, or damage to the device.
- Do not install near corrosive or inflamma le gases, or inflamma le materials. Failure to protect the cir-
cuit can lead to fires or malfunction.
- Do not touch conductive parts such as powered terminals when the power is on. This carries the risk
of causing electric shock or urns.
- Note that the temperature of the device may remain hot while turned on, and some time after power
is cut. This carries the risk of causing urns.
- Do not enter the range of motion of the machine while it is in operation. In addition, do not touch the
moving parts of the motor or machine. This carries the risk of causing injury.
- Should the controller e damaged, deformed, corroded, or otherwise roken, refrain from using it.
This carries the risk of causing fires or damaging the product.
- When an a normality or failure occurs, immediately send a system stop command to the controller
and cut off the power supply to the controller. Failure to do so may result in fire, electric shock, or in-
jury.
- Do not disassem le, repair, or modify the controller. This carries the risk of causing fires or damaging
the product.
Warning
3
- The controller is intended as a general purpose product. It cannot e used with medical, military,
aerospace, automotive, or other specialty equipment.
- Although the controller is protected y a case, carefully consider its handling and installation location
to avoid excessive electrical and mechanical stress.
- Leads, switches, relays, etc., should e used with sufficient consideration of electrical capacity and
heat resistance.
If they do not meet the applica le standards, it can lead to malfunctions such as urnout.
- Matching checks and lifetime checks for set implementation should e performed y the user, and
quality assurance carried out.
Example Checklist for Set Installation:
Laws and standards applica le to the mounting product. Service life, electrical characteristics, me-
chanical characteristics, mechanical/electrical noise, storage environment, atmosphere gases, etc.
- Depending on the internal resistance and capacity of the motor drive power supply (including circuit),
start-up and rotational sta ility may e affected.
In addition, please perform tests under actual use conditions, not only at room temperature, ut
also under low or high temperature.
- Do not use the controller outside the range of the specifications.
- Do not mix inflamma le foreign matter such as oil, or conductive foreign matter such as metal pieces,
into the controller.
- Design a configuration for the controller that takes into account the maximum input current.
- When handling the controller, pay attention to sharp parts such as corners to prevent yourself from
getting injured.
- Install the controller within a housing.
- Do not place heavy o jects on the controller. This can lead to malfunction.
- When attaching the controller into place, do not apply force to deform the controller ody.
When tightening screws, ensure that all sides are equally tightened.
Failure to do so can adversely affect the product's characteristics.
- If the wiring of the main power supply or motor power line is too long or thin, motor torque will
decrease due to the impedance of the wiring. When selecting a motor, ensure sufficient margins
for acceleration and deceleration torque, and check the final product condition.
- Do not install an advancing phase capacitor or noise filter etween the controller and the motor.
This carries the risk of causing overheating or urnout.
- Be sure to set up safety devices such as emergency stop rakes such that machines and equipment
do not fall into a dangerous state even if the controller fails.
Usage and handling
4
- Set up an additional mechanism for emergency stop (power off and emergency stop rakes, etc.).
Note that even if a drive stop is triggered, the output may not stop due to the setting state or
external forces.
- Before installing on a machine and starting operations, set the parameters according to the machine
eing used.
- Do not configure extreme parameter settings. This can cause operations to ecome unsta le,
damage the machine, or cause injuries.
-Design the system so that safety can e ensured even in the event of a pro lem such as a roken
signal line.
- Do not turn the controller power on and off frequently.
- When an error is detected, the motor stops free running. Because the moment of inertia of the load
and the speed of rotation of the motor changes the coasting distance, consider the appropriate
safety devices to use on the machine.
- Ensure that the ca le connector is fully plugged in until it is secured y the locking mechanism.
If excessive force is applied to the ca le connector in a semi-plugged in state (not secured y the
locking mechanism), the connectors on the controller may e damaged.
When unplugging, release the locking mechanism and e careful not to exert excessive force on
the plug side.
- Do not damage the ca le connector, pull it strongly, apply excessive force, put heavy o jects on it,
or pinch it.
-Wiring and testing/maintenance must e performed y a professional technician who has expert
knowledge of the target electrical equipment.
- When performing wiring work or inspections, check the voltage with a tester or other device after
more than 5 minutes have elapsed since the power is cut off.
Voltage may remain in the controller, which can cause electric shocks.
- Ensure that the polarity of the power supply (＋－) and the wiring of the signal lines are correctly
installed. Misuse can lead to damage or reakage.
- To prevent damage caused y static electricity, efore touching the product, touch a near y metal
surface to discharge static electricity from your ody.
When working, take measures to prevent electrification.
- If necessary, purchase connection ca les separately.
- Turn on the power connected to the controller only after all wiring is complete.
- When operating the controller after long-term storage, perform checks and commissioning tests.
- The controller is a precision instrument. Do not drop or su ject the product to strong shocks.
- Never remove connectors while the motor is in operation. Also, ensure that the power supply is
turned off when inserting into a device.
Failure to do so can cause reakage of the controller.
5
- When an error is detected, rectify the cause of the error and ensure safety.
After that, release the error state, turn on the power again, and restore operations.
- When disposing of this product, do so according to laws and regulations, and applica le directives
from local governments.
- When storing the controller, avoid direct sunlight, high temperatures, humid places, and corrosive
gases.
The recommended operating environment is +10 to +30°C and relative humidity of 30 to 85%
(no condensation). Exercise due care with long-term storage, as pin contacts may deteriorate.
- Agents used for fumigation and disinfection can contaminate the metal parts of the controller and
electronic components.
When fumigating packaging materials (pallets, etc.) containing the controller or a product that incor-
porates the controller, ensure that the controller is not exposed to fumigation materials and gases.
- The am ient temperature when using the controller has an impact on performance and longevity.
Use the product
within the operating temperature and humidity range stated in the specifications.
１．Functions and characteristics
1-1. Standard use conditions
The standard use conditions are conditions or states indicating allowa le use, ut not a guarantee of charac-
teristics or performance.
1 Applica le motors IS-94BZC and MS-94BZA/BZB/BZC (*1)
2 Drive method Sinusoidal drive/PWM drive system (carrier frequency 20kHz)
3 Control method Speed control system (Control y CAN communication)
4 Speed and position detection
method Hall effect sensor
5 Power supply voltage 24V/36V (*1) DC constant
6 Maximum regenerative
current
-10A (max.)
Connect a power source that does not cause any a normality
due to the regenerative current.
7 Maximum input current 25A (max.)
8 Direction of rotation CW & CCW as seen from the output shaft side
9 Speed setting range 60 r/min to 3,000 r/min (*1)
Operating and Storage Environment
6
10
Operating temperature range -10℃ to +50℃
11
Operating humidity range 30%RH to 95%RH (without condensation)
12
Connector lead terminal
temperature 105℃ (max.)
*1: The power supply voltage, speed, or speed range specified in this instruction manual are descri ed
with reference to characteristics when used in com ination with IS-94BZC.
The characteristics and specifications of MS-94BZA/BZB/BZC must take into account the gear reduction ratio.
Please refer to the motor instruction manual separately to check the characteristics and specifications efore
use.
1 2. Electrical characteristics (initial state)
1 Power supply voltage range 17V to 45V
2 Power supply current (Stand y mode)
CN_D Pin 1-Pin 2 = open
0.5mA (max.)
Power supply voltage: 36V
3 Power supply current (Stop mode)
CN_D Pin 1–Pin 2 = short
20mA (max.)
Power supply voltage: 36V
when motor sensor is not connected
.
4 Rated input current 10.5A (24V)
8.5A (36V)
5 Output current limit 1 (*1) 37A (Typ.)
6 Output current limit 2 (*1, *2) 50A (Typ.)
7 Insulation resistance
*Applica le to power supply part only
10MΩ (min.) (DC500V)
Between power input and housing.
8 Withstand voltage
*Applica le to power supply part only
AC500V, 1 minute
Between power input and housing.
*1:・The output current limit value is the current that can e instantaneously flown out of the controller
when starting the motor, etc.
・This current cannot e used continuously at all times.
・Read the instruction manual of the motor (IS-94BZC, MS-94BZA/BZB/BZC) efore use, and use it with
the torque less than the instantaneous maximum torque.
・If the motor output shaft is locked, or a load exceeding the instantaneous maximum torque is applied to
the motor, the motor winding and ca le connectors may heat up and urn out depending on the current
value, operating time, and operating environment.
Check the temperature of the motor and connector under the operating conditions of the
product in which the motor is mounted.
・For details on how to check the temperature of the motor, refer to "3.CAN Communication > 3-2.
Communication details > Drive status notification 2 > Motor temperature."
7
・For details on how to check the temperature of the connector terminals, refer to "5-5.
Notes on
ca le connector terminals
".
・To keep the motor and connector temperature at the specified value (motor 100°C max, connector 105°C
max), limit the drive current value y changing the current limit value or forci ly cool down the motor
and connectors.
*2: For protection of the main circuit, there is a limit on the time and speed that can e used.
In the case of setting 50A in "3. CAN communication: 3-2. Communication details: Motor drive
command: Current limit ", the current limit will e 50Apeak for up to 2 sec when the motor
speed is 1,000r/min or less.
In order to drive again at 50 Apeak, the following cooling time is required.
- In the case of motor stop, cooling time of 30sec is required.
- In the case of continuous operation, the cooling time is longer.
1-3. ON_OFF signal, CAN communication circuit
①ON_OFF signal input circuit
CN_D Pin 1: ON_OFF signal input pin
System active: Pin 1 – Pin 2 = short or low level
System stand y: Pin 1 – Pin 2 = open or high level
Type
Item: Sym ol
Condition
min
typ
max
Unit
System
active
ON_OFF pin threshold voltage: V
IL
Supply voltage = 17-45V
-0.3
0.3
V
ON_OFF pin input current: I
IL
Supply voltage = 17-45V
-300
uA
System
stand y
ON_OFF pin threshold voltage: V
IH
Supply voltage = 17-45V
1.6
V
ON_OFF pin input current: I
IH
Supply voltage = 17-45V
-10
uA
Only open collector (NPN type), open drain (N-channel), and mechanical contact switches can e connected to the
ON_OFF pins.
・When an a normality or failure occurs in the controller, immediately open the ON_OFF terminal
to stop the system (system stand y state) and cut off the power supply to the controller.
ON_OFF signal internal equivalent circuit
8
②CAN communication circuit
1 Communication method CAN communication (High Speed Can supported)
CAN2.0B compliant
2 Signal connection terminal CN_D Pin 4: CAN High level signal
CN_D Pin 3: CAN Low level signal
3 Data transfer rate 500k ps
4 Line termination resistance 124Ω/open (Selecta le)
CAN communication internal equivalent circuit
Equivalent circuit
CAN
transceiver
*1: Selecta le with CAN parameters
*1
To MCU
9
2. Functional block diagram
The following a reviations of signal names shown in “4. Connector” are shown in a
functional lock diagram.
Connector
name
No.
Signal name
Abbrevia-
tion
CN_A 1 BATTERY POSITIVE B+
2 BATTERY NEGATIVE B-
CN_B
1 U PHASE OF MOTOR U
2 V PHASE OF MOTOR V
3 W PHASE OF MOTOR W
CN_C
1 +5V POSITIVE ELECTRODE +5V
2 THERMISTOR TH
3 SGND1 SGND1
4 U SIGNAL BY ELECTROMAGNETIC WAVE HU
5 W SIGNAL BY ELECTROMAGNETIC WAVE HW
6 V SIGNAL BY ELECTROMAGNETIC WAVE HV
CN_D
1 ON_OFF ON_OFF
2 SGND2 SGND2
3 CAN_L CAN_L
4 CAN_H CAN_H
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