Drive User Manual
Contents
1. ElectroCraft Inc lt lt lt 74 14 w 74AHCT14AN 74AHCT14AN Figure 8 I O Interface Circuitry 33 ENABLE RESET RUN STOP BRAKE N STEP DIRECTION AN2 OUT OUT2 FAULT 13 3 HALL S1 HALL S2 HALL S3 5 HALL COMMON ENCODER A ENCODER A COMMON GND ENCODER B ENCODER B FRAME ENCODER Z ENCODER Z TEMP TEMP J3 Motor Interface ACE500 User Manual 5VDC 2 gt HALL S1 2 2K D 5 gt HALL S2 N C N C 5 6V 5VDC 1000pF 53 EE auc S iy yl N C 4 ROUN I 5VDC GROUND 5VDC 100 100 100 el o 1K 2 2 ENCODER 4 ENCODER 1 4 4 4 ENCODER 2 5 4 B 3 3VDC 1K 2 BAS4 gt TEMP t ZX 1K R 10uF 25V 777 WV FRAME GROUND ElectroCraft Inc 3 GROUND Figure 9 Motor Interface Circuitry 34 14 14 1 ACES00 User Manual External Shunt P2 Connector Use and Selection of the External Shunt CAUTION WHEN THIS2. ACE500 Status LED s 7 1 User Ready Status LED Yellow FLASH DESCRIPTION POSSIBLE CAUSE RESULT RECOVERY CODE METHOD ON ACE500 is in RUN User commanded RUN mode via Commanded power NA Steady mode user interface or RS232 port delivered to motor Processor is in reset Enable line low Drive inoperable Set enable line low and CTS OFF or programming CTS line on RS232 port is high line high state Line side processor Line side processor not Drive inoperable Flash new program into 16 Rapid flashes inoperable programmed programmed line side processor incorrectly or hardware problem Drive is in Standby The drive will not deliver current Motor phases not Command RUN mode via mode to the motor connected to drive RUN line 2 Phase short Phase shorted or low impedance Drive placed in Correct short and toggle standby the RUN line 3 1 8 Volt Fault Hardware or line power problem The drive is placed in Correct power problem standby mode and toggle the RUN line 4 5 Volt Fault or Hardware or line power problem The drive is placed in Correct power problem 15 Volt Fault standby mode and toggle the RUN line PM or MT Power module damaged or motor The drive is placed in Correct over temperature 5 temp high standby mode and and faults toggle the RUN line 6 B Low Hardware or line power problem The drive is placed in Correct power problem standby mo
3. Plus 9 Recommended Minimum Hookup essen ener terere ener nnne sns 9 1 Diagram 9 2 Wiring Diagrams for Optional User Interfaces 25 10 First Time Operation eet eerie 26 10 1 Phasing the MOtor netter rrr cnt OD re 26 10 2 Using ElectroCraft CompletePower Plus 26 10 3 ACE500 Electrical Ratings 10 500 Dimensional Drawing 12 List of Mating Connectors I di a sc aad ElectroCraft Inc 3 ACES00 User Manual 13 ACE500 Interface Circuitry esses eene nennen tnnt tnn 32 13 1 R5232 bed ee et ote un 32 13 2 J2 Digital and Analog rh RR re ERU REA 33 13 3 13 MotorhterfaCe ert e e Ta Ure Fe ere oe 34 14 External Shunt edet Abe RANE RFID TE 35 14 1 Use H Selection ue rr eei 35 14 2 Dimensional Drawing Optional External Shunt essere 36 15 Model Ideritification reete te eerie rere re 37 16 Mead mo tt e 38 ElectroCraft Inc The remainder of this page is intentionally left blank 1 1 1 ACES00 User Manual ACE500 Controller Overview This manual describes the installation and opera
4. 25 40 mm 1 00 Eom ACES00 User Manual N 8 GROUND STUD I o o o Ol 3 9 Ol 00000000 0000000 96 D 5 44 mm 0 21 169 83 mm 6 69 8 8 GROUND STUD 175 26 mm 6 90 Optional Heatsink Note For Optional heatsink please contact the Sales department Figure 6 ACE500 Package Outline Front View ElectroCraft Inc 30 D f 457 mm 0 1 8 0 00 12 List of Mating Connectors ACES00 User Manual Ref Connector name Manufacturer P N P1 PWR PHOENIX CONTACT MST BT 2 5 2 STF 5 08 P2 EXTERNAL SHUNT AUX PHOENIX CONTACT MST BT 2 5 4 STF 5 08 CAPACITORS P3 MOTOR POWER PHOENIX CONTACT MST BT 2 5 3 STF 5 08 J1 RS 232 TYCO 5 641337 3 J2 DIGITAL amp ANALOG I O AMP TYCO 5 747908 2 J3 MOTOR FEEDBACK AMP TYCO 5 747913 2 The remainder of t
5. Configuration 0 Default 1 Factory Configured 2 Factory Configured On Board CAN Shunt Regeneration 0 None Customer External Supplemental Capacitance 0 None Feedback Configuration 0 Default ElectroCraft Inc 37 ACES00 User Manual 16 Appendix A Optional Accessories Quick Start I O Test 108 x 65 x Test Board eer Board 36mm 4 25 x 2 5 x 1 gp or 18424 o 20013 WxHxD RS232 Interface Cable 178mm D sub 9 pin Plug to ACE500 J1 modular 6P6C Interface cable for PC 7 1002171 1002995 p Set Quick Start to ACE500 330mm D sub 25 pin Plug ACE500 J2 to Quick Start Test Adapter Cable 13 Board P1 and P2 1002170 CAN Interface cable 178mm D sub 9 pin Plug to ACE500 14 modular 8P8C Interface cable for PC 7 1002128 ACE500 Connector Kit n a Mating connectors for P1 P2 P3 J2 and J3 1002106 2 7 ACE Series External 215x60x 300 Watt 50 ohm external shunt Shunt 175mm 8 46 x 2 36 x 6 89 1001502 ut ET PE cad Dual Encoder Assembly 46x 90x Used when two encoder signals are supplied to Din Rail Mount 48mm the drive splits signals 2 too 1 1 8x3 6x 2000658 1 9 WxHxD R D Converter 46x90x Used to create encoder or hall signals when a Assembly 48mm reslover is used Din Rail Mount 1 8x3 6x 2000659 1 9 WxHxD ElectroCraft Inc 38
6. box and the unit carefully and save ALL packing materials Compare the packing slip against all items included in the shipping box Any shortages or other inspection problems should be reported to ElectroCraft immediately The following procedure is used to check products upon delivery Check the following items when your ACE500 is delivered e Verify that the model number marked on the nameplate of the drive s is the correct model ordered e Check the overall appearance Check for damage or scratches that may have occurred during shipping If any damage or if the unit is the wrong type contact your ElectroCraft sales representative immediately Your ACE500 has arrived carefully packaged from ElectroCraft MI in an antistatic bag As you unseal this bag inspect the contents carefully There should not be any loose or damaged parts inside Never attempt to operate or power up the drive if there is any visible external damage or if it sounds as though there are loose materials inside the chassis While unpacking if you discover any loose or damaged parts notify ElectroCraft within two working days ElectroCraft recommends that all packing materials be saved in the event that the ACE500 needs to be shipped back Always place the ACE500 in the same antistatic bag used in the original shipment Abundant anti static filler material should always be placed around the ACE500 so that it cannot shift inside the box Extreme care should be exercise
7. capacitance via terminal P2 provisions should be made by the user to rapidly bleed this high voltage energy down to safe levels whenever the user s power source is disconnected from the system Bleeder resistors are frequently used for this purpose It will be necessary for the user to size this discharge method appropriately The objective is to reduce the motor rail voltage down to safe levels generally below 40 Volts DC within an acceptable time period after the user s external power source is turned off or disconnected ElectroCraft Inc 13 6 1 6 2 6 3 ACES00 User Manual Mounting the ACE500 Use this preferred hardware type see table below for mounting your ACE500 drive Mount your ACE500 in the following manner Base Mounted Four M4 No 8 screws Include spring locking washer Customer supplied with plain washer Rack Mounted Two M4 No 8 screws Include spring locking washer Customer supplied with plain washer Weight 0 86Kg 1 916 Size 6 9 175mm x 5 2 132mm x 1 95 50mm without heatsink Environmental Conditions in the Control Panel e Storage Temperature 20 85 degree C e Humidity 5 95 RH Non condensing Operating Temperature range 0 50 degree C e Vibration Install a vibration isolator beneath the drive to avoid subjecting it to vibration Installation in the Control Panel Base Mount Install the ACE500 parallel to the wall so that the front containing connect
8. located at the ElectroCraft web site 9 1 Quick Start I O Test Interface Setup Diagram RS 232 ADAPTER CABLE P N 1002171 RS 232 INTERFACE OPTIONAL QUICK START 1 0 BOARD PIN 1001436 xs ACE500 DRIVE Lp RS 232 INTERFACE 2o 24 P2 2 Wi 23 m og USER ANALOGIO gt 8 G m 5 VDC IN 5 B i Be 5 wh 80 Vg DIGITAL ANALOG 10 gt 223 USER DIGITAL 1 0 s 195 Be oo 5 1 2 DIGITAL 1 0 m eno jaw t EN QUICK START 1 0 BS ADAPTER CABLE a5 AN P N 1002170 J4 CAN INTERFACE RJ 45 8P8C CAN INTERFACE CABLE P N 1002128 CAN INTERFACE Figure 3 Optional Drive Setup ElectroCraft Inc 24 ACES00 User Manual 9 2 Wiring Diagrams for Optional User Interfaces For mating connectors see section 11 For additional accessories refer to appendix A EEE ue e soe seu Io ue Lco EE e e e 55 45 5551 J1 500 USER RS232 MODULAR DB 9 CONNECTOR CONNECTOR NC 1 1 INC TXD 2 2 TXD GND 3 3 RXD RTS 4 4 NIC RXD 5 5 GND CTS 6 6 7 018 8 RTS 9 NIC RS 232 INTERFACE CABLE PIN OUT J2 ACE500 USER 1 0 P1 QUICK START BOARD DB 25 MOLEX CONNECTOR CONNECTOR 45VDC 1 1 5VDC GND 2 2 45VDC
9. 1 ENCODER i 2 4 DIGITAL GND 2 16 ENCODER B 2 COMMON GROUND 2 1 COMMON GROUND ENCODER 1 lt 2 5 STEP FRAME 1 2 12 DIR ENCODER Z ANALOG GROUND ENCODER Z 1 GE NR EE SHIELD t ANALOG GROUND 5 AN2 18 AN2 19 ANE ANT TE COMMON GROUND e A TACH 2 23 ANALOG GROUND LM EE ADI 2 25 PIN 1001436 FRAME TERMINATE SHIELD TO ANALOG GROUND SEPARATELY FROM COMMON GROUND TERMINATE SHIELD AT THIS END ONLY OUTPUT 1234 KEEP FRAME GROUND WIRES 7 HAH AS SHORT AS POSSIBLE iA T EXTERNAL SHUNT EXTERNAL BULK 50 OHM MINIMUM CAPACITANCE MOTOR CABLE LINE FILTER USED TO ELIMINATE EXTERNAL NOISE FROM THE POWER SUPPLY SHIELD POWER CABLE A AC INPUT L2 TERMINATE SHIELDS FOR MOTOR AND POWER CABLE TO FRAME GROUND SHIELD TERMINATE SHIELD AT THIS END ONLY 12 ElectroCraft Inc ACES00 User Manual 6 ACE500 Installation and Setup READ ENTIRE USER MANUAL FIRST BEFORE ATTEMPTING TO USE THIS PRODUCT If you require further assistance then provided within this manual please email call or fax ElectroCraft MI Incorporated P O Box 7746 Ann Arbor MI USA 48107 734 662 7771 Fax 734 662 3707 www electrocraft com This chapter presents installation procedures and instructions on how to setup your ACE500 drive WARNING HIGH VOLTAGE MAY BE PRESENT AT THE P2 CONNECTOR If the user adds supplemental external
10. 5 VDC 3 3 Enable Reset GND 4 4 Run Stop Enable Reset 5 5 Step Run Stop 6 6 Direction Brake 7 7 Enabled NIC 8 8 Ready NC 9 9 GND NIC 10 10 GND Step 11 P2 QUICK START BOARD 1 14 CONNECTOR AN1 15 ITEM 1 AGND 16 1 AN2 17 2 AN2 18 3 AGND NIC 19 4 AN2 NIC 20 5 AN2 NIC 21 6 AGND NIC 22 7 NIC Fault Output 23 Ready 24 QUICK START I O ADAPTER CABLE PIN OUT J4 ACE500 USER CAN J4 MODULAR DB 9 CONNECTOR CONNECTOR CAN H 1 1 Ne CAN 2 2 CANL CAN GND 3 9 CAN GND 11 4 4 NIC NIC 5 5 CAN SHLD SHLD 6 6 CAN GND OPTL 7 7 CAN V 8 8 NIC 9 CAN V CAN INTERFACE CABLE PIN OUT Figure 4 Optional Drive Setup wiring diagrams ElectroCraft Inc 25 10 10 1 10 2 ACES00 User Manual First Time Operation Phasing the Motor ElectroCraft has determined the correct motor phasing for all ElectroCraft motors If your drive was ordered with an ElectroCraft motor specified the correct parameter set for the mating ElectroCraft motor was loaded into your drive at the factory prior to shipment Alternate ElectroCraft motor parameters can be selected from the motor selection file on the software disk supplied with your drive or you can contact ElectroCraft for these files In addition ElectroCraft has established the correct motor phasing relationshi
11. CE500 ACE500 Xxx xxxx J4 CAN CAN SHUNT _ P2 J3 EXTERNAL ENCODER SHUNT and HALLS ERE CAPACITANCE 2 85 232 nsa ja S SW1 IL J2 Y 1 IA Y vr 7 Digital 1 0 10 PROCESSOR DSP PRIMARY PROCESSOR DSP THREE 3 ENABLE RESET i RESET aT 11 MOSFET BRIDGE MOTOR DIRECTION 1 fault 2 9 Analog 1 0 e MY 8 R BG 10 dp AN2 B SUPPLY PWR pc POWER I D PN SUPPLY R POWER LED w Y R v POWER LED SHUNTLED Y VW STATUS LED E C LIMIT LED Y LM Figure 1 ACE500 Block Diagram ElectroCraft Inc 15 ACES00 User Manual 6 5 ACE500 Connector Description Drive specific I O operates independent of the user selected operating mode Dive specific I O signals have fixed functionality These signals are used to interface the ACE500 to an outside control system They provide hand shaking signals for enabling disabling and monitoring the status of the ACE500 For visual reference to the ACE500 connectors see Figure 2 below J1 RS 232 INTERFACE DB 25 MALE DB 15 FEMALE User Power 4 L1 J2 DRIVE 1 0 J3 MOTOR FEEDBACK Ready N gt D SHNT DC DC 00 E Line Power 1 DR
12. D Yellow LED Description Possible Cause Result Recovery Method ON B Rail is high above The shunt resistor is the Shunt turn on turned on limit of 390V OFF B Rail is below the The shunt resistor is shunt turn off limit of turned off 375V ElectroCraft Inc 22 ACES00 User Manual Introduction to ElectroCraft CompletePower Plus Software ElectroCraft CompletePower Plus is a Windows based program used for setup configuration system diagnostics and motion control management ElectroCraft CompletePower Plus will lead the user through a step by step Wizard to create the correct parameter configuration and information required for the user to run a particular motor with a particular drive The result will be an Application containing all of the configuration information required to run the motor with the drive This section is described within the software user manual ElectroCraft CompletePower M Plus software users manual Please refer to the software user s manual for full documentation support to properly configure and operate your drive The remainder of this page is intentionally left blank ElectroCraft Inc 23 ACES00 User Manual 9 Recommended Minimum Hookup Apply DC voltage to the Quick Start 1 0 interface a 1 1 2 5VDC b J1 pin 9 10 Common return For additional information pertaining to the optional Quick Start I O Board refer to document Quick Start User Guide doc x
13. ElectroCraft powering innovation voltage Wait 1 WARNING MODEL ACE500 XXX XXXX User s Manual Digital Velocity Torque Position Mode Servo Drive This manual covers the use and maintenance of the model ACE500 series Torque Velocity and Position mode brushless motor control product family ElectroCraft Incorporated Title Type of Documentation Document Type code Internal File Reference Purpose of Documentation Record of Revisions RELEASE NUMBER 1 0 2 0 3 0 3 1 3 2 Copyright Validity Published by ElectroCraft Inc ACES00 User Manual ACES500 User Manual Installation and Operation User Hardware Manual UM Rev 3 2 08 20 09 doc Document Number A11056 This documentation describes e Installation and operation of the ACE500 drive DATE DESCRIPTION COMMENTS 12 22 05 Initial Release 03 22 07 Software changes Production Release 10 01 08 Changed text Corrections 05 27 09 ElectroCraft changes Update 08 20 09 Added optional Additions 2009 ElectroCraft MI Inc USA All rights Reserved Copying this document giving it to others and the use or communication of the contents there of without express authority is forbidden Offenders are liable for the payment of damages We reserve the right to modify our products at any time Information specifications and material data that appear within this user manual are subject to change without notice For the latest re
14. IVE POWER MOTOR POWER Shunt EXT SHUNT Current Limit AUX CAPACITANCE Figure 2 ACE500 Connector Layout 6 5 1 J1 Connector RS 232 Communications Port RJ 11 6 pin Pin I O Description 1 N C No Connect 2 TX RS232 TXD Output RS232 signal level 3 GND Common 4 RTS RS232 RTS Output RS232 signal level 5 RX RS 232 RXD Input RS232 signal level 6 CTS RS 232 CTS Input RS232 signal level ElectroCraft Inc 16 ACES00 User Manual 6 5 2 2 Connector User I O Control DB 25 plug with metal shell Pin I O Description 1 Input 5 volts DC Power User supplied regulated 5VDC power 250 mA 2 Input Common Return 3 Input 5 volts DC Power User supplied regulated 5VDC power 250 mA 4 Input Common Return 5 Input Enable Reset Control Signal Input TTL compatible 24 VDC maximum signal amplitude O Volts minimum 10K Ohm input impedance Positive true logic Forces a master hardware reset for entire drive on a falling edge Drive recovers beginning after rising edge Drive remains disabled while a logic O is applied to this input When Enabled logic 1 applied the active inrush current limit relay will close after a 3 second delay After this delay the drive will be allowed to enter Run Mode as commanded by the Run Command Signal Input on pin 6 6 Input Run Command Signal Input TTL compatible 24 VDC ma
15. Input Zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 15 Input AN1 Differential Input Zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 16 Input Common Return 17 Input AN2 Differential Input Zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor ElectroCraft Inc 17 ACES00 User Manual torque Input is protected to 24 Volt maximum 18 Input AN2 Differential Input Zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 19 Output General Purpose Digital Output TTL compatible 24 VDC maximum signal amplitude 0 Volts minimum 10K Ohm input impedance This output function is application specific 20 Input Common Return 21 Output Tachometer Signal Output 250 Ohm output impedance Zero to 5 Volt logic signal 22 Output General Purpose Digital Output TTL compatible 24 VDC maximum signal amplitude 0 Volts minimum 10K Ohm input impedance This output function is application specific 23 Output Fault Signal Output 250 Ohm
16. LV300N50 shunt ElecrtoCraft part number 1001502 e 300 watt 50 ohm external shunt module inductive windings to isolate noise transients e Operating temperature range of 55 to 200 C e ULlisted thermal protection resettable fuse set to 226 C e Dielectric strength of 1000v minimum e Wire lead length of 1000mm long See Isotek website page for additional information The minimum permissible resistance value for the external shunt resistor s is 50 Ohms If a lower resistance is required consult ElectroCraft The external shunt resistor will connect to connector P2 and must be wired across terminals 1 and 2 Please refer to section 6 5 6 for connector wiring e DO CONNECT the shunt resistor to connector P2 terminals 2 or and terminal 4 DONOT SHORT P2 terminals 1 2 3 or 4 to frame ground e DO NOT USE a shunt resistor with a value less than 50 ohms The resistor s should be rated for high momentary overloads ElectroCraft Inc 35 14 2 ACES00 User Manual It is important that the external shunt resistor be adequately sized to be reliable It is also essential that this shunt resistor be located where it cannot cause a fire should it ever overheat ElectroCraft recommends that the shunt resistor be placed in a well ventilated location and be kept away from flammable materials The shunt operates in conjunction with a transistor switch that places it across the motor high voltage rail Shoul
17. PRODUCT USES AN EXTERNAL SHUNT RESISTOR PRECAUTIONS MUST BE FOLLOWED TO PREVENT A POSSIBLE FIRE HAZARD Never mount the external shunt resistor where it can make contact with flammable materials flammable liquid and or flammable chemicals If the ACE500 contains an optional shunt resistor mounted internal to the chassis it too must be kept away from flammable materials flammable liquid and or flammable chemicals Never use the ACE500 either with or without a shunt resistor of any type in an explosive atmosphere Never place the shunt resistor in the proximity of flammable materials that could melt or drop upon the shunt resistor body or the ACE drive THIS PRODUCT USES HIGH VOLTAGE ELECTRIC POWER AND POSES A SHOCK HAZARD TO THE USER Shunt resistor s function using high voltage electric power Avoid physical contact with them whenever the ACE500 has power applied Shunt resistor s can also become extremely hot Follow the precautions stated below and in conjunction with the manufactures precautions to help prevent a fire hazard The electrical terminals of shunt resistors are also a shock hazard High voltage electricity is present on these terminals whenever the ACE500 has power applied A safety cover or shield is recommended to avoid a shock hazard In most applications when heavy dynamic braking and or regenerative braking are involved the ACE500 will require an external shunt resistor ElectroCraft recommends using Isotek model ULH U
18. d the transistor ever fail in the ON condition the resistor would remain powered continuously This could result in the shunt resistor becoming very hot A user supplied heat shield may be required to limit a possible fire hazard The selected wattage rating for the shunt resistor is application dependent Usually a heavy duty wire wound resistor will work best However not all wire wound resistors are suitable for shunt service ElectroCraft has found the Ohmite type 250 series works reliably in many shunt applications If the user is supplying their own shunt resistor contact ElectroCraft for further application advice Ask for Field Application Bulletin 4101 0195 Dimensional Drawing Optional External Shunt TOP VIEW 196 00 mm 19 00 mm 17 00 mm 215 00 6 5 30 mm 2 SIDE VIEW 175 00 60 00 mm 1000 mm FOR REFERENCE ONLY Figure 10 Isotek model ULV300 vertical mount Note Please visit the Isotek web site for current dimensional specifications ElectroCraft Inc 36 ACES00 User Manual 15 Model Identification ACE 50 X XXX XXXX Model Designator Power Specifications 50 Drive Customization Code 0 Standard 1 Factory Special 2 European version 3 400VDC Buss non UL Drive Mounting 0 Standard L Chassis Safety Cover 0 None 1 Standard 2 Special Supplemental Cooling 0 None 1 Heatsink Drive Parameters
19. d when placing packing material around all external connectors to prevent mechanical stress damage All material to be returned to ElectroCraft must have a Return Material Authorization RMA tracking number assigned before shipment This may be obtained by contacting the ElectroCraft Service Dept Any product returned without this number will be rejected by ElectroCraft Always insure your shipment for the proper replacement value of its contents ElectroCraft will not assume responsibility for any returned goods that have been damaged outside of our factory because of improper packaging or handling All goods shipped to ElectroCraft must be shipped FREIGHT PREPAID ElectroCraft Inc 11 ACES00 User Manual Recommended Cabling and Installation 5 TERMINATE SHIELD TO COMMON GROUND TERMINATE SHIELD TO COMMON GROUND AS SHOWN SEPARATELY FROM ANALOG GROUND DO NOT CONNECT SHIELD TO FRAME TERMINATE SHIELD AT THIS END ONLY DO NOT CONNECT SHIELD AT MOTOR END OPTIONAL 00 ADAPTER CABLE 1 RS 232 TO DB 9 15247 1 COMMUNICATION 3 INTERFACE 50 BTS ENCODER ud HALLS OPTIONAL 3 QUICK START 82 5VDC 2 HALL 1 2 lt se H WE 1 2 5VDC OUT e ENABLE RESET COMMON GROUND RUN ENCODER A 7
20. d wires for signal and encoder feedback lines 8 Always use the specified power supply voltage An incorrect voltage may result in burning Be particularly careful where the power supply is unstable An incorrect power supply may result in damage to the product 9 Install external breakers or other safety devices against short circuiting in external wiring Failure to Observe this caution may result in fire or damage to the control Life Support Policy READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE ACES00 SERVO DRIVE GIVE SPECIAL ATTENTION TO ALL BOLD PRINT ITEMS ElectroCraft s products are not authorized for use as critical components in life support devices or systems without the express written approval from ElectroCraft MI Incorporated Life support devices or systems are devices or systems which are intended for surgical implant into the body or support or sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the User s Manual and in the labeling can be reasonable expected to result in a significant injury to the user A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness ElectroCraft Inc 10 ACES00 User Manual Checking Product on Delivery When your package arrives inspect the shipping
21. de and toggle the RUN line B High Hardware or line power problem The drive is placed in Correct problem and 7 or too much regeneration due to standby mode toggle the RUN line aggressive deceleration Shunt Fault Shunt is on continuously longer The drive is placed in Toggle the run line If 8 than 5 seconds standby mode repeated faulting occurs consider selecting a larger shunt 9 Power Module Fault The drive is placed in Toggle the RUN line standby mode Memory Fault Either line side processor The drive is placed in Either follow instructions program checksum fault or new standby mode for installing new firmware 10 version installed on line side or reprogram processor processor and then toggle the RUN line Locked Rotor Fault Delivered current exceeded The drive is placed in Change locked rotor 1 locked rotor current fora period standby mode parameters or free motor exceeding selected safe limit and toggle RUN line without a new Hall state Line Side Hardware problem or software The drive is placed in Toggle RUN line or toggle 12 Communications timing problem causing loss of standby mode Enable line then RUN Fault communication detected by line side 13 SELV 5 Volt Fault Incorrect user supplied 5 Volt The drive is placed in Correct user supply and supply standby mode toggle RUN line SELV side Hardware problem or software The drive is placed in Toggle RUN line or toggle 14 Communications timing problem causi
22. e linked together to form an ACE500 servo operating mode ACE500 software components are stored in ROM memory as a run time library These components exist as Reference input modules Feedback modules PI D control modules commutation modules and firmware extension modules ElectroCraft Inc 6 3 1 ACES00 User Manual Product Safety Precautions READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE ACE SERVO DRIVE GIVE SPECIAL ATTENTION TO ALL BOLD PRINT ITEMS WARNING THIS PRODUCT USES HIGH VOLTAGE ELECTRIC POWER AND POSES A SHOCK HAZARD TO THE USER To operate your control successfully these minimum safety precautions MUST be followed to insure proper performance without injury to the operator and damage to motor or control FAILURE TO OBSERVE THESE SAFETY PRECAUTIONS COULD RESULT IN SERIOUS BODILY INJURY INCLUDING DEATH IN EXTREME CASES Operation 1 Do not touch any of the output connector pins from connectors P1 P2 or when power has been applied The voltages at these connector pins are dangerous and can produce an electric shock Bare wires from adjacent connector pins must never be allowed to touch one another 2 The ground stud must be connected to an external earth ground Follow wiring procedures carefully Know and understand which connectors are NOT electrically isolated from the AC DC voltages within the drive 3 Always operate the control within the prescribed voltage limits Any attempt to operate
23. e the cover if one has been supplied Each model has dangerous voltages on the circuit boards and may store a high voltage charge for several minutes after being disconnected Do not damage press exert excessive force or place heavy objects on the cables Failure to Observe this warning may result in electric stock stopping operation of the product or burning Do not service or modify this product Only authorized personnel must perform disassembly or repair of the drive Failure to observe warning may result in injury or damage to product To avoid a shock hazard always wait at least 5 minutes after disconnecting power from P1 before physically touching any internal circuits or external terminals Residual voltage may cause electric shock If necessary use a functioning voltmeter to be certain that all high voltage capacitors inside the ACE500 are fully discharged before physically touching internal circuits or external terminals ElectroCraft Inc 8 ACES00 User Manual 3 2 Storage and Transportation 1 Do not store or install the product in the following place a Locations subject to temperature outside of the range specified Locations subject to humidity outside the range specified Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases and liquids Locations subject to dust salts or iron contaminants Locations subject to exposure to water oil or ch
24. emicals g Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock damage to the product 2 Donothold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction 3 Store the ACE500 drive when not in use in temperatures between 20 to 85 degrees C 3 3 Installation 1 Take appropriate and sufficient countermeasures when installing systems in the following locations a Locations subject to static electricity or other forms of noise b Locations subject to strong electromagnetic fields and magnetic fields c Locations subject to possible exposure to radioactivity d Locations close to power supplies including power lines Failure to observe this caution may result in damage to the product 2 Keep any external shunt resistor away from flammable materials Read Section 14 carefully for more shunt installation details 3 Never use this product in an environment subject to liquids corrosive chemicals or gases or combustibles or where foreign materials are allowed to fall onto or collect inside the drive Failure to observe this caution may result in electric shock or fire 4 Do not place heavy objects on the product Failure to observe this warning may result in stopping operation of the product 5 Do not cover or prevent air from escaping or entering through the vents with obstruction or fore
25. g Pin 1 0 Description Output Shunt Resistor Connection for external user supplied shunt resistor The other side of the external shunt resistor connects to terminal 2 or 3 Output Bus Motor Rail High Voltage DC positive rail for motor power This terminal is used for connecting external supplemental capacitance and or an external user supplied shunt resistor Peak voltage is at this terminal Output Bus Motor Rail High Voltage DC positive rail for motor power This terminal is used for connecting external supplemental capacitance and or an external user supplied shunt resistor Peak voltage is at this terminal Output Bus Motor Rail High Voltage DC negative rail for motor power This terminal is used for connecting external supplemental capacitance supplied by user 6 5 7 P3 Connector Motor Phase Output plug Pin 1 0 Description Output Motor Phase 1 Peak voltage out of this terminal is dependent upon the incoming crest voltage on connector P1 Peak amperage is model dependant Output Motor Phase 1 Peak voltage out of this terminal is dependent upon the incoming crest voltage on connector P1 Peak amperage is model dependant Output Motor Phase 1 Peak voltage out of this terminal is dependent upon the incoming crest voltage on connector P1 Peak amperage is model dependant ElectroCraft Inc 20 ACES00 User Manual
26. his page is intentionally left blank ElectroCraft Inc 31 ACES00 User Manual 13 ACE500 Interface Circuitry 13 1 J1 RS232 Communications Interface MAX3232 J1 N C TXD GROUND RTS RXD CTS N C Og ON JOUR GIN gt GROUND Figure 7 RS232 Communications Interface Circuitry ElectroCraft Inc 32 13 2 J2 Digital and Analog I O CONNECTOR J2 SIGNAL INTERFACE I O DETAILS 3 3K 5VDC gt s 1 74 14 23 25 10K 5 6V sam 4AN 6 2V 1 om 1 ANA t gt M H 74LVC14AN 25 GROUND p 5VDC IN 7 10K 5 6V x7 GROUND 74LVC14AN COMMON GND 2 N C 5VDC IN 3 1 enone S we wel 5 22 RUN 6 WV BRAKE 7 3 3K GROUND gt 2 amp 74LVC14AN COMMON GND N C SEE 24 4 r L AGND gt 741 14 10K AND 1 74LVCB6AD 2 COMMON GND 5VEXT VV GROUND 1 1000pF 6 8K 68 FRAME DHK 8 45K BAV7 6 8K 5 6 8K B FRAME BAW56 3 3VDC Fa TLE2142CD ANALOG GROUND W NNN 16 9K 1 ANALOG GROUND 5VEXT 1000pF 6 8K 6 8K T m 2 10K SAVIO 6 8K gt 6 8K P 5 E TLE2142CD 3 3VDC 10K 16 9K ANALOG GROUND 74AHCT14AN 100 Ohm ACES00 User Manual
27. ign object Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire 6 Provide the specified clearance between the drive and the control panel or with other devices Provide sufficient space around the drive for cooling by natural convection or provide cooling fans to prevent excessive heat see section 5 3 for details Failure to observe this caution may result in fire or malfunction ElectroCraft Inc 9 3 4 3 5 ACES00 User Manual Wiring 1 Verify ALL wiring BEFORE applying power to the control and motor Motor may spin or oscillate uncontrollably if improperly wired Drive may be damage or improper wiring may prevent drive from operation 2 Thethreaded ground stud MUST always be mechanically and electrically connected to an appropriate external earth ground 3 Connect the ground terminal to the electrical codes ground resistance should be less than 10 ohms Improper grounding may result in electric shock or fire 4 Do not connect three phase or any supply power to the U V and W terminals Failure to observe this caution may result in injury or fire 5 Securely connect the power supply terminals and motor output terminals Failure to observe this caution may result in fire 6 Donot bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30cm 7 Usetwisted pair shielded wires or multi core twisted pair shielde
28. ion mode servo amplifier The ACE500 is designed to operate a single 3 phase Brushed or Brushless DC or AC permanent magnet motor The motor may have either a WYE or Delta wound stator The ACE500 provides commutation using Hall sensors or encoder feedback The ACE500 Torque Velocity or Position modes accept 10 volt DC analog or digital PWM Theory of Operation The ACE500 operates as a mode configurable digital servo amplifier This product is typically applied as a component within an end use industrial application Within industry application requirements for servo amplifiers vary widely For example one application may require an amplifier with an analog input reference for speed Another application may require an amplifier that offers torque control and Hall sensor commutation only For this reason the ACE500 offers a choice of many different servo operating modes This flexibility is made possible because all of the control functions within the ACE500 are implemented in software The ACE500 physical I O and closed loop functionality are selected using the ElectroCraft CompletePower M Plus software setup utility See Section 7 Introduction to the ElectroCraft CompletePower Plus software and the ElectroCraft CompletePower Plus software User Manual for additional information on using this software The internal firmware architecture of the ACE500 is modular ACE500 software is built as a series of components or modules that ar
29. ng loss of standby mode Enable line then RUN Fault communication detected by SELV side 15 Over Speed Fault Motor rpm VL LV The drive is placed in Toggle RUN line or toggle standby mode Enable line then RUN Note To toggle the run command set the Run Standby signal logic 0 state for 100mS then back to a logic 1 ElectroCraft Inc 21 7 2 7 3 7 4 7 5 User Power LED Green ACES00 User Manual LED Description Possible Cause Result Recovery Method ON 5 VDC Power On if user power is on Required to Run N A Indicator OFF 5 VDC Power No user supplied 5 Drive will not Run Apply 5volts Indicator volts Line Side Power LED Green LED Description Possible Cause Result Recovery Method ON 5 VDC Power Logic power is on Required to Run N A Indicator OFF 5 VDC Power Logic power is not on Drive will not Run Check AC power Indicator Line Side Current Limit LED Red LED Description Possible Cause Result Recovery Method ON Steady State Drive in Reset Toggle the DRIVE ENABLE signal ON During Power Soft Charge Allow 5 second power up Up Relay Opened delay to allow internal capacitors to charge OFF N A Soft Charge N A Complete Relay Closed DIM Flickering Current is sensed to N A Drive current be more than the limit calibrated drive capacity Line Side Shunt Status LE
30. oltage Max Input voltage differential J3 Halls Input voltage range Low level voltage Low level input current Input hysteresis Other Thermal resistance Frame isolation voltage withstand Operating temperature Storage temperature Humidity Weight Common mode referenced to GND 25 to 25 Differential peak A to A BtoB ZtoZ 30 to 30 RS422 receiver A to B to B Z to Z operating A es a 4000 VAC Conditions Transient peak Operating Internal 1 K pull up to 5V Case to ambient GND to Frame powered Not powered Non condensing The remainder of this page is intentionally left blank ElectroCraft Inc 28 ACES00 User Manual 11 ACE500 Dimensional Drawing Units mm in o I 131 70 5 19 103 950 mm 4 09 27 75 mm 1 09 9 225 12 62 mm 0 50 5 43 mm 0 21 17 169 83 mm 6 69 162 56 mm 6 40 175 26 mm 6 90 o 4 57 mm 0 18 Figure 5 ACE500 Package Outline Side View ElectroCraft Inc 29 ACE500 Dimensional Drawing continued Units mm in o o r 4 73 57 mm 2 90 49 48 mm 1 95 49 53 mm 1 95
31. ors faces preferably left or right When installing the ACE500 provide at least 10 mm 0 39 in between units or control panel and at least 50 mm 1 97 in above and below each drive Install cooling fans above or below the drive to maintain a constant temperature inside the control panel and to prevent an excess temperature rise around the drive Rack Mount Install the ACE500 vertical to the wall so that the front containing connectors faces outward When installing the ACE500 side by side provide at least 10 mm 0 39 in between units or control panel and at least 50 mm 1 97 in above and below each drive Install cooling fans above or below the drive to maintain a constant temperature inside the control panel and to prevent an excess temperature rise around the drive ElectroCraft Inc 14 ACES00 User Manual 6 4 Simplified ACE500 Internal Block Diagram This following diagram is provided to familiarize the user with the internal architecture of the ACE500 An internal digital signal processor DSP is used to read 1 0 signals motor feedback signals and to process serial communication messages ROM memory inside the ACE500 is used to store a library of modular software components RAM memory is used for data logging and graphical tuning of the ACE500 The serial EEPROM provides nonvolatile memory for retention of user configured parameters and operating mode EEPROM memory is also used to extend the program functionality of the A
32. output impedance Zero to 5 Volt logic signal Negative true output signal Logic 1 state indicates drive is NOT in a Fault mode 24 Output Ready Output 0 to 5 VDC logic signal Logic O when drive is in Standby or Reset Logic 1 when drive is in Run mode and ready to deliver current 25 Frame Ground OPTIONAL Factory option to connect to servo drive frame Its configuration for this purpose may violate certain safety agency requirements Consult ElectroCraft 26 J1 Connector Frame Connector shell is connected to servo frame ground 6 5 3 J3 Connector Motor Feedback DB 15 Receptacle w metal shell Pin I O Description 1 Input Hall signal Input S1 2 Input Hall Signal Input S2 3 Input Hall Signal Input S3 4 Output 5 Volt DC Hall Encoder supply voltage 5 Output Common 6 Input A Encoder Signal Input 7 Input IA Encoder Signal Input 8 Output Common 9 Input B Encoder Signal Input 10 Input IB Encoder Signal Input 11 Factory Optional Servo Frame Ground Normally this pin is not connected 12 Input Z Encoder Signal Input 13 Input 17 Encoder Signal Input 14 Input PTC thermal switch contact for motor temp sensing 15 Input PTC thermal switch contact for motor temp sensing Case J2 Connector Frame Connector shell is connected to servo frame ground ElectroCraft Inc 18 ACES00 User Manual 6 5 4 J4 Connector Dual CAN Communication
33. outside these bounds may result in damage to the unit 4 Read ElectroCraft s Life Support Policy in section 3 5 for application limitations 5 Follow precautionary guidelines in this manual with regard to proper installation of an external shunt resistor See Section 14 of this manual 6 Donotoperate the control in an explosive area or near explosive or flammable materials 7 Do use the control in environments where it is likely to be exposed to strong and or frequent static discharge 8 Conducttrial operations on the servo drive alone with the motor shaft disconnected from the machine to avoid any unexpected accidents Motor shaft should be uncoupled and free to rotate without coming in contact with user or any stationary object during set up and preliminary operation 9 Under no circumstances should a phase output from the control be connected to anything other than a passive inductive resistive motor load Short circuit protection for the drive is limited to momentary conditions only Repetitive short circuits on any of the output pins for P3 will likely cause permanent damage to the ACE500 10 Never touch any moving parts while the motor is running Failure to observe this warning may result in injury ElectroCraft Inc 7 11 12 13 14 15 16 17 18 19 20 21 22 23 ACES00 User Manual Excessive speed and current can destroy some motors and possibly injure the user Check
34. ply current externally limited to a ee 5VDC User Supplied Encoder Inputs Hall Inputs and Digital 1 4 75 to 5 25 V regulation 5VDC User Supplied Encoder Inputs Hall Inputs and Digital I O 250 minimum mA current required P3 Motor Outputs No additional heatsink 15 10 6 Short circuit withstand Phase to phase phase to ground phase to Amp Short circuit protection 3 to 4 uS E HE E Phase current 5Amp Phase Voltage 48V Programmable PWMPER parc aee J2 Digital I O Maximum Ratings Input voltage All inputs opto isolated referenced to COM Input current All inputs opto isolated referenced to COM Output voltage All outputs Output current All outputs J2 Digital Inputs On state voltage threshold Off state voltage threshold On state current 1 0 to 2 0 0 6 to 1 5 20 uA Referenced to com Referenced to com 0 J2 Analog Inputs Input voltage Common Referenced to AGND 10 to 10 mode Input voltage differential Nominal operating Input impedance Differential Input impedance Common mode referenced to AGND Analog ground current Maximum AGND to GND Referenced to com On state current 15 mA On state current On state voltage drop ElectroCraft Inc 27 ACES00 User Manual ACE500 Electrical Ratings continued Ratings at Temperatures 0 50 C unless otherwise noted Parameter J3 Encoder Inputs Input voltage Max Input v
35. ps for many other popular US and foreign motor manufacturers A listing of these additional motor manufacturers may be obtained from ElectroCraft upon request Using ElectroCraft CompletePower Plus To establish the correct motor phasing for a new or unknown motor ElectroCraft has provided a Windows based setup utility Please refer to the ElectroCraft CompletePower M Plus software user manual to setup your drive and analyze the performance of the drive as well as the motor Getting Started To make use of this feature proceed as follows 1 Install ElectroCraft CompletePower M Plus software onto user PC 2 Connect all motor phase and feedback wires to the drive 3 Place drive into standby 4 Connect power and establish communications 5 Loada starting parameter set Use default supplied in drive user saved parameter set or contact ElectroCraft for assistance 6 The motor should now be properly phased for the ACE500 You can now proceed with drive loop tuning ElectroCraft Inc 26 ACES00 User Manual 10 3 500 Electrical Ratings Ratings at Temperatures 0 50 C unless otherwise noted Conditions Supply Supply voltage Nominal operating single phase Supply current surge Inrush pulse duration 100mS Supply current idle No load condition mA Supply current operating SSS ea Over Voltage protection Internal peak supply limited O VAC Reversed polarity withstand Continuous sup
36. s Ports RJ 45 Receptacle 6 5 5 Pin 1 0 Description In Out CAN HI CAN Bus Communication In Out CAN LOW CAN Bus Communication Common Return NO CONNECT NO CONNECT CAN SHIELD CAN GROUND UW 5V Note These are optional connectors that are wired in parallel The same pin out for both connectors WARNING THIS PRODUCT USES AN INTERNAL OR EXTERNAL SHUNT RESISTOR PRECAUTIONS MUST BE FOLLOWED TO PREVENT A POSSIBLE FIRE HAZARD The connectors P1 and P2 shown below have High Voltage power applied to several of the associated pins Use extreme care when making wire connections to them All external electrical power should be OFF whenever wiring to these connectors to avoid a shock hazard Refer to the Product Safety Precaution section 3 The use of shunt resistor either internal or external requires careful placement to avoid a possible fire hazard See section 14 of this manual for further precautionary details For information pertaining to mating connectors refer to section 12 P1 Connector AC DC Power Input plug Pin I O Description 1 AC Input 90 to 254 VAC 50 60 Hz 1 Phase AC or 120 to 360 Volts DC 2 AC Input 90 to 254 VAC 50 60 Hz 1 Phase AC or 120 to 360 Volts DC ElectroCraft Inc 19 ACES00 User Manual 6 5 6 P2 Connector External Shunt Resistor or External Supplemental capacitance plu
37. snnrnnsnnsnnsnnsne 11 Recommended Cabling and Installation essere 12 ACE500 Installation and Setup 0 0 ccccsssescescseseeesesescesseecseceeseesesseaceceecaeseeseeaeseeaseecaeeesentaes 6 1 Mounting the AGE500 6 2 Environmental Conditions essen 6 3 Installation in the Control Panel Base MOU dE Rack MOU ertet der reet eec repa 6 4 Simplified ACE500 Block Diagram esee seen tnn nnns 6 5 500 Connector Description 00 eene enne enne nnne nnne 6 5 T JT RS232 he de E Ges de LE D te Pe 6 527 J2 1 0 diae hee qve np QUI Ua EEE 6 5 3 JB Motor Feedback ccs ona eerte detinere ederent 6 522 145 sep NARA eee e etel e ke i e e 6 5 5 PIYPOWEFINPUE Hee den eR ee te aa ESSE V Ete eR een 6 5 6 P2 External Shunt Capacitance ccccccscscsesesssscsesesseecsescsscscseseeeecseseaeseees 6 5 7 1 P3 Motor Phase uie ine a E 7 ACE500 Status LED s ec aper rre 7 1 eio ete d o et et yere ee vb AP Mk o RE 7 2 SETAA E A E E E E E et 7 3 Eine anke Se 7 4 Line Gurr nt anren roaa e re ee 7 5 Line Shunt E E NEE OAE E E teie brede 8 Introduction to ElectroCraft CompletePower
38. the motor manufacturer s specifications to ensure that the maximum current and voltage for your control model does not exceed their limitations External methods are advisable to limit both the top speed and travel motion of the motor and its load Whenever the ACE500 drive is disabled for any reason the motor is placed into a free spinning coast mode When using the servomotor for a vertical axis install safety devices to prevent work pieces from moving due to occurrences of over travel Failure to do this may cause injury to work pieces or person Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safely Failure to observe this warning may result in injury Do not parallel multiple motors off the same control Do not make any extreme adjustments or settings changes of parameters Failure to observe this caution may result in injury due to instable operation Do not turn the control on or off frequently unless necessary Failure to observe this caution may cause internal parts to deteriorate Avoid plugging connector P1 into the control while live power is applied to the connecting cables Ignoring this precaution will cause electrical arcing at the connector pins which can cause permanent connector damage Do not remove the connectors on ports J2 J3 P1 P2 or P3 from the control while the motor is operating Do not remov
39. tion of the ACE500 series of digital high voltage servo amplifiers manufactured by ElectroCraft MI Inc This document applies to serial numbers ending with xxxx 0109 and beyond The ACE500 amplifier is Software Configurable operation modes Torque Velocity and Position Selectable BLAC sine wave flux vector or BLDC Six step trapezoidal commutation 4 Quadrant performance Phase output PWM controlled output Full digital control of all loops Variable servo rate from up to 10 kHz Loop tuning via serial interface No potentiometers Drive setup amp status information available serially via RS232 link 90 254 VAC input power supply range Output current of 7 5 Amp continuous 15 Amp peak Compact package size ElectroCraft CompletePower Plus graphical windows interface for Setup Configuration and Tuning For further documentation support of software and its usage refer to the ElectroCraft CompletePower Plus software user s manual Parameters and Variables ElectroCraft Inc For further documentation support of parameters variables commands and graphing refer to the ElectroCraft Parameter Guide 2 1 2 2 ACES00 User Manual ACE500 Introduction Amplifier The ACE500 is a fully digital servo amplifier that uses DSP technology to provide a powerful feature set that is fully configurable by means of a RS232 serial port The ACE500 servo drive is configurable as a Torque Velocity or Posit
40. vision of this manual please check our web site or contact ElectroCraft The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product ElectroCraft MI Incorporated P O Box 7746 Ann Arbor Michigan 48108 USA Tel 734 662 7771 Fax 734 662 3707 http www electrocraft com Table of Contents 1 ACE500 Controller rsrrarnarnnrnorrovnrsvnrnvennvrnnvarvrrnvrsevessvesnvansvssvensvrsne 1 1 Overview Software Parameters amp Variables ACES00 User Manual 2 ACE500 Introduction Sse oh eee trn rade d dataen 6 2 1 Amplitier terre ehe es irte vent e e 6 2 2 Theory of Operation desde rte ie o 6 3 Product Safety Precautions 2222 2 0 00 02020000000 00 tria taste enses 7 3 1 Operation sees cts eee e dad PREX VR EE ata AERE Pi e PD e o en Heiss 7 3 2 Storage and Transportation esses eene nennen tnter nennt nnns 9 3 3 IristallatiOn de iude eve eorr eise iniret Eee ete ee dea diera ca 3 4 3 5 Life Support Policy Checking Product on Delivery rrrrnrrnrrnranronvenvrnvenvnnnrnrvrrnrnnvennnnnnnnnrnnensan nen van sen nann
41. ximum signal amplitude O Volts minimum 10K Ohm input impedance Positive true logic A logic 1 state will allow motor commutation once some level of current is commanded A logic 0 state places motor into a coast state 7 Input Dynamic Brake Command Signal Input TTL compatible 24 VDC maximum signal amplitude O Volts minimum 10K Ohm input impedance Positive true logic A logic 1 state will suspend motor commutation and current delivery from drive It shorts all three motor phases together to cause the motor s BEMF to generate a dynamic braking torque within the motor 8 Input General Purpose Digital Input TTL compatible 24 VDC maximum signal amplitude O Volts minimum 10K Ohm input impedance This input function is application specific Or I2C Clock Input OV 5V input signals 9 Input General Purpose Digital Input TTL compatible 24 VDC maximum signal amplitude O Volts minimum 10K Ohm input impedance This input function is application specific Or I2C Data Input OV 5V input signals 10 Input Common Return 11 Input Step or PWM Input 0 to 5 VDC logic signal TTL compatible 10K ohm internal pull down Used in step and direction mode Used with direction input 12 Input Direction Input Zero to 5 Volt logic signal TTL compatible 5 5 VDC maximum signal amplitude O Volts minimum 10K Ohm internal pull down Selects relative direction of Step command 13 Input Analog Common 14 Input AN1 Differential
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