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Whistle Servo Drive Installation Guide

1. 4 2 2 Tweeter D 2 i 1l M I I S 3 0 807 41 20mm Ne __ 3 Q S eg ee eo ee ee 066 oe J d ee 2 o vj OX vt O o e 2 h m m m M M M M M M NH M M M unnm LI y 1 TWE002A SLDDRW N TWE0029B 2 www elmomc com a E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 3 Power Ratings 4 3 1 Whistle 12 Minimum supply voltage V DC 6 7 5 Maximum supply voltage VDC 48 59 95 Maximum continuous Ww 600 800 50 120 240 480 720 200 400 800 1200 1600 power output Efficiency at rated power gt 99 at nominal conditions Maximum output voltage gt 95 of DC bus voltage at f 22 kHz Auxiliary power supply V 11 95 VDC up to 2 5 VA inc 5 V 200 mA for encoder Sinusoidal continuous g Amplitude sinusoidal DC A 20 1 25 5 10 15 20 1 25 continuous current A 10 6 14 1 0 7 1 8 3 5 7 10 6 14 1 0 7 1 8 3 5 RMS current limit Ic Peak current limit m Weight 50 g 1 8 ounces Dimensions m 55 x 15 x 46
2. i 54 GD EE Kul ue EE 55 42 1 Whistle eci 55 4 2 2 TWeeter c A N rn 55 4 3 Power Ratings cuiii A A de A REENEN ee senses 56 43 1 Whistle illa rale 56 43 2 Ee TE 58 4 3 3 Auxiliary Supply esses nennnnn innen neni nnns 58 4 4 Environmental Conditions 59 4 4 1 Control Specifications enne nennen nnn nnn ener nnns 59 44 2 Current LOOD sueco tere ocio ce trie oo pae eoe oett p pe avos eu psa ea 59 E E Whistle and Tweeter Installation Guide Table of Contents MAN WHTWIG Ver 1 602 443 Velocity LOOD WEE 60 AAA POSITION LOOP eec eeh geheegt ee Sege 60 GN ele Ee 61 4 5 1 Feedback Supply Voltage nennen nnne nnne 61 4 5 2 Main Feedback Options ood rr nte ee eden eet n erdt 61 4 5 2 1 Incremental Encoder Input 61 4 5 233 Digital Halls ette rines he ted 62 4 5 2 3 Interpolated Analog Sine Cosine Encoder 62 DW VR TE 63 4 5 2 5 Tachometer cnca eii een Eine en rise deen 63 4 5 2 6 Potentioreter oett rete Ree Errare kenge eia rea AEN 64 4 5 3 Auxiliary Feedback Port Output mode YA 4 A 64 4 5 4 Auxiliary Feedback Port Input mode YA 4 30 65 BiG MOS 66 4 6 1 Digital Input InterfaGes uii dette reete cete cs ehe inen 66 4 6 2 Digital Output Interface ertet ehe et tace teh acne 67 4 63 Analog Input cc ere tte mere edet espesor esee eroe regunt 67 4 7 Comm
3. 3 7 Main Power and Motor Power The Whistle and Tweeter receive power from main and delivers power to the motor Pin Function Cable Pin Positions a fort Powe Brushless Brush DC Motor Motor AWH When connecting several drives to several motors all should be wired in the same motor phases and feedback sequences This will enable the same SimpliQ program to run on all drives Table 2 Connector for Main Power and Motor 3 7 1 Connecting Motor Power Connect the M1 M2 M3 and PE pins on the Whistle and Tweeter in the manner described in Section 3 5 Integrating the Whistle or Tweeter on a PCB The phase connection is arbitrary as the Composer will establish the proper commutation automatically during setup However if you plan to copy the setup to other drives then the phase order on all copy drives must be the same Integration Board Whistle Tweeter TWE0002A Figure 6 AC Motor Power Connection Diagram www elmomc com MAN WHTWIG Ver 1 602 E Whistle and Tweeter Installation Guide Installation 3 7 2 Connecting Main Power Connect the VP PR and PE pins on the Whistle and Tweeter in the manner described in Section 3 5 Integrating the Whistle or Tweeter on a PCB The source of the 11 to 95 VDC Main Power Supply must be isolated 12 95v Isolated DC Power Supply TWE0003A Figure 7 Main Powe
4. With or Without Integration Board COMMON i I I I I I I I I Whistle Tweeter I Single Ended I IU Encoder Auxiliary Feedback Ui I J1 19 CX I f1 i INDEX ES LT 7 I M I l TE oe J1 18 SE l un ci I EM I Loca I b i J1 5 x5 A Liu I mm LI i I I Po oc gd udi pi COMMON I f NE i um ES l bd y I x i BOARD I I I TWE0017C Figure 21 Single Ended Auxiliary Encoder Input Acceptable Connection Diagram www elmomc com 38 Installation E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Single Ended Encoder Zz o z z Q o 28 zl A 3 A 3 A lt x x x DE O x x x J1 19 J1 18 J1 5 J1 4 um Integration Board x s 3 2 9 9 3 0 Erli o0 gt o0 S E 3 3 lt TWE0018A iagram le Ended Auxiliary Encoder Input Recommended Connection Di ing S Figure 22 Encoder z o z z o o BOARD COMMON A Integration Board 1 Auxiliary Feedback S 2 o E z E S TWE0019A iagram D lon Differential Auxiliary Encoder Input Highly Recommended Connecti Figure 23 www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installati
5. Figure 28 Digital Output Connection Diagram www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installation 3 11 3 Analog Input J2 3 ANLIN1 Analog input 1 J2 4 ANLIN1 Analog input 1 ANLRET Analog ground ll H A HE HDD DH D D Bp e 0 HDH D HD HDH A N C Nw Dee eee eee eee eee Table 10 Interpolated Input Pin Assignments Integration Board Whistle Tweeter Single Ended Source J2 Analog Inputs ANLIN1 ANLIN1 ANLRET TWE0025A Figure 29 Analog Input with Single Ended Source www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installation 3 12 Communications The communication interface may differ according to the user s hardware The Whistle and Tweeter can communicate using the following options a RS 232 full duplex b CANopen RS 232 communication requires a standard commercial 3 core null modem cable connected from the Whistle or Tweeter to a serial interface on the PC The interface is selected and set up in the Composer software In order to benefit from CANopen communication the user must have an understanding of the basic programming and timing issues of a CANopen network For ease of setup and diagnostics of CAN communication RS 232 and CANopen can be used simultaneously 3 12 1 RS 232 Com
6. Simpllid Line Whistle and Tweeter Digital Servo Drives Installation Guide February 2013 Ver 1 602 a Elmo Motion Control www elmomc com Notice This guide is delivered subject to the following conditions and restrictions e This guide contains proprietary information belonging to Elmo Motion Control Ltd Such information is supplied solely for the purpose of assisting users of the Whistle and Tweeter servo drives in their installation e The text and graphics included in this manual are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice e Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion Control Ltd e Information in this document is subject to change without notice Catalog Numbers WHI AXX YYYE Ser ee Feedback ank Standar Lee ie Blank GE Continuous Current and or Halls Amps R Resolver Maximum DC Interpolated i Analog Operating Voltage Encoder T Tachometer A Potentiometer Evaluation Board Document no MAN WHTWIG Ver 1 602 Copyright 2013 Elmo Motion Control Ltd All rights reserved TWE AXXNYY Blank verion Feedback ank Standar A Advanced SEN dl Continuous Current and or Halls Amps R Resolver Maximum DC Interpolated Operating Voltage Analog M T Tachometer amp Potentiometer Catalog Number EVA WHI GUI BEL can be ord
7. 4 YA 4 2 YA 4 0 Setting Aux Feedback output Aux Feedback input Aux Feedback input Main Feedback Main Feedback Incremental Incremental incrementa E d Encoder Input Main SEN Ken Feedback Analog Encoder Analog Encoder Incremental Aux Feedback or or Encoder There is no Resolver Resolver a Auxiliary or or Tachometer Tachometer Interpolated Analog Sine Cosine Encoder Input Resolver Input Potentiometer Tachometer Input Typical Applications Main Feedback Analog Feedback Resolver Main Feedback Potentiometer or Tachometer Feedback gt output option when an Incremental Encoder is the main feedback device Aux Feedback Analog Encoder position data emulated in single ended C unbuffered Incremental Encoder format Aux Feedback Resolver position data emulated in single ended unbuffered a Incremental Encoder format Aux Feedback There is no Aux Feedback output option when a or Tachometer is the main feedback device Anyapplication where the main encoder is used not only for the drive but also for other purposes such as position controllers and or other drives Analog Encoder applications where position data is required in the Encoder s quadrature format Resolver applications where position data is required in the Encoder s quadrature format or Potentiometer Aux Feedback Singe ended Incremental Encoder Input Any app
8. 508C Power Conversion Equipment In compliance with UL 840 Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment In compliance with UL 60950 1 Safety of Information Technology Equipment formerly UL 1950 Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Whistle and Tweeter servo drives have been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation Furthermore Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met 1 4 CE Marking Conformance The Whistle and Tweeter servo drives are intended for incorporation in a machine or end product The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98 37 EC as amended and with those of the most recent versions of standards EN 60204 1 and EN 292 2 at the least According to Annex III of Article 13 of Council Directive 93 68 EEC amending Council Directive 73 23 EEC concerning electrical equipment designed for use within certain voltage limits the Whistle and Tweeter meet the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the equipment meets the limits required
9. Guide MAN WHTWIG Ver 1 602 TWE0023A Controller x x x x x x e e e e e e lt Ka lt Ka c c c c c ax ax D ax ax D Integration Board Digital Inputs Whistle Tweeter J1 Figure 27 Digital Input Connection Diagram www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installation 3 11 2 Digital Output Pin J1 Signal Function Pin Positions J1 7 OUT1 High Speed Programmable digital output 1 J1 17 OUTRET1 Programmable digital output return 1 J1 8 OUT2 Programmable digital output 2 OUTRET2 Programmable digital output return 2 2 a a a D a a a D a a a 0 0 A HDD AO A H N be E E EHHHHHHHHHHH H H y c N Table 9 Digital Output Pin Assignment Integration Board I I I I I I Whistle Tweeter Controller l Digital Outputs i I Ee l I Ii TEK IE I 1 OUTRET1 I iR I Ii I Ii I ES 3 I E I Ii ig l pi E I I I b 3 I Di iL f i I Io 1 I I L l TWE0024A
10. Potentiometer Resistance 100 O to 1 kO above this range linearity is affected detrimentally Input Resistance Resolution 4 5 3 Auxiliary Feedback Port Output mode YA 4 4 Feature Details Emulated output A B Index Single ended Output current capability Maximum output current lo max 2 mA High level output voltage Vo gt 3 0 V Minimum output current lo 2 mA Low level output voltage Vo 0 4 V Available as options Emulated encoder outputs of the analog encoder Emulated encoder outputs of the resolver Maximum frequency fmax 5 MHz pulses output Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Pen Peu Pen Ben Phase A input Phase B input Put Figure 34 Auxiliary Feedback Encoder Phase Diagram www elmomc com MAN WHTWIG Ver 1 602 E Whistle and Tweeter Installation Guide Technical Specifications 4 5 4 Auxiliary Feedback Port Input mode YA 4 2 0 Feature Details Encoder input A B Index pulse and direction input Single ended Output current capability Vin Low O V lt V lt 0 8 V Vin High 2V Viu 5V Maximum absolute voltage 0 Vi 5 5 V Input current 1 uA Available as options Single ended Encoder inputs Pulse and Direction inpu
11. and Tweeter servo drives contain hot surfaces and electrically charged components during operation e The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide e When connecting the Whistle and Tweeter to an approved 11 to 95 VDC auxiliary power supply connect it through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards e Before switching on the Whistle and Tweeter verify that all safety precautions have been observed and that the installation procedures in this manual have been followed e Donotclean any of the Whistle and Tweeter drives soldering with solvent cleaning fluids of pH greater than 7 8 to 14 The solvent corrodes the plastic cover causing cracks and eventual damage to the drive s PCBs Elmo recommends using the cleaning fluid Vigon EFM which is pH Neutral 7 For further technical information on this recommended cleaning fluid select the link http www zestron com fileadmin zestron com usa daten electronics Product TI1s TI1 VIGON EFM US pdf www elmomc com a E Whistle and Tweeter Installation Guide Safety Information MAN WHTWIG Ver 1 602 1 3 Directives and Standards The Whistle and Tweeter conform to the following industry safety standards Safety Standard Approved IEC EN 61800 5 1 Safety Adjustable speed electrical power drive systems Recognized UL
12. by EMC regulations is the manufacturer of the end product 1 5 Warranty Information The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description All Elmo drives are warranted for a period of 12 months from the time of installation or 18 months from time of shipment whichever comes first No other warranties expressed or implied and including a warranty of merchantability and fitness for a particular purpose extend beyond this warranty www elmomc com MAN WHTWIG Ver 1 602 2 Whistle and Tweeter Installation Guide Chapter 2 Introduction This installation guide describes the Whistle and Tweeter servo drives and the steps for its wiring installation and power up Following these guidelines ensures maximum functionality of the drive and the system to which it is connected 2 1 Drive Description The Whistle and Tweeter series of digital servo drives are designed to deliver the highest density of power and intelligence While both are light and highly compact solutions the Tweeter can be used whenever reduced size and weight are essential to the application The Whistle delivers up to 1600 W of continuous power or 3200 W of peak power in a 2 in 55 x 15 x 46 5 mm or 2 x 0 6 x 1 8 38 cc package The Tweeter delivers up to 200 W of continuous power or 400 W of peak p
13. leave about 1 cm 0 4 outward from the heatsink to enable free air convection around the drive We recommend that the Whistle be soldered directly to the board Alternatively though this is not recommended the Whistle can be attached to socket connectors mounted on the PCB If the PCB is enclosed in a metal chassis we recommend that the Whistle be screw mounted to it as well to help with heat dissipation The Whistle has screw mount holes on each corner of the heatsink for this purpose see below www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 c Se i 3 ata a I 0 51 mm SQ pin x50 Ls WI Fa 1 300 O ci M 4 39 est Figure 3 The Whistle Footprint 5 L j WHI0070A When the Whistle is not connected to a metal chassis the application s thermal profile may require a solution for heat dissipation due to insufficient air convection In this case we recommend that you connect an external heatsink Elmo has an external heatsink Catalog number WHI HEATSINK 2 that can be ordered for this purpose see below Figure 4 Whistle External Heatsink 3 4 2 Tweeter The Tweeter was designed for mounting on a printed circuit board PCB via 2 mm pitch 0 51 mm square pins When integrating the Tweeter into a device be sure to leave about 1 cm 0 4 outward from the lower board to enable free air convection aroun
14. 1 2 Digital OUTPUT scine nere coton tcc etre ea Ea EENEG 43 3 11 3 Analog Input 44 3 12 Communications iaia dalla 45 3 12 1 RS 232 COMMUNICATION iii 45 3 12 2 CANopen COMMUNICATION sissies rcoinp nnn 46 3 13 Powerlng Up tete terc execute to ee dun 48 3 14 Initializing the System iet tec ehe er etre tee act ise oe tus 48 3 15 Heat DissipatiO EE 48 3 15 1 Whistle Thermal Data ea ged Eege aces 48 3 15 2 Heat Dissipation Dat ai eerte cene ei eese euet 49 3 15 3 How to Use the Charts erre eicere etti ede te than e ed naeh aerea de 50 3 15 4 Tweeter Thermal Data eie trece haie dee hane nannte hh ka eee haud 50 3 16 Evaluation Board and Cable Kit 51 Chapter 4 Technical Specifications e ecce esee ener eee eene ee ee renee nese eccone ezeneenesicneene 52 41 Up la 52 4 1 1 Motion Control Modes esses sees eee ennnnns 52 4 1 2 Advanced Positioning Control Modes essere 52 4 1 3 Advanced Filters and Gain Scheduling ii 52 4 1 4 Fully Programmable nennen ennemi 52 4 1 5 Feedback Options nennen nennen ennt nnns snis 53 44 6 Input OUtpUt i ttt ted tette ttt ente e eek usce Ret dese Rao OR aae eR adea 53 4 1 7 Built In Protetto Jes icc oen aca noce haoc ee ande ite e gue ce aea de tende 54 41 8 ACCOSSORIGS esce tno exe aede tn ERE RINO dea ea SR Reged NER P eS RR ed def 54 4 1 9 Status hate et ele EE 54 4 1 10 Automatic Procedures
15. 5 2 x 0 6 x 1 8 in Digital in Digital out 6 2 1 Analog in PCB mount Mounting method www elmomc com E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 Elmo now offers a 200 VDC maximum output rating selection of Whistle according to the following technical data 3 200 6 200 10 200 Minimum supply voltage VDC Nominal supply voltage VDC Maximum supply voltage VDC Maximum continuous power output W Efficiency at rated power at nominal conditions Maximum output voltage gt 95 of DC bus voltage at f 22 kHz Auxiliary power supply VDC 11 95 VDC up to 2 5 VA inc 5 V 200 mA for encoder Amplitude sinusoidal DC A continuous current Sinusoidal continuous RMS current A limit Ic Peak current limit A Weight g oz 50 g 1 8 ounces Dimensions mm in 55 x 15 x 46 5 2 x 0 6 x 1 8 Digital in Digital out Analog in Mounting method PCB mount www elmomc com a E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 3 2 Tweeter Feature 27 g 0 95 oz 51x 12 5 x 42 2 x 0 49 x 1 65 Digital in Digital out Analog in 6 2 1 Mounting method PCB mount or soldered pins 4 3 3 Auxiliary Supply Feature Details Isolated DC source only 11 VDC to 95 VDC Auxiliary supply input power 2 5 VA this includes the 5 V 200 mA load for the main encoder only www elmomc
16. C Auxiliary Supply 2 4 How to Use this Guide In order to install and operate your Elmo Whistle or Tweeter servo drives you will use this manual in conjunction with a set of Elmo documentation Installation is your first step after carefully reading the safety instructions in the first chapter the following chapters provide you with installation instructions as follows e Chapter 3 Installation provides step by step instructions for unpacking mounting connecting and powering up the Whistle and Tweeter e Chapter 4 Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Whistle and Tweeter servo drives should be successfully mounted and installed From this stage you need to consult higher level Elmo documentation in order to set up and fine tune the system for optimal operation The following figure describes the accompanying documentation that you will require www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Introduction Maestro Software Manual Maestro Installation Guide Networking CANopen Implementation Guide SimpllQ Software Manual SimpllQ Command Reference Manual Programming Composer User Manual Whistle Installation Guide Whistle Eval Board User Guide Figure 2 Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure this installation guide is an integral part
17. Control e Fully digital e Programmable PI and FFW feed forward control filters e Sample rate two times current loop sample time e On the fly gain scheduling e Automatic manual and advanced manual tuning and determination of optimal gain and phase margins 2 2 3 Position Control e Programmable PIP control filter e Programmable notch and low pass filters e Position follower mode for monitoring the motion of the slave axis relative to a master axis via an auxiliary encoder input e Pulse and direction inputs e Sample time four times that of the current loop e Fast event capturing inputs e PT and PVT motion modes www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Introduction 2 2 4 Advanced Position Control This relates to the Advanced model only e Position based and time based ECAM mode that supports a non linear follower mode in which the motor tracks the master motion using an ECAM table stored in flash memory e Dual position velocity loop e Fast output compare OC 2 2 5 Communication Options Whistle and Tweeter users can use two communication options e RS 232 serial communication CANopen for fast communication in a multi axis distributed environment 2 2 6 Feedback Options e Incremental Encoder up to 20 Mega Counts 5 Mega Pulse per second e Digital Halls up to 2 kHz e Incremental Encoder with Digital Halls for commutation up to 20
18. Hd R e 2 Standard 40 C Ambient Temp Required 2 4 0 0 E RM i 30 Heatsink o not 20 Required 1 0 0 0 E T T T T T d T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T T O O 7 9 JS v 6 A 0 9 9 Ke u Qs As u rS As u x As Peak Current A Whistle 100 Series Power Dissipation 6 0 External Heatsink 5 0 T Standard 40 C Ambient Temp Required LM meee nanne nener enener eof hr enrrererrrrenentrrenern nenene na x 40 Heatsink 2 30 not a Required a 5 2 0 1 0 0 0 DD N 919 D 0 Wo 5 85VDC b N 5 5 bi s TOVDC Peak Current A BO0VDC www elmomc com MAN WHTWIG Ver 1 602 dl E Whistle and Tweeter Installation Guide Installation 3 15 3 How to Use the Charts The charts above are based upon theoretical worst case conditions Actual test results show 3096 5096 better power dissipation To determine if your application needs a heatsink 1 Allow maximum heatsink temperature to be 80 C or less 2 Determine the ambient operating temperature of the Whistle 3 Calculate the allowable temperature increase as follows foran ambient temperature of 40 C AT 80 C 40 C 40 C 4 Use the chart to find the actual dissipation power of the drive Follow the voltage curve to the desired output current and then find the dissipated power 5 Ifthe dissipated power is below 4 W the Whistl
19. Home mode is high speed mode and can be used for fast capture and precise homing High speed input has a digital filter set to same value as digital filter EF of main encoder Highest speed is achieved when turning on optocouplers Rin 1 43K Input i lt General input return SOLWO029A Figure 36 Digital Input Schematic www elmomc com Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 6 2 Digital Output Interface Feature Details Type of output Optically isolated Open collector and open emitter lout max lt 10 mA Maximum supply output VCC Max output current lout max Vout Low VOL at maximum output voltage Vout on lt 0 3 V low level The external resistor R must be selected to limit the output current to no more than 10 mA VCC VOL i out max Executable time If output is set to one of the built in functions Home flag Brake or AOK execution is immediate upon detection 0 lt T lt 4xTS If output is set to General output and is executed from a program the typical time is approximately 0 5 msec o Out i Ve i GWHI037A Figure 37 Digital Output Schematic Outret i 4 6 3 Analog Input Feature Details Maximum operating differential voltage Maximum absolute differential input voltage 3 74 kO D
20. Mega Counts per second for encoder e Interpolated Analog Sine Cosine Encoder up to 250 kHz analog signal Internal Interpolation up to x4096 Automatic Correction of amplitude mismatch phase mismatch signals offset Auxiliary emulated unbuffered single ended encoder output e Resolver Programmable 10 to 15 bit resolution Up to 512 revolutions per second RPS Auxiliary emulated unbuffered single ended encoder output e Tachometer Potentiometer e Elmo drives provide supply voltage for all the feedback options 2 2 7 Fault Protection The Whistle and Tweeter include built in protection against possible fault conditions including e Software error handling e Status reporting for a large number of possible fault conditions e Protection against conditions such as excessive temperature under over voltage loss of commutation signal short circuits between the motor power outputs and between each output and power input return e Recovery from loss of commutation signals and from communication errors www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Introduction 2 3 System Architecture Communication RS 232 and CANopen Controller Protection PWM Current Feedback Power Stage Figure 1 Whistle Tweeter System Block Diagram Analog E Encoder Main 12 95 VDC Power Supply Encoder Auxiliary Encoder Optional 12 95 VD
21. Minimum quadrature input period Pin 112 nsec Minimum quadrature input high low period PHL 56 nsec Common mode 7 V Differential mode 7 V Phase A input Phase B input Figure 33 Main Feedback Encoder Phase Diagram www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Technical Specifications 4 5 2 2 Digital Halls Feature Details Halls inputs Ha Hg Hc Single ended inputs Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range 0 V lt Vin Han lt 5 V Maximum absolute 1 V lt Vi yan lt 15 V High level input voltage V innigh gt 2 5 V Low level input voltage V 44 lt 1 V Input current Sink current when input pulled to the common 3mA Source current 1 5 mA designed to also support open collector Halls Maximum frequency fmax 2 kHz 4 5 2 3 Interpolated Analog Sine Cosine Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input signal level Offset voltage 2 2 V 2 8 V Differential 1 V peak to peak Input resistance Differential 120 Q Maximum analog signal frequency fmax 250 kHz Interpolation multipliers Programmable x4 to x4096 Maximum counts frequency 80 mega counts sec internally Automatic errors correction Signal amplitudes mismatch Signal phase shift Signal offsets Encoder outputs See Auxiliary Encoder Outputs specifications 4 5 3 www elmo
22. Plaza No 999 Zhongshan West Road Shanghai 200051 China Tel 86 21 32516651 e Fax 86 21 32516652 e info asia elmomc com Asia Pacific Elmo Motion Control APAC Ltd B 601 Pangyo Innovalley 621 Sampyeong dong Bundang gu Seongnam si Gyeonggi do South Korea 463 400 Tel 82 31 698 2010 e Fax 82 31 801 8078 e info asia elmomc com Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Table of Contents Chapter 1 Safety Information ici 8 PEE WALNMIN E 9 OMM 9 1 3 Directives and Standards itio tiere eerta ie ee Da eee ahh AER 10 LA CE Marking Conformance 10 15 Warranty Information rsen rore rr three ay pu eat reae renta eat areae Fey i ak ene Vae re PER dg 10 Chapter 2 introduction n 11 2 1 Drive Description acini esie eec ort sb seo e de a eon eed ER ta eed ence 11 2 2 Product TE 12 2 23 1 Qurrent Controle c terit Eget erede a deeg du onu aa air 12 E E Eens Meel uge EE 12 2 23 Position Control ruere tazceain deeg ERC deed dee den 12 2 2 4 Advanced Position Control 13 2 2 5 COMMUNICATION Options e teet toe ah teca ee koe se Roe KAES eet 13 2 6 Feedback Options re rer ana 13 2 2 4 Fault PFOtectiOm uec oce eue crece p ere ovk ener apr eoe kd Dena E ke eR ERE 13 2 3 System ArchitectUle E 14 2 4 HOW tO Use this Guide ire carriera de erba ne no Pha Yee ba dae deba d de ve dE 14 Chapter 3 Installation iiie nri teneas tesa c osa psa ooa a kso en
23. Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc Type testing Power Conversion Equipment Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment Safety of Information Technology Equipment Including Electrical Business Equipment Adjustable speed electrical power drive systems Low Voltage Directive 73 23 EEC www elmomc com E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 Specification Details Approved IEC EN 61800 3 EMC Adjustable speed electrical power drive systems In compliance with EN 55011 Class A with Electromagnetic compatibility EMC EN 61000 6 2 Immunity for industrial environment according to IEC 61000 4 2 criteria B IEC 61000 4 3 criteria A IEC 61000 4 4 criteria B IEC 61000 4 5 criteria B IEC 61000 4 6 criteria A IEC 61000 4 8 criteria A IEC 61000 4 11 criteria B C Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies In compliance with IPC A 600 level 2 Acceptability of printed circuit boards In compliance with EN 100015 Protection of electrostatic sensitive devices Environmental In compliance with 2002 96 EC Waste Electrical and Electronic Equipment regulations WEEE Out of service Elmo drives should be sent to the nearest Elmo sales office In compliance with 2002 95 EC Restrictions on Application of Ha
24. R M1 M2 M3 VL must be at least Surfacelayer 1 5 mm Internal layer 0 10 mm Complying with the rules above will help satisfy UL safety standards MIL STD 275 and the IPC D 275 standard for non coated conductors operating at voltages lower than 100 VDC and at unlimited altitudes above 10 000 meters 30 000 feet www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installation 3 5 2 Grounds and Returns The Returns of the Whistle and Tweeter are structured internally in a star configuration The returns in each functional block are listed below Functional Block Return Pin Internal Switch Mode P S RS232 Communications CAN Communications The returns above are all shorted within the Whistle and Tweeter in a topology that results in optimum performance 1 When wiring the traces of the above functions on the Integration Board the Returns of each function must be wired separately to its designated terminal on the Whistle or Tweeter DO NOT USE A COMMON GROUND PLANE Shorting the commons on the Integration Board may cause performance degradation ground loops etc 2 Inputs The 6 inputs are optically isolated from the other parts of the Whistle and Tweeter All 6 inputs share a single common Return INRET J1 15 To retain isolation the Input Return pin as well as other conductors on the input circuit must be laid out separately 3 Outputs The 2 outputs are
25. a a ee sao SEE sane addas SES Ra de EOS 16 3 1 Site R quirements i aaa 16 3 2 Unpacking the Drives chili alain 16 3 3 genee 17 3 3 1 Connector Types tisse ANA A A ei 17 ER DE cte 18 3 3 2 1 Connector DEE 18 3 3 2 2 Connector 12 ET 19 34 edicere 19 c E EE 19 SI MENU CICER 20 3 5 Integrating the Whistle or Tweeter on a BCH nennen nins 21 3 5 1 TACOS C lire 21 3 512 Grounds and Ret rns urico anale 22 3 6 The Whistle Tweeter Connection Diagram eene 24 3 7 Main Power and Motor PoWer i 25 3 7 1 Connecting Motor Power 25 3 7 2 Connecting Main Power 26 3 8 Auxiliary Supply for Drive Logic nnne nnns 26 38 SingleSU pply itor ERES RIP ERERA HER yr ein HEUTE 27 3 8 2 Separate Auxiliary Supply ii 27 Whistle and Tweeter Installation Guide Table of Contents MAN WHTWIG Ver 1 602 3 8 3 SHAPED Supply ite ioni 28 3 9 MainmFeedback n econtra nue hon dete atout aede ege 29 3 10 Auxiliary Feedback EE 33 3 10 1 Main and Auxiliary Feedback Combinations 34 3 10 2 Auxiliary Feedback Emulated Encoder Output Option YA 4 4 35 3 10 3 Auxiliary Feedback Single Ended Encoder Input Option YA 4 2 37 3 10 4 Auxiliary Feedback Pulse and Direction Input Option YA 4 0 39 3 11 I OS alain aa 41 3 11 1 Digital Input inerte oen eor Eee e Da Ran Ii 41 3 1
26. am E Whistle Tweeter DEREN Tachometer with Main Feedback 32 13 e A Hall Sensor 1 NET iti 1 HC a mm J212 NE HB Lei SE Fog Ja qos os d HA eer d Jas i 1 i A Tacho u td i Up to 20Vmax E J2 6 i D Feedback Voltage mm r r mm Tacho J2 7 i i i i mi Em Tacho Dod NE Up to 50Vmax J2 8 A Po A Feedback Voltage um LR Tacho J2A i rd 5V mm 1 um Encoder Hall 5v Supply J2 2 iI M Hall Encoder Supply Voltage Return SUPRET i 1 a pd i TWE0010A Only one tachometer port is available at a time Figure 14 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 poe ee Integration Board Whistle Tweeter pstestrce dere Tachometer NE e i Main Feedback d is Jeu Tact Cum Cum Tacho Up to 20v max feedback voltage Pott Pod use with applications having a jum io il A tacho voltage below 20v Tac1 um um Tacho I 1 1 I ger Ir d x Tac2 Cam I TES E uu Tacho Up to 20v max feedback voltage J2 8 ip s ME use with applications having a Tac2 i i Tacho tacho vol
27. at each of the two ends of the network cable The Whistle and Tweeter s CAN ports are non isolated Pin J1 Signal Function Pin Positions CAN ground LJ CAN L busline dominant low CAN H busline dominant high HHHHHHHHIHHHHNW EX n n n n u a u u u a n 1 N Cin pn pnpnpnpnppn np nn ARB eB Ho E N Table 12 CANopen Pin Assignments www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 Integration Board Whistle Tweeter 1 CAN Interface J1 CAN Controller lt gt E I I I I I I I I I I I I I I T o I Bd I I I I CNN I Whistle Tweeter 2 SIL I CAN Interface J1 I S9 I I 7e I i i it I f A I e I I ee Whistle Tweeter n CAN Interface J1 8 ei 1200 AR Note If cable is long gt 5M it is TWE0027A recommended to ground at both ends Figure 31 CANopen Network Diagram Caution When installing CANopen communication ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 13 Powering Up After the Whistle or Twee
28. begin working with the Whistle or Tweeter verify that you have all of their components as follows e The Whistle or Tweeter servo drives e The Composer software and software manual The Whistle and Tweeter are shipped in a cardboard box with Styrofoam protection To unpack the Whistle and Tweeter 1 Carefully remove the servo drive from the box and the Styrofoam 2 Check the drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 To ensure that the Whistle or Tweeter you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Whistle or and Tweeter It looks like this A P N WHI 5 100 E l mo S N WHI2055003 Motion Control www elmomc com WHIO08A www elmomc com E E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 The part number at the top gives the type designation as follows WHI AXX YYYR Version Esas ce Blank Standard Blank Incremental A Advanced Encoder Continuous Current and or Halls Amps R Resolver Maximum DC I A SPOSE Operating Voltage Encoder T Tachometer amp Potentiometer TWE AXX YYY_R Version J E Blank Standard Blank Ir A Advanced Blank RS Continuous Current and or Halls Amps R Resolver Maximum DC I de Operating Voltage Ge T Tachometer A Potentiometer Verify that the W
29. com a E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 4 Environmental Conditions Feature Details Ambient operating temperature O C to 40 C 32 F to 104 F Maximum operating altitude 4 4 1 Control Specifications 4 4 2 Current Loop Feature Details Controller type Vector digital Compensation for bus voltage On the fly automatic gain scheduling variations Motor types AC brushless sinusoidal DC brushless trapezoidal DC brush Linear motors Voice coils Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a pair of PI controls of AC current signals and constant power at high speed Current loop bandwidth 2 5 kHz Current loop sampling time Programmable 70 to 120 usec Current sampling rate Up to 16 kHz default 11 kHz www elmomc com E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 4 3 Velocity Loop Feature Details Controller type PI Velocity control Fully digital Programmable PI and FFW control filters On the fly gain scheduling Automatic manual and advanced manual tuning Velocity and position feedback Incremental Encoder options Digital Halls Interpolated Analog Sine Cosine Encoder optional Resolver optional Tachometer and Potentiometer optional Note With all feedback options 1 T with automatic mode switchi
30. d the Tweeter We recommend that the Tweeter be soldered directly to the board Alternatively the Tweeter can be attached to socket connectors mounted on the PCB Elmo recommends you leave approximately 1 cm 0 4 in of space on the side opposite the terminals to allow for free air convection www elmomc com a E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 5 Integrating the Whistle or Tweeter on a PCB The Whistle and Tweeter are designed to be mounted on a PCB either by soldering its pins directly to the PCB or by using suitable socket connectors In both cases the following rules apply 3 5 1 Traces 1 Thesize of the traces on the PCB thickness and width is determined by the current carrying capacity required by the application The rated continuous current limit Ic of the Whistle and Tweeter is the current used for sizing the motor traces M1 M2 M3 and PE and power traces VP PR and PE For control feedbacks and Inputs outputs conductors the actual current is very small but generous thickness and width of the conductors will contribute to a better performance and lower interferences 2 The traces should be as short as possible to minimize EMI and to minimize the heat generated by the conductors 3 The spacing between the high voltage conductors VP P
31. dards to which it complies and other specifications 4 1 Features The features of the Whistle and Tweeter determine how they control motion as well as how they process host commands feedback and other input 4 1 1 Motion Control Modes e Current Torque upto 14 kHz sampling rate e Velocity up to 7 kHz sampling rate e Position up to 3 5 kHz sampling rate 4 1 2 Advanced Positioning Control Modes e PTP PT PVT ECAM Follower Dual Loop Current Follower e Fast event capturing inputs e Fast output compare OC e Motion Commands Analog current and velocity pulse width modulation PWM current and velocity digital SW and Pulse and Direction 4 1 3 Advanced Filters and Gain Scheduling e On the fly gain scheduling of current and velocity e Velocity and position with 1 2 4 PIP controllers e Automatic commutation alignment e Automatic motor phase sequencing 4 1 4 Fully Programmable e Third generation programming structure with motion commands Composer e Event capturing interrupts e Event triggered programming www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Technical Specifications 4 1 5 Feedback Options e Incremental Encoder up to 20 Mega Counts 5 Mega Pulse per second e Digital Halls up to 2 kHz e Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder e Interpolated Analog Sin
32. e Cosine Encoder up to 250 kHz analog signal Internal Interpolation up to x4096 Automatic Correction of amplitude mismatch phase mismatch signal offset Emulated encoder outputs single ended unbuffered of the Analog encoder e Analog Hall Sensor e Resolver Programmable 10 to 15 bit resolution Up to 512 revolutions per second RPS Emulated encoder outputs single ended unbuffered of the Resolver e Auxiliary Encoder inputs ECAM follower etc single ended unbuffered e Tachometer amp Potentiometer e Provide power 5 V 200 mA max for one Encoder Resolver or Hall 4 1 6 Input Output e One Analog Input up to 14 bit resolution e Six programmable Digital Inputs optically isolated two of which are fast event capture inputs Inhibit Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion Homing General purpose e Two programmable Digital Outputs optically isolated open collector one with fast output compare OC Brake Control Amplifier fault indication General purpose Servo enable indication e Pulse and Direction inputs single ended e PWM current command output for torque and velocity www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Technical Specifications 4 1 7 Built In Protection e Software error handling e Abort hard stops and soft stops e Status
33. e designed to supply power to the drive s Logic as well as to the Main Power see Figure 8 If backup functionality is required for storing control parameters in case of power outs an additional backup supply can be connected by implementing diode coupling see the Auxiliary Backup Supply in Figure 10 When using Elmo s Evaluation Board Catalog number WHI EVLBRD 1 the diode coupling is built in When you create your own PCB you need to implement diode coupling pr E Integration Board Whistle Tweeter Isolated Transformer Figure 10 Main DC f Power bod I L 3 M VPE Supply NE L on NN NEN F NI EN PP oi eri i 2 NN e PE E il put BN PE A L E EE EE EE 1 SSS en 3 13 95 VDC AUX BACKUP SUPPLY for Logic i MONS E e Ol Gam ev b d II 2 S b E PR e Se Sec Shared Supply Connection Diagram TWE0006B www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Installation 3 9 Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive In order to copy the setup to other drives the phase order on all copy drives must be the same The Whistle and Tweeter can accept any one the following devices as a main feedback mechanism e Incremental encoder only e Incremental encoder with digital Hall sensors e Dig
34. e will need no additional cooling The chart above shows that no heatsink is needed when the heatsink temperature is 80 C ambient temperature is 40 C and heat dissipated is 4 Watts When an external heatsink is required you can use the Elmo external heatsink Catalog number WHI HEATSINK 2 see Figure 4 3 15 4 Tweeter Thermal Data The best way to dissipate heat from the Tweeter is to mount it so that its lower board faces upward For best results leave approximately 10 mm of space between the Tweeter s lower board and any other assembly www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Installation 3 16 Evaluation Board and Cable Kit A circuit board is available for evaluating the Whistle and Tweeter It comes with standard terminal blocks for power connections and D Sub plugs sockets for signals connection The Evaluation Board is provided with a cable kit Figure 32 The Evaluation Board can be ordered separately Evaluation Board Catalog Number EVA WHI GUI BEL Evaluation Board User Manual MAN EVLBRD WHI BEL GUI UG pdf available on our website www elmomc com ma E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Chapter 4 Technical Specifications This chapter provides detailed technical information regarding the Whistle and Tweeter This includes its dimensions power ratings the environmental conditions under which it can be used the stan
35. emulated encoder signals to another controller or drive The Emulated Encoder Output Option is only available when using a Resolver or Interpolated Analog Encoder as the main feedback device This option can be used when The Whistle and Tweeter are used as current amplifiers to provide position data to the position controller The Whistle and Tweeter are used in velocity mode to provide position data to the position controller The Whistle and Tweeter are used as masters in follower or ECAM mode e Single ended auxiliary encoder input for the input of position data of the master encoder in follower or ECAM mode e Pulse and direction input for single ended input of pulse and direction position commands When using one of the auxiliary feedback options the relevant functionality is software selected for that option Refer to the SimpllQ Command Reference Manual for detailed setup information www elmomc com E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Installation 3 10 1 The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often but not always used The Auxiliary Feedback connector on the Whistle and Tweeter has three bi directional pins CHA CHB and INDEX When used in combination with Main Feedback the Auxiliary Feedback can be set by software as follows Main and Auxiliary Feedback Combinations META Auxiliary Feedback Feedback Software YA 4
36. ered separately For further details see the documentation for this evaluation board MAN EVLBRD WHI BEL GUI UG pdf Revision History Version Date Details ES EE EE Tee CRT MM i2 April 2008 Updated Power Ratings Table in Section 4 343 Power Ratings Table in Section 4 34 3 March 2009 MTCR 01 009 38 Note E to Section 3 8 3 Figure 9 updated March 2010 MTCR 01 010 01 Figure 20updated July 2010 MTCR 03 010 02 Updated Sections 3 4 and 4 1 8 Figure 31 1 6 September 2012 Formatted according to the new template Metronome was replaced by the Composer software New table for 200 VDC series added 1 601 January 2013 Updated the auxiliary voltage value Added a caution and recommendation on the type of cleaning solution to use for the Elmo unit February 2013 Whistle and Tweeter dimension details added Section 4 2 Elmo Worldwide Head Office Elmo Motion Control Ltd 60 Amal St P O Box 3078 Petach Tikva 49516 Israel Tel 972 3 929 2300 e Fax 972 3 929 2322 e info il elmomc com North America Elmo Motion Control Inc 42 Technology Way Nashua NH 03060 USA Tel 1 603 821 9979 e Fax 1 603 821 9943 e info us elmomc com Europe Elmo Motion Control GmbH Hermann Schwer Strasse 3 78048 VS Villingen Germany Tel 49 0 7721 944 7120 e Fax 49 0 7721 944 7130 e info de elmomc com China Elmo Motion Control Technology Shanghai Co Ltd Room 1414 Huawen
37. hin the 11 to 95 VDC range This is much more flexible than to be restricted by only using a standard 24 VDC power supply If backup power is not needed two terminals VP and VL are shorted so that the main power supply will also power the control logic supply In this way there is no need for a separate control logic supply The Whistle and Tweeter are PCB mounted devices which enable efficient and cost saving implementation www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Introduction The Whistle and Tweeter are available in two models e The Standard models are basic servo drives which operate in current velocity and position modes include PT amp PVT They operate simultaneously via RS 232 and CANopen DS 301 DS 305 DS 402 communications and feature a third generation programming environment e The Advanced models include all the motion capabilities and communication options included in the Standard model as well as advanced positioning capabilities ECAM Follower and Dual Loop and increased program size The two models operate with both RS 232 and CANopen communication 2 2 Product Features 2 2 1 Current Control e Fully digital e Sinusoidal commutation with vector control or trapezoidal commutation with encoder and or digital Hall sensors e 12 bit current loop resolution e Automatic gain scheduling to compensate for variations in the DC bus power supply 2 2 2 Velocity
38. histle or Tweeter type is the one that you ordered and ensure that the voltage meets your specific requirements 3 3 Connectors The Whistle and Tweeter have nine connectors 3 3 1 Connector Types Port Pins Type Function Connector Location 1 0 COMM Auxiliary Feedback Main Feedback Analog Input LED Motor power output 1 Motor power output 2 Motor power output 3 WHI0006A Protective earth Power input return Positive power input Auxiliary power input Table 1 Connector Types www elmomc com a E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 3 2 Pinouts The pinouts in this section describe the function of each pin in the Whistle and Tweeter J1 and J2 connectors 3 3 2 1 Connector J1 Pin J1 Signal Function me ee AUX PORT CHA AUX PORT CHA bidirectional BEE Programmable Digital output 1 e omn frome CIE peeo 0 7 Programmable Digital input 2 om CO CI O u m poreo www elmomc com E E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 3 2 2 Connector J2 Pin J2 i Function Encoder Hall 5V supply voltage Maximum output current 200 mA pem iue Channel A input ee COTE NN e e eremetimnecomeme 5 fiera 7000 3 4 Mounting 3 4 1 Whistle The Whistle was designed for mounting on a printed circuit board PCB via 2 mm pitch 0 51 mm square pins When integrating the Whistle into a device be sure to
39. ifferential input resistance Analog input command resolution www elmomc com E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 7 Communications Specification Details Signals RxD TxD Gnd Full duplex serial communication for setup and control Baud Rate of 9 600 to 57 600 bit sec CANopen CAN bus Signals CAN_H CAN_L CAN_GND Maximum Baud Rate of 1 Mbit sec Version DS 301 V4 01 Layer Setting Service and Protocol Support DS 305 Device Profile drive and motion control DS 402 4 8 Pulse Width Modulation PWM Feature Details PWM resolution 12 bit PWM switching frequency on the load 2 Ts factory default 22 kHz on the motor www elmomc com E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 4 9 Specification Quality Assurance ISO 9001 2008 Design Approved IEC EN 61800 5 1 Safety MIL HDBK 217F UL 60950 IPC D 275 IPC SM 782 IPC CM 770 UL 508C UL 840 In compliance with VDE0160 7 IEC 68 Recognized UL 508C In compliance with UL 840 In compliance with UL 60950 Approved IEC EN 61800 5 1 Safety In compliance with EN 60204 1 Technical Specifications Compliance with Standards Details Quality Management Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc Reliability prediction of electronic equipment rating de rating stress etc
40. ital Hall sensors only e Interpolated Analog Sine Cosine encoder option e Resolver option e Tachometer option e Potentiometer option Incremental Interpolated Resolver Tachometer and Encoder Analog Encoder Potentiometer WHI XX YYY_ WHI XX YYVI WHI XX YYYR WHI XX YYYT Semer XX YYY TWE XX YYYI TWE XX YYYR TWE XX YYYT ess IER Function signa SE CSS Function SES sensor C Hall sensor C Hall sensor C input input input Hall sensor A Hall sensor A Hall sensor A TATEA e EE 2 suprer Supply return return ISUPRET Supply return return SUPRET Supply return return ISUPRET Supply return Encoder Hall Encoder Hall Encoder Hall 5V Encoder Hall 5V 5V supply 5V supply 5V supply supply CHA Channel A Sine A Sine A Tac 1 Tacho Input 1 complement complement complement Neg 20 V max Channel A Index Sine A S1 Sine A Tac 1 Tacho Input 1 Pos 20 V max Vref complmnt 10 INDEX Reference NC f 1 TS 50 mA Maximum complement complement INDEX Index Reference R1 Vref f 1 TS 50 Potentiometer mA Max Input 5 V Max Hall sensor B Hall sensor B NC Hall sensor B input input input Cosine B S4 Cosine B complement complement Tac 2 Tacho Input 2 Neg 50 V max CHB Channel B complement Channel B Cosine B S2 Cosine B Tac 2 Tacho Input 2 Pos 50 V max ANALIN is used for Analog Input ANALIN is used for Analog Input LED_2_OUT AOKLED cathode is used for LED indica
41. le static electricity build up To avoid any potential hazards that may cause severe personal injury or damage to the product during operation keep all covers and cabinet doors shut The following safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily injury Caution This information is necessary for preventing damage to the product or to other equipment www elmomc com a E Whistle and Tweeter Installation Guide Safety Information MAN WHTWIG Ver 1 602 1 1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo drive while the power source is on e Power cables can carry a high voltage even when the motor is not in motion Disconnect the Whistle and Tweeter from all voltage sources before it is opened for servicing e The Whistle and Tweeter servo drives contain grounding conduits for electric current protection Any disruption to these conduits may cause the instrument to become hot live and dangerous e After shutting off the power and removing the power source from your equipment wait at least 1 minute before touching or disconnecting parts of the equipment that are normally loaded with electrical charges such as capacitors or contacts Measuring the electrical contact points with a meter before touching the equipment is recommended 1 2 Cautions e The Whistle
42. lication where two feedbacks are used by the drive The Auxiliary Feedback port serves as an input for the auxiliary incremental encoder For applications such as Follower ECAM or Dual Loop or Potentiometer Aux Feedback Singe ended Pulse amp Direction Commands Input Any application where two feedbacks are used by the drive The Auxiliary Feedback port serves as an input for Pulse amp Direction Commands www elmomc com E E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 10 2 Auxiliary Feedback Emulated Encoder Output Option YA 4 4 Pin J1 Signal Function Pin Positions E SUPRET Supply return INDEX Index output CHBO Channel B output SS CHAO Channel A output ooo n nn DD DD H DM Notes The Emulated Encoder Output Option is only available when using a Resolver or Interpolated Analog Encoder as the main feedback device 20 go HDD DD DH H H N N The Whistle and Tweeter s Auxiliary Feedback is single L EDnuuumurcuucuztuuugszoudsiolis3u DU L BEY ended When mounted on an integration board E N circuitry can be added to make it differential Figure 20 highly recommended Table 5 Emulated Single Ended Encoder Output Pin Assignments With or Without Integration Board Whistle Tweeter Controller Auxiliary Feedback INDEX TWE0014A Figure 18 Emulated Encoder Direct Outpu
43. mc com a E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 5 2 4 Resolver Feature Details Resolver format Sine Cosine Differential Input resistance Differential 2 49 kQ Maximum electrical frequency RPS 512 revolutions sec Reference frequency 1 Ts Ts sample time in seconds Reference voltage Supplied by the Whistle and Tweeter Reference current Up to 50 mA Encoder outputs See Auxiliary Encoder Output specifications 4 5 3 4 5 2 5 Tachometer Feature Details Tachometer format Differential Maximum operating differential voltage 20V for TAC1 TAC1 Maximum absolute differential input 25 V voltage for TAC1 TAC1 Maximum operating differential voltage 50 V for TAC2 TAC2 Maximum absolute differential input 60 V voltage for TAC2 TAC2 Input resistance for TAC1 TAC1 46 kO Input resistance for TAC2 TAC2 100 kQ Resolution 14 bit Only one Tachometer port can be used at a time either TAC1 TAC1 or TAC2 TAC2 TAC1 TAC1 is used in applications with having a Tachometer of less than 20 V TAC2 TAC2 is used in applications with having a Tachometer of between 20 V and 50 V www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Technical Specifications 4 5 2 6 Potentiometer Feature Details Potentiometer Format Single ended Operating Voltage Range Oto 5 V supplied by the Whistle and Tweeter
44. munication Notes for connecting the RS 232 communication cable Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection The RS 232 communication port is non isolated Ensure that the shield of the cable is connected to the shield of the connector used for RS 232 communications The drain wire can be used to facilitate the connection Pin J1 Signal Function Pin Locations RS232_Rx RS 232 receive RS232 Tx RS 232 transmit E pn nnpn 8 Bo oe aR ES 2MHHHEHHHHHHHIWH N Cc rN ce ee RETE EER NE RS232 COMRET Communication return Table 11 RS 232 Pin Assignments www elmomc com 2 E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 Whistle Tweeter RS232 Communication J1 PC RS232 TWE0026A Figure 30 RS 232 Connection Diagram 3 12 2 CANopen Communication Notes for connecting the CANopen communication cable Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection Ensure that the shield of the cable is connected to the shield of the connector used for communications The drain wire can be used to facilitate the connection Make sure to have a 120 Q resistor termination
45. nd proper implementation Failure to meet any of the above mentioned requirements can result in drive controller or host failure www elmomc com MAN WHTWIG Ver 1 602 al E Whistle and Tweeter Installation Guide Installation 3 6 The Whistle Tweeter Connection Diagram Whistle Tweeter PC RS232 CANopen RS 232 e A SAR ali CAN_H RS232 Tx E ZC CAN Lj I E E LU Controller po T to i CAN L RS232_Rx mm 4 e CAN COMRET RS232 COMRET lei L jicm i 5 EE y V n Drain EDI T Wire H Aux Feedback i Es x i x mi Da PN Controller mya m Main Feedback Main rot E A Feedback 1 i i um me I i EN Pod 1 um La INRET Lia pue l OUT a l e mE Lu Power a Connector OUTRETI WI ep I f i OUT2 mm i gt I i I i l OUTRET2 gems gt fe I E I Ji ANALINI Li La ANALIN1 DC Power i i II Pj Supply A ANALIN NN La ANALIN1 TE Circuit Circuit li s H A Common Sg Common p i AAA LED_1_OUT i isolated Y Transformer LED 2 OUT D BicoLoR LED TWE0001A Figure 5 Whistle Tweeter Connection Diagram www elmomc com MAN WHTWIG Ver 1 602 2 E Whistle and Tweeter Installation Guide Installation
46. ng is activated gap frequency and derivative Velocity loop bandwidth Velocity loop sampling time 140 to 240 usec 2x current loop sample time Velocity loop sampling rate Up to 8 kHz default 5 5 kHz Velocity command options Analog Internally calculated by either jogging or step Note All software calculated profiles support on the fly changes 4 4 4 Position Loop Feature Controller type 1 2 4 PIP Position command options Software Pulse and Direction Analog Potentiometer Position loop bandwidth Position loop sampling time 280 to 480 usec 4x current loop sample time Position loop sampling rate Up to 4 kHz default 2 75 kHz www elmomc com E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 5 Feedbacks The Whistle and Tweeter can receive and process feedback input from diverse types of devices 4 5 1 Feedback Supply Voltage The Whistle and Tweeter have two feedback ports Main and Auxiliary The drives supply voltage only to the main feedback device The user must provide a separate power supply for auxiliary feedback devices if needed Feature Main encoder supply voltage 5 V 5 200 mA maximum 4 5 2 Main Feedback Options 4 5 2 1 Incremental Encoder Input Feature Details Encoder format A B and Index Differential Quadrature Interface RS 422 Maximum incremental encoder frequency Maximum absolute 5 MHz pulses
47. of the Whistle and Tweeter documentation set comprising e The Whistle Evaluation Board User Guide contains information about how to use the Whistle Evaluation Board and Cable Kit e The Composer Software Manual which includes explanations of all the software tools that are part of Elmo s Composer software environment e The SimpliQ Command Reference Manual which describes in detail each software command used to manipulate the Whistle and Tweeter motion controller e The SimplIQ Software Manual which describes the comprehensive software used with the Whistle and Tweeter www elmomc com e d I Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Chapter 3 Installation The Whistle and Tweeter must be installed in a suitable environment and properly connected to its voltage supplies and the motor 3 1 Site Requirements You can guarantee the safe operation of the Whistle and Tweeter by ensuring that they are installed in an appropriate environment WETICE Ambient operating temperature 0 C to 40 C 32 F to 104 F Maximum relative humidity 90 non condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available Caution The Whistle and Tweeter dissipate heat by convection The maximum operating ambient temperature of 0 C to 40 C 32 F to 104 F must not be exceeded 3 2 Unpacking the Drives Before you
48. on 3 10 4 Auxiliary Feedback Pulse and Direction Input Option YA 4 0 Pin J1 Signal Function Pin Positions SUPRET Supply return Direction input push pull 5 V or 18 DIR CHB open collector n 12117 5 PULS CHA Pulse input push pull 5 V or open But collector ona The Whistle and Tweeter s Auxiliary Feedback is nou single ended When mounted on an integration board i E circuitry can be added to make it differential Figure 26 som SI 3 Ge J1 J2 Table 7 Pulse and Direction Pin Assignments With or Without Integration Board Whistle Tweeter Controller Auxiliary Feedback ere DIR CHB COMMON EE EE ER I I I I I I I I I I I I PULS CHA i I I I I I I I I I I I I 1 WHI0020A Figure 24 Pulse and Direction Auxiliary Encoder Input Direct Connection Diagram www elmomc com 40 Installation E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Controllers z o z o o al e al e x S x x 1nF mF V xe gp c S h h a 1 E ES co E d d o PAA K V 2 DIR CHB PULS CHA x o 2 2 E 2 2 Auxiliary Feedback TWE0021A iagram D Ion Encoder Input Buffered Connect iary Auxili ion irect Pulse and Di Figure 25 Cont
49. optically isolated from the other parts of the Whistle and Tweeter Each output has a separate floating return OUTRET1 J1 17 for output 1 and OUTRET2 J1 16 for output 2 To retain isolation the Output Return pins as well as other conductors on the output circuit must lay out separately 4 Return Traces The return traces should be as large as possible but without shorting each other and with minimal cross overs 5 Main Power Supply and Motor Traces The power traces must be kept as far away as possible from the feedback control and communication traces 6 PETerminal The PE terminal is connected directly to the Whistle s heatsink or to the Tweeter s 2 PE strips on its lower board In the Whistle the heatsink serves as an EMI common plane The PE terminal should be connected to the system s Protective Earth Any other metallic parts such as the chassis of the assembly should be connected to the Protective Earth as well www elmomc com MAN WHTWIG Ver 1 602 al E Whistle and Tweeter Installation Guide Installation 7 Under normal operating conditions the PE trace carries no current The only time these traces carry current is under abnormal conditions such as when the device has become a potential shock or fire hazard while conducting external EMI interferences directly to ground When connected properly the PE trace prevents these hazards from affecting the drive Caution Follow these instructions to ensure safe a
50. ower The Whistle and Tweeter are designed for OEMs They operate from a DC power source in current velocity position and advanced position modes in conjunction with a permanent magnet synchronous brushless motor DC brush motor linear motor or voice coil They are designed for use with any type of sinusoidal and trapezoidal commutation with vector control The Whistle and Tweeter can operate as a stand alone device or as part of a multi axis system in a distributed configuration on a real time network The drives are easily set up and tuned using Elmo s Composer software tools This Windows based application enables users to quickly and simply configure the servo drive for optimal use with their motor The Whistle and Tweeter as part of the SimplIQ product line are fully programmable with Elmo Composer motion control language Power to the drives is provided by a 11 to 95 VDC isolated DC power source not included with the Whistle and Tweeter A smart control supply algorithm enables the Whistle and Tweeter to operate with only one power supply with no need for an auxiliary power supply for the logic If backup functionality is required for storing control parameters in case of power loss an external 11 to 95 VDC isolated supply should be connected via the VL terminal on the Whistle and Tweeter providing maximum flexibility and backup functionality when needed This backup functionality can operate from any voltage source wit
51. r Supply Connection Diagram 3 8 Auxiliary Supply for Drive Logic The source of the 11 to 95 VDC Auxiliary Supply must be isolated Connect the VL and PR pins on the Whistle and Tweeter in the manner described in Section 3 5 Integrating the Whistle or Tweeter on a PCB Pin Function Pin Positions VL Auxiliary Supply Input Supply Input Return WHI0045A Table 3 Auxiliary Supply Pins Caution Power from the Whistle and Tweeter to the motor must come from the Main Supply and not from the Auxiliary Supply www elmomc com MAN WHTWIG Ver 1 602 al E Whistle and Tweeter Installation Guide Installation 3 8 1 Single Supply A single isolated DC power supply can provide power for both the main power and the Auxiliary Drive Logic Supply The drawing below shows how a single supply is connected tnn Integration Board Whistle Tweeter vL 12 95v Isolated DC Power Supply a sanitari TWE0004A Figure 8 Single Supply for both the Main Power Supply and the Auxiliary Supply 3 8 2 Separate Auxiliary Supply Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply 12 95v Isolated Auxiliary Backup Supply TWE0005A Figure 9 Separate Auxiliary Supply Connection Diagram www elmomc com MAN WHTWIG Ver 1 602 3 8 3 Shared Supply Whistle and Tweeter Installation Guide Installation A Main DC Power Supply can b
52. reporting e Protection against Shorts between motor power outputs Shorts between motor power output and power input return Failure of internal power supplies Over temperature e Cont temperature measurement Temp can be read on the fly Warning can be initiated X degrees before temp disable is activated Over Under voltage Loss of feedback Following error Current limits 4 1 8 Accessories e External heatsink Whistle See Section 3 4 1 for more details Catalog number WHI HEATSINK 2 e Evaluation Board See Section 3 16 for a picture and more details Catalog number EVA WHI GUI BEL e Cable Kit See Section 3 16 for more details Catalog number CBL EVAUNIKITO1 4 1 9 Status Indication e Output for a bi color LED 4 1 10 Automatic Procedures e Commutation alignment e Phase sequencing e Current loop offset adjustment e Current loop gain tuning e Current gain scheduling e Velocity loop offset adjustment e Velocity gain tuning e Velocity gain scheduling e Position gain tuning www elmomc com a E Whistle and Tweeter Installation Guide Technical Specifications MAN WHTWIG Ver 1 602 4 2 Dimensions 4 2 1 Whistle 55 00 2 49 00 02 704 ye I D Lies T ME Ck 0 51 mm SQ pin x50 5 L di Ne ce Ki D i300 GER ION gt Lo oj WHI0007B
53. roller z o o o B B Integration Board DIR CHB PULS CHA SUPRET L o EI o E S a S Auxiliary Feedback TWE0022A Connection Diagram Figure 26 Pulse and Direction Auxiliary Encoder Input Differentia www elmomc com a E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 11 I Os The Whistle and Tweeter have the following I Os e 6 digital inputs e 2 digital outputs e 1 analog input Total 1 0 J1 J2 wam os oc 6 3 11 1 Digital Input Each of the pins below can function as an independent input Pin J1 Signal Pin Positions Programmable input 1 general purpose RLS FLS INH Programmable input 2 general purpose RLS FLS INH pi 88 oe O pp O ap Programmable input 3 general purpose RLS FLS INH Programmable input 4 general purpose RLS FLS INH Hi Speed Programmable input 5 event capture Main Home general purpose RLS FLS INH sch H 8 HDH DD DH H N N EH HHHHHHBHgHEHH H H H m L L DG N Hi Speed Programmable input 6 event capture Auxiliary Home general purpose RLS FLS INH Wie 11 IN3 il uli UL INRET Programmable input return Table 8 Digital Input Pin Assignments www elmomc com 42 Installation E Whistle and Tweeter Installation
54. t Acceptable Connection Diagram www elmomc com 36 Installation E Whistle and Tweeter Installation Guide MAN WHTWIG Ver 1 602 Integration Board DN o o 3 FP 2 2 S DN 2 E o o Auxiliary Feedback COMMON 2 w x 55S 5 U U T SUPRET TWE0015A Figure 19 Emulated Encoder Buffered Output Recommended Connection Diagram D 2 2 5 3 o o COMMON Integration Board Whistle Tweeter x o bal 2 o o o LL e S 3 lt TWE0016A Figure 20 Emulated Encoder Differential Output Highly Recommended Connection Diagram www elmomc com E E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 3 10 3 Auxiliary Feedback Single Ended Encoder Input Option YA 4 2 Pin Signal Function Pin Positions J1 4 SUPRET Supply return Auxiliary index input J1 18 Auxiliary channel B input J1 5 Auxiliary channel A input The Whistle and Tweeter s Auxiliary Feedback is single ended Figure 21 acceptable and Figure 22 1 2 a n n u n a a D n a n zx eu recommended When mounted on an integration board circuitry can be added to make it differential Figure 23 sch H DH DH DD HDD HHH N N H HDH DD HDD DD DD DD Do highly recommended L E e C N Table 6 Single Ended Auxiliary Encoder Pin Assignment
55. tage above 20v and below 50v d So i p J TWE0011A Only one tachometer port is available at a time Figure 15 Main Feedback Tachometer Feedback Connection Diagram for Brush Motors Integration Board l Whistle Tweeter l J2 Potentiometer with Main Feedback tege Hall Sensor J243 e eo Hc ri c 42 12 3 UU i HB m i i m l dei j i es 1 Dog Dog 1 HA Toa TE T J2 9 i 1 il Lo 1 Pal i P 5v Supply um i r um ES x 1 a l E NE SUPRET sas pl S pi E n I ui i Voltage Return l pee e TWE0012A Figure 16 Main Feedback Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors www elmomc com MAN WHTWIG Ver 1 602 al E Whistle and Tweeter Installation Guide Installation Integration Board Whistle Tweeter J2 Main Feedback TRIER E Potentiometer J2 9 ME i POT mm ME 5v Supply 5V LR 4 SUPRET J2 2 M l Voltage Return V ze eee TWE0013A Figure 17 Main Feedback Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils 3 10 Auxiliary Feedback For auxiliary feedback select one of the following options e Single ended emulated encoder outputs used to provide
56. ter is connected to its device it is ready to be powered up Caution Before applying power ensure that the DC supply is within the specified range and that the proper plus minus connections are in order 3 14 Initializing the System After the Whistle Tweeter has been connected and mounted the system must be set up and initialized This is accomplished using the Composer Elmo s Windows based software application Install the application and then perform setup and initialization according to the directions in the Composer Software Manual 3 15 Heat Dissipation The best way to dissipate heat from the Whistle is to mount it so that its heatsink faces up For best results leave approximately 10 mm of space between the Whistle s heatsink and any other assembly 3 15 1 Whistle Thermal Data e Heat dissipation capability 6 Approximately 10 C W e Thermal time constant Approximately 240 seconds thermal time constant means that the Whistle will reach 2 3 of its final temperature after 4 minutes e Shut off temperature 86 C to 88 C measured on the heatsink www elmomc com MAN WHTWIG Ver 1 602 al E Whistle and Tweeter Installation Guide Installation 3 15 2 Heat Dissipation Data Heat dissipation is shown graphically below Whistle 60 Series Power Dissipation 50V 10 0 40V ge 30V 20V g 80 7 0 E 2 60 External 2 5 0 Heatsink
57. tion LED 1 OUT AOKLED anode is used for LED indication p h nl ECH LA Table 4 Main Feedback Pin Assignments www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 Whistle Tweeter J2 Main Feedback 1 D E HC Cu Incremental Encoder with Hall Sensor Hall C HB T r um Hall B o CHA ma CHA Con CHB u CHB Ca INDEX o INDEX HA A i mn Hall 5v r u Encoder Hall 5v Supply SUPRET Hall Encoder Supply Voltage Return V TWE0007A Figure 11 Main Feedback Incremental Encoder Connection Diagram Integration Board Whistle Tweeter J2 Main Feedback Sine Cosine Encoder CHA A i mm CHA mm CHA mm chB mm CHB RA INDEX RG INDEX Encoder 5v Supply Encoder Return TWE0008A Figure 12 Main Feedback Interpolated Analog Sine Cosine Encoder Connection Diagram www elmomc com al E Whistle and Tweeter Installation Guide Installation MAN WHTWIG Ver 1 602 Whistle Tweeter 2 Resolver Main Feedback a e i E a CHA INI i mm a f i i A N A HN A UU a A i oi d e Drain Wire The shield is not connected to the ground or motor chassis TWE0009A Figure 13 Main Feedback Resolver Connection Diagr
58. ts Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Peo Peu Pen Ben Phase A input Phase B input Pu Figure 35 Auxiliary Feedback Encoder Phase Diagram www elmomc com MAN WHTWIG Ver 1 602 a E Whistle and Tweeter Installation Guide Technical Specifications 66 4 6 I Os The Whistle and Tweeter have e 6 Digital Inputs e 2 Digital Outputs e 1 Analog Input 4 6 1 Digital Input Interfaces Feature Details Type of input Optically isolated All six inputs share one signal return line Input current lin 2 4 mA Vin 5V for all inputs High level input voltage 2 5 V lt Vin lt 10 V 5 V typical Low level input voltage OV lt Vin lt 1V Minimum pulse width gt 4 x TS where TS is sampling time Execution time all inputs If input is set to one of the built in functions Home the time from application of Inhibit Hard Stop Soft Stop Hard and Soft Stop voltage on input until execution Forward Limit Reverse Limit or Begin execution is is complete immediate upon detection 0 lt T lt 4xTS If input is set to General input execution depends on program Typical execution time 0 5 msec High speed inputs 5 amp 6 T 5 usec minimum pulse width in high speed mode
59. unications teet n e eene aaa OEA EAN EENE REEK ERE 68 4 8 Pulse Width Modulation PWM ener enne enne nnns sn nnns inna 68 4 9 Compliance with StandardS ii 69 MAN WHTWIG Ver 1 602 2 Whistle and Tweeter Installation Guide 8 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Whistle and Tweeter servo drives it is imperative that you implement the safety procedures included in this installation guide This information is provided to protect you and to keep your work area safe when operating the Whistle and Tweeter as well as the accompanying equipment Please read this chapter carefully before you begin the installation process Before you start ensure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth connection Only qualified personnel may install adjust maintain and repair the servo drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Whistle and Tweeter servo drives contain electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials such as plastic film and synthetic fabrics Place the product on a conductive surface and ground yourself in order to discharge any possib
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