User Manual: - Allied Motion
Contents
1. 2 1 2 Control Signal Shielding For higher EMI immunity and radiation some applications may require that signals from the control source be wired to the drive in a shielded cable This cable shield should be tied to the shielded housing of the Drive Control J2 mating connector It can also be beneficial for noise reduction to use twisted pairs for control signal wiring Signals such as Analog Input 1 and Analog Input 1 that are differential in nature may be wired in twisted pairs Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 11 of 23 ocn a Aled Motion iDrive for EnduraMAX Series BLDC Motors 2 1 3 Techniques Do not mix power and control signal wiring in the same conduit duct or wire tray without a minimum of one inch 26 mm separation Restrict all high voltage power wiring and power devices such as circuit breakers contactors fuses etc to an area separate from low level control wiring No heat generating devices such as transformers inductors braking resistors etc should be mounted near the motor The wiring must be properly strain relieved to ensure interconnects wiring and terminal connections do not become damaged 2 2 DC Power Connector J1 The DC input power wiring is made to J1 the DC Power connector Use care to ensure that the power connector is properly wired J1 is a 2 pin high current male female D sub connector Note that currents of2. AC CBS0004 3 m length 14 AWG cable kit AC CBL0003 AC CBL0005 AC CBLOOO9 IN Control is a Windows based software application which enables the user to configure and control from a PC the iDrive for the EnduraMAX Series BLDC motors The software and reference manual for IN Control are available for download at http controls alliedmotion com Home aspx Allied Motion Technologies Inc November 6 2013 34 2002 R5 http www alliedmotion com Page 22 of 23 P gps Aded Motion iDrive for EnduraMAX Series BLDC Motors 6 0 Revision History Revision Description of Change Date R1 Initial release October 2011 R2 Corrected pin numbering error in Table 2 January 2012 R3 Adjusted table leading and font Placed captions below figures to adhere to writing February 2012 standards Reorganized content Corrected part numbering errors R4 Edited Table 1 to clarify available options and corrected upper storage temperature November 2013 range Eliminated unimplemented secondary encoder input from available options Corrected J1 mating connector part number Revised troubleshooting procedure R5 Identified Analog Output as standard feature November 2013 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 23 of 23
3. D conversion of the analog input The A D conversion accuracy is 12 bits 10K 1 50K Analog Input 1 L O vN ADC1 10K Analog Input 1 LOAA PA Sse 3 01K iu COM Figure 3 Schematic Analog Differential Input Analog Input 1 2 3 4 Analog Single Ended Input There is one singled ended analog input available on pin 15 that is measured with respect to COM pin 14 Referred to as Analog Input 2 this single ended input is scaled to receive analog signals of 4 10 V with respect to COM pin 14 Analog Input 2 is configured as shown below It is also capable of being used as a 4 to 20 mA analog input as there is a 499 Q resistor which can turn the 4 to 20 mA current into voltage for the drive to read The input variable ADC2 represents the A D conversion of the analog input voltage The input variable A420 represents the A D conversion of the 4 to 20 mA current The A D conversion accuracy is 12 bits 10K 1 5K COM lt A A Analog In 2 SI 10K ADC2 4994 ds 01K COM Figure 4 Schematic Analog Single Ended Input Analog Input 2 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 14 of 23 T a a Axthied Motion iDrive for EnduraMAX Series BLDC Motors Table 4 Drive Control Connector J2 Pin No Function Description Direction 1 Digital Input 1 Input 3 to 60 V Input 1 KQ pull up to 3 3 V internal supply diode isolated 2 Digital Input 2 Input 3 to 60 V Input 1 KO pu
4. Faults and Troubleshooting 4 1 Fault Detection The following faults are detected and acted upon in the drive 4 1 1 Input Voltage Reverse Polarity Protection The motor drive is protected against reverse input voltages of up to 100 V Over Voltage Detection The motor drive is protected against input over voltages of up to 100 V If a DC bus voltage greater than 60 V is detected the drive is disabled and a Bus Over voltage fault is set Under Voltage Detection If a DC bus voltage less than 8 V is detected when the drive is enabled the drive is disabled and a Bus Under voltage fault is set PT Protection Continuous output currents are limited to the motor continuous rated current parameter IMAX of the drive s Motor Parameters Continuous current limiting is accomplished with an PT current limiting scheme Short Circuit Protection The drive is fully protected from phase to phase and phase to ground short circuits in the motor Drive Over Temperature The drive s power components are monitored for excessive temperature When the temperature limit is reached the drive is disabled and a Drive Over Temperature fault flag is set The drive temperature can be monitored in the IN Control user interface by displaying the variable TPWR The drive will flag an Over Temperature fault and be disabled if the drive temperature reaches 100 C Fault Monitoring and Resetting Faults can be reset through the IN Control user interf
5. a thorough inspection of the product upon arrival Examine the condition of the shipping container and materials If damage is found notify the commercial carrier involved It is the user s responsibility to file any necessary damage claims with the carrier Our products are shipped EXW ex works unless other arrangements have been made Allied Motion is not responsible for carrier mishandling Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 7 of 23 a a Aled Motion iDrive for EnduraMAX Series BLDC Motors IV Safety Read all provided documentation before assembly and commissioning Failure incorrect or improper use of this equipment can cause death personal injury and consequential damage Allied Motion disclaims any responsibility for such occurrence whereby unskilled and or untrained personnel have incorrectly installed the equipment Do not apply power to the motor without checking for proper wiring gt gt e The final responsibility for the safe use of this motor is solely that of the user Allied Motion has used its best effort in the preparation of this manual We reserve the right to make modifications and alterations to improve the content and amend errors may be made to it without notice Check the Revision History for a record of all published changes Allied Motion Technologies Inc http www alliedmotion com Novembe
6. ee se ee ee ee ee ee Ge Ge GR ee ee ee 14 2 4 CANopen Connector J 3 ees ses EES So N EN N te Se shoes e Ye de Se ME e HE e ERAN VERRE ERE E EES NE TU 16 2 4 1 CANopen Isolation and Power sese 16 2 4 2 Drive Power Control niet en oe De AG ED Ee e ge oa de a URN EOS 16 2 5 Modbus RTU Connector J3 ees ee se ee RA Ee AA Ee AA Ee ee AA ener enne enne 17 2 6 il ORE EE ee 17 2 7 GEREEN 17 3 0 Motor Temperature Ratings 0 0 cssissssssssseessssssessessassosssarsnessvosssosssosasensavooescossvosssoesnsesstonassosens 18 4 0 Faults and Troubleshooting scscccsssdssasccssosecsenssssaccesonessvecsssavassobecsssotestoccsanscssenssveceseuesdsessssenesewoses 19 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 3 of 23 oom a Aled Motion iDrive for EnduraMAX Series BLDC Motors 4 1 Fault DEEGU RE EE NE ER N N OE EOE 19 4 1 1 Input Voltage Reverse Polarity Protection esse ses esse see se se ee ee ee ee Ge 19 44 2 Over Voltase DetectIon eicere tee SR SEE REKE Re bed eot SE gee N sek Sek eters 19 4 1 3 Under Voltage Detection ese ee se Ge GR nnne nennen ee Ge 19 AMA IRE 19 4 1 5 Short Circuit Protection eesssssssssoesssessoesssesssessesssesssesssessseessesssesssesssessseesstessesss 19 4 1 6 Drive Over Temperature esse ese ee se Ge nennen nene nnn ee ee ee Ge 19 4 1 7 Fault Monitoring and Resetting
7. feed forward at 500 us Integral single turn magnetic encoder 4096 counts rev Depends upon motor winding choice Standard values include 12 24 and 48 VDC RS 232 460800 baud 8 bit no parity 1 stop no flow control IN Control software interface RS 485 Modbus RTU optional OR CANopen optional 6 digital inputs 3 digital outputs open drain 1 input 10 V 12 bit resolution 1 analog output 0 to 3 3 V 12 bit resolution OR 2 inputs 10 V 12 bit resolution optional The optional integrated brake is software controlled by the drive 40 to 85 C 65 to 125 C Over under voltage Short circuit protection Drive over temperature AT current fold back Allied Motion Technologies Inc November 6 2013 http www alliedmotion com 34 2002 R5 Page 10 of 23 Ee a Aled Motion iDrive for EnduraMAX Series BLDC Motors 2 0 Installation and Wiring This section summarizes the recommended practices for installation of motor drive equipment These practices are based on and consistent with IEEE Standard 518 1982 IEEE Guide for Installation of Electrical Equipment to Minimize Electrical Noise Inputs to Controllers from External Sources particularly Section 6 Installation Recommendations and Wiring Practices This standard should be followed during assembly of our product to the driven equipment Normal operation and use of the motor is prohibited until the end product complie
8. is an option with the EnduraMAX iDrive Series Brake control is described in the xiDrive Reference Manual see section IN Control Software 2 7 Fan Some models in the EnduraMAX iDrive Series are equipped with an external fan on the drive electronics This fan is activated only when the drive heat sink temperature exceeds 60 C Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 17 of 23 EI aa a Axthied Motion iDrive for EnduraMAX Series BLDC Motors 3 0 Motor Temperature Ratings The EnduraMAX motors have been evaluated for thermal performance Data regarding this testing is available in respective datasheets Each motor has been rated for its maximum performance i e torque and speed available under the following conditions Mounted to a 200 x 200 x 10 mm aluminum plate Ambient temperature is 23 C Still air The drive electronics have thermal sensing and are protected from thermal damage However motor winding temperature is not sensed If the motor is to be operated in conditions more severe than those described above derating of motor performance may be required Contact Allied Motion applications engineering for assistance in determining appropriate derating factors for operation in harsh environments Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 18 of 23 a a Aled Motion iDrive for EnduraMAX Series BLDC Motors 4 0
9. turn magnetic encoder with a resolution of 4096 counts per motor revolution Digital Inputs The drive has six discrete inputs that can be programmed for different purposes see Digital Inputs Digital Outputs The drive has three discrete outputs that can be programmed for different purposes see Digital Outputs Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 9 of 23 P gm Aded Motion iDrive for EnduraMAX Series BLDC Motors 1 7 Analog Inputs The drive has one differential analog input which can be used for different purposes see Analog Differential Input Optionally one single ended input is available on pin 15 in place of the standard analog output see Analog Single Ended Input 1 8 Analog Output An analog output is available on pin 15 of the Drive Control connector J2 The analog output can be programmed to output a 0 to 3 3 V signal that represents any of the drive variables described in the xiDrive Reference Manual see section IN Control Software Table 1 EnduraMAX Integrated Drive Specifications PWM 20 kHz 4 quadrant control DQ PI at 100 us PID PDF at 200 us Amplifier Type Current Loop Velocity Loop Position Loop Motor Feedback Input Voltage Drive Setup Network Communications Digital VO programmable Analog VO Brake Control Operating Temperature Storage Temperature Protection Features Proportional with
10. Allied Motion Technologies Inc 455 Commerce Drive Suite 5 Lum um Amherst NY 14228 Te lied Motion 716 242 7535 User Manual iDrive for EnduraMAX Series Brushless DC Motors Document Part Number 34 2002 R5 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 1 of 23 EE a a Aled Motion iDrive for EnduraMAX Series BLDC Motors This manual describes the installation and hardware operation of the EnduraMAX series BLDC motors with integrated drive manufactured by Allied Motion Technologies Inc Every effort has been made to ensure the accuracy of the information in this manual However Allied Motion assumes no responsibility for any errors or omissions The information contained in this document is subject to change without prior notice We welcome your critical evaluation and suggestions for improvements to be made in future revisions This manual is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Allied Motion Technologies Inc Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 2 of 23 EE a a Axthied Motion iDrive for EnduraMAX Series BLDC Motors Table of Contents I di 1 ER EE EE EE N N N 5 II dil e EE EE NEE EAEE ET AE E A EE 6 HI Tnspection upon Receipt csc se secssecexscvtodeesesacseoscoosesoe
11. O EPNER enne 16 Table 7 CANopen Connector and Compatible Mates eese emen 16 Table 8 Modbus RTU Connector J3 5 niea cese tle ceua et ace vage do deua eig La dU Ek ei 17 Table 9 Modbus RTU Connector and Compatible Mates sese 17 Table 10 Mating Connector Kit esee eene nnne en rennen 21 Fable 11 Assembled C able sie torte teneret e tree ee rotten e neu ee teh GE ER e RE e EN o hees 21 Table 12 Cable Kits as ee rete taii fissure e eie te abe ee ee Da EA ERE RES 22 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 5 of 23 ge a Alied Motion iDrive for EnduraMAX Series BLDC Motors II Figures Figure 1 Schematic Digital Inputs 1 Through 6 sese nemen 13 Figure 2 Schematic Digital Outputs 1 Through 3 eese ene 13 Figure 3 Schematic Analog Differential Input Analog Input 1 esee 14 Figure 4 Schematic Analog Single Ended Input Analog Input 2 esse esse esse esse eee 14 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 6 of 23 oem a Aled Motion iDrive for EnduraMAX Series BLDC Motors HI Inspection upon Receipt All Allied Motion products are thoroughly inspected and tested before leaving the factory Although our products are packaged with extreme care it is important that the user complete
12. ace by assigning a digital input as a fault reset input or by power cycling the drive Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 19 of 23 x cm a Aled Motion iDrive for EnduraMAX Series BLDC Motors 4 2 Troubleshooting 4 2 1 Motor Does Not Move Insure that the drive is powered This can be verified by communicating with the drive using IN Control The drive status is available in IN Control at the bottom of the program screen IN Control will display either DIS drive disabled ENA drive enabled or FLT drive faulted In the event of a fault consult the Diagnose screen in IN Control This screen will display drive fault information and allow the fault to be reset when problem is resolved Verify that you are supplying the correct DC voltage to the drive Check parameter VDC in the monitor window Verify that all the input and outputs are correctly wired Verify that a disabling input is not active Verify that the motor output is not blocked and that the brake if present is released If the motor does not move when in current mode verify that the maximum motor current IMAX is set to a sufficiently high value If the motor does not move when in velocity or position mode verify that the velocity loop parameters are set properly and that the torque limit TLIM is set to a sufficiently high value 4 2 2 Communication Errors Check the communication cable for p
13. ce is isolated from drive control power Input Connector Shell Screen Main screening earth Input Table 7 CANopen Connector and Compatible Mates Connector Type Wire Gauge Part No Manufacturer Mating Connector Part No 22 to 28 AWG male DB 9 0 08 to 0 32 mm WDT0 09MZBS6 Konmek HS0 15FTBO with HW1 1 shroud optional sealed connector 22 to 28 AWG Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 16 of 23 t ocn a Axthied Motion iDrive for EnduraMAX Series BLDC Motors 2 5 Modbus RTU Connector J3 Modbus RTU is an available option for the EnduraMAX iDrive Series Modbus RTU is a standard serial communication interface If the Modbus RTU option is incorporated into the drive it is available at the 9 pin male D sub connector Table 8 Modbus RTU Connector J3 Pin No Function Description Direction 1 COM RS 485 common Input 4 RS 485 2 wire negative VO 8 RS 485 2 wire positive VO Connector Shell Screen Main screening earth Input Table 9 Modbus RTU Connector and Compatible Mates Connector Type Wire Gauge Part No Manufacturer Mating Connector Part No male DB 9 0 08 to 0 32 DT0 09MBS6 Konmek DS0 09FTBO mm 1085 22 to 28 AWG male DB 9 0 08 to 0 32 WDTO0 09MZBS6 Konmek HS0 15FTBO with HW1 1 shroud optional sealed mm connector 22 to 28 AWG 2 6 Brake A holding brake
14. esee enne nennen 19 4 2 Troubleshooting 5 eoi t et iet Det entr e o Pre b Gee EE OH Re ees OH 20 42 1 Motor Does Not MOVE asse e ertet sk GE Se gee Ge i ee Pepe tei eed gd 20 4 2 2 Communication Errors ceececesecessceceeeeeeeeceeeaeceeaeeceaceeeaaeceeaaeceeneesaeeeeaaeceeaeeees 20 4 2 3 Erratic Motor Behavior recie reete ron rens He eainiie 20 5 0 System A CCOSSOFIOS cocos ideo npa Yao Yu de ses ERAS Ese eb eds REY Ge beg ee ee Ga ee ge ee Y Yn sa REVISE Re e es ee Ge gee ewe SUN 21 5 1 Mating Connectors and Cables essent rennen 21 5 2 IN Control RSOI ES EE ER EE N EN 22 6 0 Revision History ese dees 23 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 4 of 23 ocn a Aled Motion iDrive for EnduraMAX Series BLDC Motors I Tables Table 1 EnduraMAX Integrated Drive Specifications esse es se es see ee ee Ge Ge Ge RA ee ee 10 Table 2 DE Power Connector J 1 1 Se SN ES Ee ES ee Ge Ee Ad cresce Ge N Ge ei ee Ee Ko RE de EE de 12 Table 3 DC Power Connector and Compatible Mates eese 12 Table 4 Drive Control Connector J2 sees se ee RA GR ee inadina enne nnne nennt nnne nens 15 Table 5 Drive Control Connector and Compatible Mates serene 15 Table 6 CANopen Connector J3 i iese se ee Ee AA Ge AA htn nE UEIS EODH SEERNE RER
15. gh density DB 15 HS0 15FTBO 22 to 28 AWG male high density DB 15 0 08 to 0 32 mm WHTO 15MZBS6 Konmek HS0 15FTBO with optional sealed connector 22to 28 AWG HW1 1 shroud Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 15 of 23 a a Aled Motion iDrive for EnduraMAX Series BLDC Motors 2 4 CANopen Connector J3 CANopen is an available option for the EnduraMAX iDrive Series CANopen is a standard serial communication interface If the CANopen option is incorporated into the drive it is available at the 9 pin male D sub connector This connector conforms to the CANopen specification 2 4 1 CANopen Isolation and Power The CANopen port is optically isolated from the drive As such it requires that the CAN transceiver and isolation circuitry be powered from the J3 connector CAN power requirements are that power is to be supplied from CANV to CCOM The allowed voltage range is from 8 V to 28 V at up to 100 mA of current draw 2 4 2 Drive Power Control The drive will shut down and draw less than 100 uA of current from the power inputs when the voltage from CANV to CCOM is less than 2 V This feature allows the drive to be connected to a battery and be powered up and down with the CANV power input Table 6 CANopen Connector J3 Pin No Function Description Direction 6 7 8 9 CANH CAN positive communication line VO CANV CAN Power necessary as the CAN interfa
16. ll up to 3 3 V internal supply diode isolated 3 Digital Input 3 Input 3 to 60 V Input 1 KO pull up to 3 3 V internal supply diode isolated 4 Digital Input 4 Input 3 to 60 V Input 1 KQ pull up to 3 3 V internal supply diode isolated 5 Analog Input 1 10 V analog input 1 Input positive differential input 6 Digital Input 5 Input 3 to 60 V Input 1 KQ pull up to 3 3 V internal supply diode isolated 7 Digital Input 6 Input 3 to 60 V Input 1 KQ pull up to 3 3 V internal supply diode isolated 8 RS 232 receive RS 232 drive receive input Input 9 Digital Output 1 Output open collector Output 1 KQ source resistor 60 V 10 mA max 10 Analog Input 1 10 V analog input 1 Input negative differential input 11 Digital Output 2 Output open collector Output 1 KQ source resistor 60 V 10 mA max 12 Digital Output 3 Output open collector Output 1 KQ source resistor 60 V 10 mA max 13 RS 232 transmit RS 232 drive transmit output Output 14 Common for analog and digital inputs outputs VO 15 Analog Output 0 to 3 3 V 12 bit resolution Output OR OR OR Analog Input 2 10 V analog input 2 Input single ended read with respect to Common 500 Q resistance to Common 4 to 20 mA compatible Connector Shell Screen Main screening earth VO Table 5 Drive Control Connector and Compatible Mates Type Wire Gauge Part No Manufacturer Mating Connector Part No male hi
17. n RS 232 port enabling serial communication with the drive RS 232 Programming Cable 1 m length AC CBL0002 Interface Cable 1 m length AC CBL0003 J2 mating connector to flying leads Interface Cable 3 m length AC CBLOOO4 CANopen Modbus Cable 1 m length AC CBLOOOS J3 mating connector to flying leads CANopen Modbus Cable 3 m length AC CBLO0006 Power Cable 10 AWG 1 m length AC CBL0007 J1 mating connector to flying leads suitable for currents up to 30 A Power Cable 10 AWG 3 m length AC CBLO0008 Power Cable 14 AWG 1 m length AC CBLOOO9 J1 mating connector to flying leads suitable for currents up to 15 A Power Cable 14 AWG 3 m length AC CBL0010 Provides necessary conversion between RS 232 Programming Cable and USB port enabling communication with the motor drive from a PC using the IN Control software USB to RS 232 Converter Allied Motion Technologies Inc November 6 2013 http www alliedmotion com Page 21 of 23 34 2002 R5 P pe Aded Motion iDrive for EnduraMAX Series BLDC Motors 5 2 IN Control Software Part No Table 12 Cable Kits Assembled Cables Included AC CBS0001 1 m length 10 AWG cable kit AC CBL0002 AC CBL0004 AC CBLO0006 AC CBS0002 3 m length 10 AWG cable kit AC CBL0003 AC CBL0005 AC CBL0007 AC CBS0003 1 m length 14 AWG cable kit AC CBL0002 AC CBL0004 AC CBLO0008
18. r 6 2013 34 2002 R5 Page 8 of 23 a a Athed Motion iDrive for EnduraMAX Series BLDC Motors 1 0 Drive Features Certain models of the EnduraMAX brushless DC motor series include integrated drive electronics Models with a speed control only drive called sDrive models are not addressed in this manual Information for those drives may be found on the Allied Motion website EnduraMAX models that include a bidirectional torque velocity and position control drive called iDrive models are addressed in this manual EnduraMAX iDrive models are designed to operate from a DC voltage source They are programmable and can control motor current torque velocity or position They obtain motor position information from an integrated magnetic encoder See Table 1 for important iDrive specifications 1 1 1 2 1 3 1 4 1 5 1 6 Motor Command Modes The motor command modes supported by the drive are current mode torque mode velocity mode and position mode Motor Command Sources A motor command source can be derived from an analog input programmable digital input the IN Control user interface or network communications i e CANopen or Modbus RTU Communications The drive has an RS 232 serial communication port for drive setup and control via the IN Control user interface CANopen and Modbus RTU are available as communication bus options for control of the drive Motor Feedback The motor is fitted with an integrated single
19. roper wiring and loose connections Verify that the correct COM port is selected in the Connect drop down of IN Control 4 2 3 Erratic Motor Behavior Erratic motor behavior can be the result of improper motor and cable grounding See Grounding Shielding and Cabling for details Erratic motor behavior may also be the result of poor velocity or position loop tuning if the motor is being used in either of these modes Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 20 of 23 P gps Aded Motion iDrive for EnduraMAX Series BLDC Motors 5 0 5 1 Part No System Accessories Mating Connectors and Cables Standard iDrive accessories including mating connector kits assembled cables and cable kits as described below may be purchased from Allied Motion Contact Allied Motion application engineering to request further customization such as additional cable lengths and IP67 rated sealed connectors Table 10 Mating Connector Kit Description Connectors Included AC CNK0001 Part No J1 mating connector male female high current DB 2 w solder terminals J2 mating connector female high density DB 15 w solder terminals J3 mating connector female DB 9 w solder terminals Non sealed mating connectors Table 11 Assembled Cables Description Function AC CBL0001 J2 mating connector to female DB 9 suitable for connecting the motor drive to a
20. s with Directive 89 392 EEC Machine Directive and directive 89 336 EEC EMC Directive When required the machine manufacturer must prove that the complete system conforms to all relevant European Directives All equipment grounding should also be in conformance with applicable national and local electrical codes Failure to follow recommended procedures might result in incorrect system operation and void the product warranty 2 1 Grounding Shielding and Cabling Motion control systems contain circuitry that can be affected by electromagnetic interference EMI They also contain switching circuitry that can generate significant EMI at frequencies from 10 kHz to 300 MHz The potential exists for this switching noise to interfere with the correct operation of both the system and other electrical equipment in the vicinity Immunity to and generation of EMI is greatly affected by installation techniques Proper grounding is necessary for the motor and drive to work properly in a system There are several important system grounds that must be in place This section describes wiring grounding and shielding techniques effective in designing and integrating a motor drive system into your application 2 1 1 Motor Drive Grounding The motor drive is grounded through its front mounting plate Ground is also available through the shell connections of the DC Power connector J1 These grounds should be connected to earth ground in the user s system
21. ssecsvaessdeevecvseosssiesosesvesseesseeesdvecssodesosscnensevesssns 7 IV SAL OLY EE EE EE ee E 8 1 0 Drive FOature MR EE OE Sasss 9 1 1 Motor Command Mode see se ee ee AG RA AE Ee ee Re Ge ee RA ee ee 9 1 2 Motor Command Sotrces ENG SeSe rne EE NRS caves Se GE ena ER GEE IEAA Corona ERR pua Ee 9 1 3 COMMUMICAUIONS ji osse sg SEER eoa GES ae Se ede SE Gee GE ee AE Ge PER NAAS AREKAK 9 1 4 Motor Peedback ii tes secs en RE Ee EA 9 1 5 Digital Ge OE EE EE EE N 9 1 6 Digital ei EE EE OR N N N EE 9 1 7 Arialog ed ee N OE EE EG 10 1 8 Anal OO N N ME RE OE OD EE NG 10 2 0 Installation and Wiring sicecsseccssesscsssososescssensesssosasessscesoesssecassbsecesset seenssbsscsssesssscesessesssaesssvnsesssess 11 2 1 Grounding Shielding and Cabling 0 0 eee ee ee Se ee ee ee ee Ge Ge Ge Ge ee ee ee 11 2 1 1 Motor Drive Grounding sis sesse gek eg ees den sic ge GR Ko oe GEE ge ed ed 11 2 1 2 Control Signal Shielding ee eese eren rennen 11 2 1 3 Technigues aieo iret te duces avec ee de ge poeni deg Ee eg ae Ee bee 12 2 2 DE Power Connector JY ei Ke es As Re Ge ANS Ge EREE 12 2 3 Drive Control Connector 12 SERE Se GE Lc n De BE Ee ED GE TR RR EE 13 23 1 Digital Inputs Ree tereti ie met ee ete beet eie etie tue eae 13 2 3 2 Digital OUtputs scie pereo eter e Ob OH Allies 13 2 3 39 Analog Differential Inp t nete ertet ttn aeter se GE ke Eg t ke bed 14 2 3 4 Analog Single Ended Input ees see ee
22. th the input left open To activate the input the input voltage must be reduced to less than 1 V from COM Note that these inputs are active low logic They are inactive when left open and need to be driven low to be activated 3 3V Na 1K To uC Input 1 COM Figure 1 Schematic Digital Inputs 1 Through 6 2 3 2 Digital Outputs There are three digital outputs available on pins 9 11 and 12 The common for the outputs is pin 14 These are open collector outputs and can drive loads with voltages up to 60 V Load current is limited to 100 mA The outputs are current sinking only The outputs can be described as active low outputs as when software activates an output the transistor will turn on and the output will be low When the output is deactivated the output will be high as long as the user pulls the output up to a rail voltage with an appropriate load resistor 0 1 Amp OUTPUT 1 9 N VOERE from uC 4 y COM Figure 2 Schematic Digital Outputs 1 Through 3 Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 13 of 23 Killed Motion iDrive for EnduraMAX Series BLDC Motors 2 3 3 Analog Differential Input There is one differential analog input available on pins 5 and 10 Referred to as Analog Input 1 this differential input is scaled to receive analog signals of 10 V Analog Input 1 is configured as shown below The analog input variable ADC1 represents the A
23. up to 40 A may be handled by J1 Care should be taken to use the proper wire size for the application current that is expected At high currents voltage drops due to wire resistance in power wiring can cause lower than expected drive voltages and hence lower than expected maximum motor speeds Table 2 DC Power Connector J1 Pin No Function Description Direction A1 DC Input negative power connection Input female pin A2 DC Input positive power connection Input male pin Connector Shell Protective Earth main screening earth Input Table 3 DC Power Connector and Compatible Mates Connector Type Wire Gauge Part No Manufacturer Mating Connector Part No male female high current PS400N 2WK2FTB0 DB 2 10 to 24 AWG male female high current 0 2 to 5 3 mm WPR400N 2WKMBZ1 1460 Konmek PS400N 2WK2FTB0 HW1 1 DB 2 10 to 24 AWG optional sealed connector Allied Motion Technologies Inc http www alliedmotion com November 6 2013 34 2002 R5 Page 12 of 23 a a a Axthied Motion iDrive for EnduraMAX Series BLDC Motors 2 3 Drive Control Connector J2 The Drive Control connector is a 15 pin high density male D sub connector 2 3 1 Digital Inputs There are six digital inputs available on pins 1 through 4 6 and 7 The common for the inputs is pin 14 These inputs can be deactivated with voltages from 3 to 60 V with respect to COM pin 14 or wi
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