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Elmo Server 1.3 User's Manual

1. ANLIN1 m JIJI ANLRET ANLIN2 ANLIN2 S ANLRET a i V Mi SUPRET fa V IH Gi Manufacturer s As Per Controller Recommendations Figure 3 27 Analog Inputs Connection Diagram Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 8 2 Installation Digital Inputs on GENERAL 1 O Port The Tuba servo drive is equipped with a 25 pin D sub plug for digital inputs When assembling an I O cable for digital input follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies using a 25 pin D sub socket with a metal case The pins are described below Pin Signal Function Pin Position 1 N C Not Connected 2 IN 10 Programmable input 10 3 IN9 Programmable input 9 4 IN8 Programmable input 8 5 IN7 Programmable input 7 6 N C Not Connected 7 IN6 Programmable input 6 8 N C Not Connected 9 INS Programmable input 5 10 IN4 Programmable input 4 11 IN3 Programmable input 3 12 IN2 Programmable input 2 13 IN1 Programmable input 1 14 INRET10 Programmable inputs return 10 15 INRET9 Programmable inputs return 9 16 INRET8 Programmable inputs return 8 17 INRET7 Programmable inputs return 7 18 N C Not Connected 19 INRET6 Programmable inputs return 6 20 N C Not Connected 21 INRET5 Programmable inputs return 5 22 INRET4 Programmable inputs
2. Encoder 5v Supply Encoder Supply Return TUB0005A Figure 3 14 Main Feedback Interpolated Analog Encoder Connection Diagram Tuba Feedback A Resolver TUBO0006A Figure 3 15 Main Feedback Resolver Connection Diagram Tuba Installation Guide Installation 3 19 MAN TUBIG Ver 1 3 Tuba Feedback A Tachometer with Hall Sensor aE 1 e Dad 1 3 NET 1 HC mm BE I ME 10 NE 1 Ti E MET Var HB um A mum 2 EE i HA Cum 6 OK n mE mm Tacho m S M Up to 20Vmax 5 E RA Feedback input C Tacho 15 i i i only one tachometer port is available at a time CRW Tacho poa moi Up to 50Vmax 14 oa bog A Feedback input i d Tacho 12 pod 1 5V Vo Vo 4 5V pesi r E Encoder Hall 5v Supply SUPRET LU i i ya Hall Encoder Supply Voltage Return 1 1 TUB0008A Figure 3 16 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Tuba Tachometer Feedback A e 6 Taci um Tacho Up to 20v max Feedback input 5 TA Use with applications having a Taci Tacho Tacho voltage below 20v 45 Only one tachometer port is available at a time Tac2 Tacho Up to 20v max Feedback input 14 Use with applications having a Tac2 4 E Tacho
3. 5 2 o o S B T Haec MEM E a ac LT Fi Jer pepe e L sell BA PAR Wat E Be 5 Il li 7 Il se RR BILI E B B B BN B NB BOB B B a B8 B BOB Ng B dg Hal DI sa oz ES Sc E q MN p p g x 5o n o 22 S N 2 p gp 8 o 9 bs ro pos o o Rot 1H 8810 2 y 856 56 EE 5 5 b 5 sg 25 2 b 8 8 5 8 b 2 b 2 E 8 b Se Ze bis E GO Z woo 6 E or o E o r o E ya E E E E E 2 zk 42 358 2 3 g 2 5 5 5 zc Ei 53 E E E E E E 50 z z z z z z z z z c ag z Z zzz ss 5 Bo 2 gt gt gt as ez t x z t X Rl 5 ER o o o o 3 ES Z S z GH E 32 8 ha 88 lt H 2 i Elle e BA n amp ES lt B E EI a i E 4 H SCH E ii os 8 El t EE a T z ke o o aoe 25 ZO I a 0 mn ZO o bd CO i i z2 00 I I DO ba o E N n 5 cis ve E E c Ln L a ul 6 w e q L a 2 0 d o O St E 3 a lt 4 4 a db m Ss Q o o O o i 3 E i i ssi eel To i pe dresser cte esci t 1 i a d 3 li I os e t ei i s i amp x 5 a Il gs 8 1 SIRER QE Zo 3 3 i BE lt 5 s E s gt E 2 i F ist V i 3 o c LA Lai S t z d acli Tuba Installation Guide MAN TUBIG
4. 6 CAN SHLD Shield connected to the RJ plug cover 7 CAN GND CAN Ground a Table 3 14 CANopen Cable Pin Assignments Tuba Installation Guide Installation 5 49 MAN TUBIG Ver 1 3 CAN Controller CAN Interface i 6 e Drain KL e earen EE MEL e foo ME E Em A 0 a Mo Em r 3 lean eum o 207001f 011000 Shield of RJ connector 6 1 i Drain ni a E il E i i CAN_GND i WI No Rd CAN Interface 6 ni Drain Z7 MAS JEE mm f goi m I E CAN GND mo Shield of RJ connector i Drain O Wire o tai i m i i 2 i E 2 CAN_GND CAN Interface E Caution When installing CAN open communications ensure that each servo drive is allocated a unique ID Otherwise the CAN open network may hang 1200 Figure 3 31 CANopen Connection Diagram Tuba Installation Guide Installation 5 44 MAN TUBIG Ver 1 3 3 5 Powering Up After the Tuba has been mounted check that the cables are intact The Tuba servo drive is then ready to be powered up Caution Before applying power ensure that t
5. 15 460 20 460 Minimum supply voltage VAC 60 140 Nominal supply voltage VAC 1x115 1 x 230 3 x 230 3 x 400 3 x 460 Maximum supply voltage VAC 1 x 270 or 3 x 270 3 x 505 ea a W 3600 4500 6000 6800 8500 11300 Efficiency at rated power at nominal conditions S Auxiliary supply voltage VDC 24 15 Auxiliary power supply VA 20 Amplitude sinusoidal DC A 12 15 20 12 15 20 continuous current EE ii eed Age a 85 106 141 current limit Ic Peak current limit A 2xlc Built in shunt peak power kW 6 11 Weight kg 2 7 kg 5 9 Ibs 5 Ibs los Dimensions SC 247 x 190 x 92 9 7 x 7 5 x 3 6 Digital in Digital out Analog in WA Mounting method Wall mount Bookshelf or DIN rail A 6 Environmental Conditions Feature D etails Ambient operating temperature 0 C 40 C 32 F 104 F Storage temperature 20 85 C 4 185 E Maximum humidity 90 non condensing Protection level IP20 Tuba Installation Guide Technical Specifications A 6 MAN TUBIG Ver 1 3 A 7 Tuba Connections The following connectors are used for wiring the Tuba Pins Type Maker Part No Port 5 Motor M1 M2 M3 2 Ground PE PE 10 pole 8 mm pitch Molex terminal block 3 Power ACI AC2 AC3 2 DCLink B1 B2 2 Auxiliary Power 2 pole 0 325 8 mm pitch Molex terminal strip 24V Auxiliary Power Connector Locat
6. E PULSICHA Va ii Functionality Definition for Tuba YA 4 0 Tuba Functionality Definition YA 4 0 Feedback B TUB0012A Figure 3 26 Differential Pulse and Direction Input O ption on FEEDBACK B Connection Diagram Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 8 1 0 Cables Installation 3 33 The Tuba has three 1 0 ports ANALOG INPUTS DIGITAL INPUTS AND DIGITAL OUTPUTS which can be used to connect 2 analog inputs 10 separate digital inputs and 6 separate digital outputs Uo ELE ANALOGINPUTS GENERALI O COMMITTED 1 0 Total Analog Input 2 2 E Digital Input 10 Digital Output 6 6 3 4 8 1 Analog Inputs The Tuba servo driveis equipped with two differential freely programmable analog inputs The ANALOG INPUTS port has a 9 pin D sub socket When assembling an I O cable for analog input follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies using a 9 pin D sub plug with a metal case The pins are described below Pin Positions Pin Signal Function 1 ANLIN1 Analog input 1 positive 2 ANLIN1 Analog input 1 negative 3 SU PRET Supply return 4 ANLIN2 Analog input 2 positive 5 ANLIN2 Analog input 2 negative 6 ANLRET Analog return 7 8 9 ANLRET Analog return Table 3 10 Analog Input Pin Assignments Tuba Analog Inputs ANLIN1
7. 8 Environmental kaa A 18 Tuba Installation Guide MAN TUBIG Ver 1 3 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Tuba servo drive 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 Tuba and 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 Tuba servo drive contains electrostati c sensiti ve 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 possible 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 Warnin
8. D sub plug Connect the A uxiliary Feedback cable from the feedback deviceto FEEDBACK B using a 15 pin D Sub socket with a metal housing When assembling the A uxiliary Feedback cable follow the instructions in Section 3 4 4 Feedback and Control Cable A ssembli es Tuba Installation Guide Installation 5 5g MAN TUBIG Ver 1 3 Encoder Tuba Feedback B 5 ME Ge Encoder Supply SUPRET m PI NC qw Cm Voltage Return V 4 E mi gt 1 1 gt Cum Encoder 5v Supply 9 La vo m ny INDEX 1 ui toy mi lt i mm INDEX Aux 10 1 1 1 n Encoder CHB E E input p mu A cHe lt i M i EH cue kaa ii ps EE Tn A CHA S cha Encoder Input ea Tuba or Other Device K K SUPRET 12 rod EE SUPRET E SE INDEXO EE EE S E E i i UI i i INDEXO m ila o 14 ra Eo Output CHBO e 1 SC Butter A XH a 7 a E CHBO D A gt gt 9 _ 13 La TN CHAO pm CHAO SEN I iI Functionality Definition for Tuba YA 4 2 Feedback B Tuba Functionality Definition YA 4 2 Figure 3 23 Differential Auxiliary Encoder Input O ption on FEEDBACK B Connection Diagram Tuba Installation Guide MAN TUBIG Ver 1 3 Installation 3 29 3 4 7 3 Single ended Auxilia
9. Hall 5V Encoder Hall 5V Encoder Hall 5V Encoder Hall 5V supply 5V supply 5V supply 5V supply 5 CHA Channel A A SineA S3 SineA Tacl TadoInputl complement complement complement Neg 20V max 6 CHA Channel A A Sine A Sl SineA Tacl Tacho Input1 Pos 20V max 7 INDEX Index R Reference R2 Vref complmnt NC complement complement f 1 TS 50mA Maximum 8 INDEX Index R Reference R1 Vref f 1 TS POT Potentiometer 50mA Max Input 9 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 10 HB Hall sensorB HB Hall sensorB NC HB Hall sensor B input input input 11 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 12 45V Encoder Hall 5V Encoder Hall 5V Encoder Hall 5V Encoder Hall 5V supply 5V supply 5V supply 5V supply 13 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 14 CHB Channel B B CosineB SA CosineB Tac2 Tadolnput2 complement complement complement Neg 50V max 15 CHB Channel B B CosineB S2 CosineB Tac2 TachoInput2 Pos 50V max Table 3 4A Main Feedback Cable Pin Assignments 3 16 Tuba Installation Guide Installation MAN TUBIG Ver 1 3 Absolute Encoders TUB XX YYYQ Pin Signal Heidenhain Stegmann 1 HC Hall C Hall C 2 HA Hall A Hall A 3 SUPRET Supply retur
10. Interpolated Analog Encoder Sine Cosine 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 Tuba Installation Guide Technical Specifications A 11 MAN TUBIG Ver 1 3 A 9 5 Resolver Feature D etails Resolver format Sine Cosine Differential Input resistance Differential 2 49 KQ Resolution Programmable 10 15 bits Maximum electrical frequency 512 revolutions sec RPS Resolver transfer ratio 0 5 Reference frequency 1 Ts Ts sample time in seconds Reference voltage Supplied by the Tuba Reference current Up to 50 mA A 9 6 Tachometer Feature D etails Tachometer format Differential Maximum operating differential 20 V voltage for TAC1 TACI Maximum absolute differential 25 V input voltage for TAC1 TACI Maximum operating differential 50 V voltage for TAC2 TAC2 Maximum absolute differential 60 V input voltage for TAC2 TAC2 Input resistance for TAC1 TACI 46 kQ Input resistance for TAC2 TAC2 100 kQ Resolution 14 bit Only one Tachometer port can
11. Section 3 4 4 Feedback and Control Cable Assemblies using a 15 pin high density D sub plug witha metal case The pins are described below Table 3 12 Digital Outputs on Committed I O port Cable Pin Assignments Pin Signal Function 1 OUT1 Programmable output 1 2 OUT2 Programmable output 2 3 OUT3 Programmable output 3 4 OUT4 Programmable output 4 5 OUT5 Programmable output 5 6 OUTRET1 Programmable output return 1 7 OUTRET2 Programmable output return 2 8 OUTRET3 Programmable output return 3 9 OUTRET4 Programmable output return 4 10 OUTRET5 Programmable output return 5 11 OUT6 Programmable output 6 12 OUTRET6 Programmable output return 6 13 14 15 Pin Position Tuba Installation Guide Installation 5 37 MAN TUBIG Ver 1 3 Controller Tuba Digital Outputs Rout 200 OUTRETI Rout 200 OUTRET2 Rout 200 OUTRET3 Rout 200 OUTRET4 Rout 200 OUTRETS Rout 200 As Per Controller Manufacturer s Recommendations OUTRET6 Figure 3 29 Digital O utputs on COMMITTED UO port Connection Diagram Tuba Installation Guid
12. assembling the A uxiliary Feedback cable follow the instructions in Section 3 4 4 Feedback and Control Cable A ssemblies Tuba Installation Guide MAN TUBIG Ver 1 3 Installation 3 30 Encoder Tuba Feedback B Encoder Input Tuba Functionality Definition YA 4 2 Encoder Supply Voltage Return Encoder 5v Supply INDEX SUPRET Su E n Em gt T T V a E Ze 5v E gt 7 7 a EE P Em a T Aux 2 Encoder m E lt 1 oo CHB Input EN td Buffer E v 3 E N Tuba or Other Device V EN a SUPRET 12 il i SUPRET INDEXO 15 I INDEXO ES 1 gt m9 1 e Sue CHBO bi Buffer H i UI 7 i 1 CHBO ton 1 gt m CHAO 04 i EH chao ei Figure 3 24 Single ended Auxiliary Input O ption on FEEDBACK B Functionality Definition for Tuba YA 4 2 Feedback B Connection Diagram Tuba Installation Guide MAN TUBIG Ver 1 3 Installation 3 31 3 4 7 4 Pulse and Direction Input Option on FEEDBACK B YA 4 0 This mode is used for input of differential or single ended pulse and direction position commands on Port B1 In this mode Port B2 provides differential buffered pulse and direction outputs for another axis Below are the signals on the A uxiliary Feedback ports when
13. be used at a time either TAC1 TAC1 or TAC2 TAC2 TAC1 TACI is used in applications with having a Tachometer of less than 20V TAC2 TAC2 is used in applications with having a Tachometer of between 20V and 50V Tuba Installation Guide Technical Specifications A 12 MAN TUBIG Ver 1 3 A 9 7 Feature Potentiometer Potentiometer Format Operating Voltage Range Potentiometer Resistance Input Resistance Resolution 9 8 Feature Encoder Outputs Encoder output format Details Single ended 0 5 V supplied by the Tuba 100 Q 1 KQ above this range linearity may be affected detrimentally 100 kQ 14 Bit D etails A B Index Differential outputs Quadrature Interface RS 422 Port B1 output current capability Driving differential loads of 200 O on INDEX INDEX CHB CHB and CHA CHA pairs Port B2 output current capability INDEXO INDEXO CHBO CHBO and CHAO CHAO pairs are not loaded Available as options Two simultaneous buffered outputs of main incremental encoder input Two simultaneous emulated encoder outputs of the analog encoder input Two simultaneous emulated encoder outputs of the resolver input Two simultaneous emulated encoder outputs of the Tachometer Input Two simultaneous emulated encoder outputs of the Potentiometer Input Buffered output of auxiliary input Maximum frequency fmax 5 MHz pulses output Ind
14. ordered and ensure that the voltage meets your specific requirements Tuba Installation Guide Installation 3 5 MAN TUBIG Ver 1 3 3 3 Mounting the Tuba The Tuba has been designed for two standard mounting options Attaching directly to the wall with screws Mounting on aDIN rail With either type of mounting be sure to leave about 10 cm 4 in above and below the instrument for heat dissipation 3 3 1 Mounting Directly onto Wall The vertical mounting strip at the back of the Tuba enables you to screw the drive directly into a wall To mount the Tuba with the mounting strip 1 On the back of the drive push the mounting strip up until it clicks and locks The top lip with the hole should be exposed Figure3 1 Extending the M ounting Strip Mount the Tuba vertically onto the wall with two screws onethrough thetop hole of the mounting strip and one at the bottom Tuba Installation Guide Installation 3_6 MAN TUBIG Ver 1 3 3 3 2 Mounting on a DI N Rail At the top rear of the Tuba a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area To mount the Tuba on a DIN rail 2 Besurethatthe vertical mounting strip with the hole at the top is pressed down fully and does not protrude from the top of the instrument Figure 3 2 Mounting Strip Pressed Down Tiltthe Tuba back towards the top part of the DIN rail Figure 3 3 Attaching Top Part of Mounting Groov
15. protection 2 3 Feedback Connector 3 14 Options 2 2 A 8 Supply voltage A 9 Feedback A 3 15 FEEDBACK A 3 8 FEEDBACK A port 3 3 Feedback and Control Cable Assemblies 3 14 Feedback B Single ended Auxiliary Input Option 3 29 Feedback B 3 25 Differential Auxiliary Encoder Input Option 3 27 Emulated Encoder Outputs 3 25 Main Encoder Buffered Outputs 3 25 Pulse and Direction Input Option 3 31 FEEDBACK B 3 8 FEEDBACK B port 3 3 Feedback options A 9 A 10 A 12 A 13 Feedback Options A 1 G GENERAL I O 3 8 GENERAL I O port 3 3 GENERAL I O Port 3 34 Grounding 1 1 Auxiliary power cable 3 13 CANopen cables 3 39 Main feedback cables 3 14 Motor cables 3 11 RS 232 cable 3 38 H Hardware requirements 3 1 T O cables 3 33 T O Cables Analog inputs cable 3 33 Incremental Encoder 3 15 3 17 Initializing the Tuba 3 41 Input Output A 2 Installation 3 1 Interpolated Analog Encoder 3 15 3 18 M Main Feedback 3 8 Main feedback cable 3 15 Main Feedback Cable 3 15 Main Feedback Cable Pin Assignments 3 15 3 16 Main power cable 3 12 Main Power Supply Connection Diagram 3 12 Mains Motor Power amp External Regeneration 3 8 Maximum Relative humidity 3 1 Mechanical Specifications A 4 Mini Saxophone Connectors 3 8 Motion Control Modes A 1 Motor cables 3 11 Mounting Dimensions A 4 Mounting the Tuba 3 5 Directly on
16. set up to run as a single ended pulse and direction input Port Pin Signal Function Pin Position 1 INC do not connect this pin B1 2 DIR CHB Direction Auxiliary Channel B high input B1 3 PULS CHA Pulse Auxiliary Channd A high input PWR 4 45V Encode supply voltage PWR 5 SUPRET Encoder supply return B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output Vasa 8 NC do not connect this pin 15 Pin D Sub Socket 9 NC do not connect this pin 15 Pin D Sub Plug 10 N C do not connect this pin OPort B1 Power 11 N C do not connect this pin Port B2 ON C PWR 12 SUPRET Supply Return B2 13 CHAO Buffered Channel A complement output B2 14 CHBO Buffered Channel B complement output 15 N C do not connect this pin Table 3 8 Single Ended Pulse and D irection Auxiliary Encoder Pin Assignment on FEEDBACK B Port Pin Signal Function 1 9 same as table above BI 10 DIR CHB Gett Auxiliary Channd B low B1 11 PULS CHA Pulse Auxiliary Channd A low input 12 15 same as table above Pin Position 15 Pin D Sub Plug O Port B1 Power Port B2 ON C 120008800900 00090009 Table 3 9 Differential Pulse and Direction Auxiliary Encoder Pin Assignment on FEEDBACK B FEEDBACK Bon the front of the Tuba has a 15 pin D sub plug Connect the A uxiliary Feedback cable from the Pulse an
17. ssssssssssesseesseesssesseesssesssnessnesseesseessessseeeseeesneesoeesanecsnessnessnesseessnessneeaes 3 1 SE Before You BEGIN ERRE ARCA A 3 1 311 SiteRequirements ies ia 3 1 312 Hardware Requirements iii 31 3 1 2 1 AC Input Requirements rrenan 31 3 L2 2 Recommended Wire Cross sections All Models 3 1 3 12 3 Power Connector Sinn ariana ti 3 2 3 1 2 4 Communication Connectors iii 3 2 3 1 2 5 Feedback and I OConpnechors seen 3 3 3 1 2 6 Other Items Neecel AA 3 4 3 2 Unpacking the Drive Components eres 34 3 3 Mounting the TUDA ui 35 3 31 Mounting Directly onto Wall erra 35 3 32 Mounting on a DIN Rails ui KIA KI ena iaa eaba takei a t 3 6 EE Meed elle le EE 3 7 341 Wiring the Tubane iii e tette rie aaa ai 3 7 3 4 2 Connecting the Power Cables EEN 3 10 3 4 2 1 Connecting the Motor Cable nnns 311 3 4 2 2 Connecting the Main Power Cable sse 3 12 3 4 2 3 Connecting the DC Link Cable 3 12 3 4 3 Connecting the Auxiliary Supply Cable 24v sss 3 13 3 44 Feedback and Control Cable Assemblies mamaaa 3 14 3 45 Main Feedback Cable Feedback A eni 3 15 3 46 Main and Auxiliary Feedback Combinations sss 3 23 3 4 7 Auxiliary Feedback FEEDBACK BI 3 25 3 4 7 1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK BOCALIAEA nennen nennen nnne 3 25 3 4 7 2 Differential Auxi
18. wall 3 5 On DIN rail 3 6 P Ports ANALOG YO 3 8 COMM 1 3 8 COMM 2 3 8 2 Tuba Installation Guide Index 1 3 MAN TUBIG Ver 1 3 COMMITTED I O 3 8 FEEDBACK A 3 8 FEEDBACK B 3 8 GENERAL I O 3 8 Position control 2 2 Potentiometer 3 15 3 20 Power cables 3 10 Power Ratings A 5 Powering up the Tuba 3 41 Pulse and Direction Input Option 3 31 R Regeneration Cable 3 12 Regeneration Option External Resistor 3 12 Relative humidity 3 1 Resolver 3 15 3 18 RS 232 3 8 3 38 S Safety 1 1 Cautions 1 2 Compliance standards A 17 Standards 1 3 Warnings 1 2 Single phase operation A 16 Site requirements 3 1 Specifications Analog input A 15 Auxiliary power supply A 7 Control A 7 A 8 Digital output interface A 14 Dimensions A 3 Environment A 5 Feedback options A 8 A 9 A 10 A 12 A 13 Feedback supply voltage A 9 Mechanical A 4 Power Ratings A 5 Single phase operation A 16 Standards 1 3 System architecture 2 3 T Tachometer 3 15 Tachometer Feedback 3 19 Technical specifications A 1 Temperature 3 1 Terminal Block 3 8 Terminal Strip 3 8 Tuba Cables 3 14 Connectors 3 8 Dimensions A 3 Initializing 3 41 Installation 3 1 Mounting Directly on wall 3 5 On DIN rail 3 6 Powering up 3 41 Technical specifications A 1 Type designation number 3 4 Unpacking 3 4 Wiring 3 7 Tub
19. Absolute 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 Encoder outputs buffered differential e Resolver Programmable 10 15 bit resolution Up to 512 revolutions per second RPS Encoder outputs buffered differential e Tachometer inputs for 20 V max voltage and for 20 V max voltage e Potentiometer 0 5 V input voltage provided by the Tuba e Elmo drives provide supply voltage for all the feedback options Tuba Installation Guide Technical Specifications A gt MAN TUBIG Ver 1 3 A 1 6 I nput Output e Analog Inputs up to 14 bit resolution e Programmable digital inputs optically isolated Inhibit Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion General purpose Homing e Fast event capture inputs optically isolated e Programmable digital outputs Brake Control Amplifier fault indication General purpose Servo enable indication e Buffered and differential outputs of the main encoder with up to 5 MHz pulses e Buffered and differential outputs of the auxiliary encoder e Emulated output of the resolver interpolated analog encoder Tachometer or Potentiometer e Fast output compare OC optically isolated A 1 7 Built I n Protection e Software error handling e Abort hard stops an
20. BR1 BR2 gt DC Link MAN TUBIG PDF April 2005 First Edition MAN TUBIG PDF Elmo Motion Control Ltd 64 Gisin St P O Box 463 Petach Tikva 49103 Israel Tel 972 3 929 2300 Fax 972 3 929 2322 info il el momc com Elmo Motion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 info usGelmomc com Elmo Motion Control GmbH Steinkirchring 1 D 78056 Villingen Schwenningen Germany Tel 49 0 7720 85 77 60 Fax 49 0 7720 85 77 70 info de elmomc com a Elmo www elmomc com Tuba Installation Guide MAN TUBIG Ver 1 3 Contents Chapter 1 Safety Information 1 1 LA Warnings laziale mate ee re D acre rali i 1 2 CSR e ue e EE 1 2 1 3 Direcuves ana ce AROS 25 355 eci en aei eed 1 3 LA CE Mark COmtOrimMamCe EE 1 3 15 Waranty Informat oN a io 1 3 Chapter 2 Introduction rici 2 1 2 1 DriveDescri pt ON eaa lenire aaa nai 2 1 ECKE Mee leg DEE 2 1 22 L Current CON Oi ie 2 1 2 2 2 Neocity Control a ANO EI A Ei EPA 2 1 22 34 POSITION CONO EE 2 2 2 244 Advanced Position Control Advanced model only esee 2 2 2 25 Communication Options sss nennen tette teret tnn entrent 2 2 226 Feedback OPUS io Dp qae P ERR RR 2 2 SS FAUICPROCECE ON AAA Eeer esa da SE SAA adia ora rera Pee E 2 3 E EE e le e EE 2 3 26 Howto USE ES GUS ballad 2 4 Chapter 3 Installation
21. MC A 14 5 Workmanship Specification In compliance with IPC A 610 level 3 Details Acceptability of electronic assemblies Tuba Installation Guide Technical Specifications A 18 MAN TUBIG Ver 1 3 A 14 6 PCB Specification In compliance with IPC A 600 level 2 Acceptability of printed circuit boards A 14 7 Packing Specification In compliance with EN 100015 Protection of electrostatic sensitive devices A 14 8 Environmental Specification Details In compliance with WEEE 2002 96 EC Waste electrical and electronic equipment regulations In compliance with RoHS 2002 95 EC Restrictions on application of hazardous effective July 2006 substances in electric and electronic equipment Please send out of service Elmo devices to the nearest Elmo sales office for proper disposal Tuba Installation Guide MAN TUBIG Ver 1 3 Index 2 24v Auxiliary Power Connector 3 8 A AC Motor Power Connection Diagram 3 11 Advanced position control 2 2 Advanced Positioning Motion Control Modes A 1 Ambient operating temperature 3 1 ANALOG I O 3 8 ANALOG YO port 3 3 Analog input Specifications A 15 Analog Input 3 8 Analog inputs cable 3 33 Auxiliary Feedback cable 3 23 Power cable 3 13 Power supply A 7 Auxiliary feedback 3 25 Auxiliary Feedback 3 8 Auxiliary Power Supply 3 8 Auxiliary Supply 24v Connection Diagram 3 13 B Bui
22. Ri Hee pen A 7 AH Control Specifications EE A 7 ASA rrent LOOD icen detener tier ire er al rat A 7 A 8 2 Velocity L 00D dia be net e er ias A 8 A 8 3 Position LOOP iei An A 8 Ge Deele testet rotate eate des ties ped bise ad ctus A 9 A 91 Feedback Supply Voltage ENEE A 9 A 9 2 Incremental Encoder Input errantes A 9 A 9 3 Digital Halls dtt ed cte ei Lec dde a A 10 A 9 4 Interpolated Analog Encoder Sine Cosine esses A 10 LE ResolV6t ie bees rere ere det bre ai A 11 A 9 6 A dea ina A 11 A 9 7 Potentiometer A A 12 A 9 8 Encoder Outputs intere seal ae eae nn ee A 12 A 10 I Os A 13 A 10 1 Digital Input Interfaces on GENERAL I O port A 13 A 10 2 Digital Output Interface on COMMITTED I O port sss A 14 A 10 3 Analog Input e eee Eed A 15 A11 e all lol Ce e na elia ae e a de qua AERE SS HET ERA R A 15 A 12 Pulse Width Modulation PWM cccccccccccccceceseeceesseeeceseceeeeeeseeseeeeesenreeeseetneeeeees A 16 A 13 Single phase Operation A 16 A 14 Standards Compliance w wwawanamunwamanmamwnwama amana manani wananunua nnne nnns A 17 AAT Quality Assurance io ani wath reno d ete ec ee ane A 17 A142 Design ses e ll iii A 17 LEE Safety iaia nale Rara Ria NI re SA A 17 E a gm A 17 A 14 5 Work manii Dai A 17 A 140 a E S serie e tete an rati ertet eo AAA AAA A 18 Tuba Installation Guide Contents ili MAN TUBIG Ver 1 3 A147 waa e lu WEE A 18 As 14
23. Tacho voltage below 20v and 50v 12 5V mm 4 5V um SUPRET TUB0009B Figure 3 17 Main Feedback Tachometer Feedback Connection Diagram Tuba Installation Guide Installation 3 20 MAN TUBIG Ver 1 3 Tuba Feedback A Potentiometer with Hall Sensor Sa a SI i La a e SS M e HB m 2 l HA Cum ES E r um i i um 4 pod A 5v Supply oO m SUPRET E mE Si um DE EAS Voltage Return 1 d TUB0010A Figure 3 18 Main Feedback Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors sese sese Tuba Feedback A Potentiometer POT 5v Supply 5V SUPRET Voltage Return wo A I TUB0011A Figure 3 19 Main Feedback Potentiometer Feedback Connection Diagram Tuba Installation Guide Installation 5 54 MAN TUBIG Ver 1 3 Tuba Stegmann Absolute Encoder Feedback A with Optional Aided Commutation Hall Sensor 4 mm 10 Com 2 Crossed Signals EZ Encoder 8v Supply SUPRET 9 Encoder Supply Voltage Return 4 A 5V xem Hall 5v Supply SUPRET e Hall Supply Voltage Return TUB0020B Figure 3 20 Main Feedback Stegmann Feedback Connection Diagram Tuba Installation Guide Installation 5 55 MAN TUBIG Ver 1 3 Tuba Feedba
24. Tuba Digital Servo Drive Installation Guide April 2008 Ver 1 3 _ 4 Elmo www elmomc com Notice This guide is delivered subject to the following conditions and restrictions This guide contains proprietary information belonging to Elmo Motion Control Ltd Such information is supplied solely for the purpose of assisting users of theTuba servo drivein its installation Thetext 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 Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion Control Ltd Information in this document is subject to change without notice Document No MAN TUBIG Copyright 2008 Elmo Motion Control Ltd All rights reserved Tuba Catalog Number Version Blank Standard A Advanced Continuous Current Amps Nominal AC Operating Voltage TUB AX YYYR B Feedback Blank Incremental Encoder and or Halls R Resolver Interpolated Analog Encoder T Tachometer amp Potentiometer Q Absolute Encoder Revision History Ver 1 3 Ver 1 2 Ver 1 12 Ver 1 11 Ver 1 1 Ver 1 0 April 2008 Updated Power Ratings Table in Appendix Mar 2007 Added Absolute Encoder information Oct 2006 Correction to Interpolated Analog Encoder Sept 2006 Correction to Encoder Outputs in Appendix Sept 2005
25. Ver 1 3 iagram D ton Tuba Detailed Connecti Figure 3 5 Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 2 Connecting the Power Cables Installation 3 10 Access the power terminal connections on the Tuba servo drive by removing the front safety cover located at the bottom of the front panel of the unit as shown below Figure 3 6 Removable Bottom Panel A fter removing the safety cover the power terminal connections are visible as follows Figure 3 7 Tuba Power Connectors The main power connector located at the bottom of the Tuba as follows Pin Function Cable Pin Positions B1 DC Link DC Link B2 DC Link DC Link AC3 Phase3 Power AC2 Phase2 Power AC1 Phasel Power PE Protective earth Power AC Motor DC Motor Power Cable Cable Cable 2 PE Protective earth Motor Motor M3 Motor phase Motor N C M2 Motor phase Motor Motor TuB0016A M1 Motor phase Motor Motor When connecting several motors all must be wired in an identical manner On prototype versions of the Tuba M3 was connected to the Motor and M 1 was not Table 3 2 Connector for M ain Power and Motor Cables Tuba Installation Guide Installation 3 44 MAN TUBIG Ver 1 3 3 4 2 1 Connecting the Motor Cable Connect the motor power cable to the M 1 M 2 M 3 and PE terminals of the main power connector The phase connection order is arbitrary because the Compose
26. at Connection diagram 3 9 Type designation number 3 4 U Unpacking 3 4 V Velocity control 2 1 W Warranty 1 4 Wire cross sections 3 1 3 2 3 3 Wiring the Tuba 3 7
27. ble from the feedback control and communication cables Ensure that in normal operating conditions the shielded wires and drain carry no current The only time these conductors carry current is under abnormal conditions when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground in order to prevent them from affecting the drive Failing to meet this requirement can result in drive controller host failure After completing the wiring carefully inspect all wires to ensure tightness good solder joints and general safety The Tuba has the following connectors Type Function Port on Tuba 8 pin RJ 45 x 2 RS 232 COMM 1 9 pin D sub socket Analog Input ANALOG 1 0 8 pin RJ 45x 2 CANopen COMM 2 In Out 15 pin high density Digital Outputs COMMITTED 1 0 D sub socket 25 pin D sub plug Digital Inputs GENERAL I O 15 pin D sub socket Main Feedback FEEDBACK A 15 pin D sub plug Auxiliary FEEDBACK B Feedback 2 pin terminal strip Molex Auxiliary Power Supply 24v Mains Motor Power amp DC Link 10 pin terminal block Molex B1 B2 M1 M2 M3 PE PE ACI AC2 AC3 Table 3 1 Connectors on the Tuba Connector Location ANALOG I O COMM 1 COMMITTED I O COMM 2 ORO G A Mi M2 M3 PE PE ACI AC2 AC3 L MOTOR power px E TUB003B CDR 3 9 Installation TUBODOSA
28. ck A Heidenhain Absolute Encoder with Optional Aided Commutation Hall Sensor CLK T T um 8V SUPRET 4 5V Hall Encoder 5v Supply Hall Encoder Supply Voltage Return SR 3 SUPRET 7 V TUB0019A Figure 3 21 Main Feedback Heidenhain Feedback Connection Diagram Tuba Installation Guide Installation 3 53 MAN TUBIG Ver 1 3 3 4 6 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas A uxiliary Feedback is often but not always used The A uxiliary Feedback connector on the Tuba FEEDBACK B has two ports Port B1 and Port B2 When used in combination with the Main Feedback port FEEDBACK A the ports can be set by software as follows FEEDBACK B Ports B1and B2 YA 4 4 YA 4 2 YA 4 0 x tal B1 output WA ncremen A input REED pra Feedback Ports B1 and B2 are not to be Encoder Analog mm Buffered confused with the DC Link connectors Encoder Main Input TE Encoder on the 10 pin terminal block igna B2 output same as B1 B1 output Analog Encoder Interpolated Eno Position Data Emulated in Analog A input Incremental Encoder Format i Analog E i Sin Cos Encoder m Encoder S no amp A y uffere input B1 input input Input B2 output Incremental a Die eniai Incr
29. current signals and constant power at high speed Current loop bandwidth lt 2 5 KHz Current sampling time Programmable 70 100 usec Current sampling rate Up to 16 kHz default 11 kHz Tuba Installation Guide Technical Specifications A 8 MAN TUBIG Ver 1 3 A 8 2 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 4 Incremental Encoder OpHone Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional Tachometer and Potentiometer optional Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative Velocity loop bandwidth 350 Hz Velocity sampling time 140 200 usec x2 current loop sample time Velocity 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 A 8 3 Position Loop Details Controller type 1 2 4 PIP Pulse and Direction Position loop bandwidth lt 80 Hz Position sampling time 280 400 usec x 4 current loop sample time Position sampling rate Up to 4 kHz default 2 75 kHz Tuba Installation Guide Technical S
30. d Direction Controller to FEEDBACK B using a 15 pin D Sub socket with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies Tuba Installation Guide Installation 5 35 MAN TUBIG Ver 1 3 Tuba Feedback B Controller SUPRET Port B1 DIR CHB Input lt Buffer PULS CHA Pulse and Direction Input Tuba or Other Device o ES SUPRET 12 Eo S SUPRET EE W PortB2 id 14 Pod Rod CHBO ER DIR CHB cHpo 7 UU bk Output bote m E DIR CHB Buffer E doi cHao 13 pi m E le PULS CHA chao E pl UI X um 5 EE PULS CHA Functionality Definition Tuba Functionality Definition YA 4 0 oa Tuba Feedback B Controller Port B1 Ro ss 5 SEN R SUPRET y z XE V si Input 19 EA di iI Di Buffer DOE o 4 i EN E i i Y i i DDR I s i om i pog _PULS CHA de a UI E _PULSICHA Say EM e Pulse and Direction Input Tuba or Other Device SUPRET 12 Li M SUPRET i i Gal V N V i l W PortB2 Vo bd cHBo 14 WA CH m EH DIR CHB Output CHBO 7 JY PU Buffer L mm DIR CHB 13 i La CHAO E ER PULSJCHA UL i CHAO i EL
31. d soft stops e Status reporting e Protection against Shorts between motor power outputs Shorts between motor power output and power input return Failure of internal power supplies Overheating Over Under voltage Loss of feedback Following error Current limits e Protection against regenerated over voltage when using external DC Link e DC Linkage extends the limits of the built in shunt and provides over voltage protection Tuba Installation Guide Technical Specifications A 3 MAN TUBIG Ver 1 3 A 2 Tuba Dimensions i i oo N eu Y Si V f O pe y Omm lt 9 7 a y gt E n AU 1 WW Rear View Front View 189 5mm 7 460in o H ai HH P Side View Tuba Installation Guide Technical Specifications A 4 MAN TUBIG Ver 1 3 A 3 Mounting Dimensions jy 46 0mmt0 236in L amp Wei e E i 05 4mmCO 218in Rear View A 4 Mechanical Specifications Feature Details Mounting Method Wall Mount Bookshelf DIN Rail Overall Dimensions 247 x 190 x 92 mm 9 7 x 7 5 x 3 6 Weight 2 7 kg 5 9 Ibs Tuba Installation Guide Technical Specifications A 5 MAN TUBIG Ver 1 3 A 5 Power Ratings Feature Units 12 230 15 230 20 230 12 460
32. e a For safety requirements the fourth wire must be used for the protective earth connection connected to the PE terminal o o U o ot u o o o o o TUB00020B Figure 3 9 Main Power Supply Connection Diagram 3 4 2 3 Connecting the DC Link Cable Each Tuba contains a shunt Its purpose is to absorb regenerated energy created by the motor during braking and convert that energy into heat If the energy regenerated by the motor exceeds the capacity of the shunt the drive is switched off and an over voltage error message is sent To prevent this from happening the capacity of the shunt system can be extended by connecting the shunts of several Tubas in parallel When two or more Tubas are connected by DC Link cables the regenerated energy is distributed equally among the drives This spreads the energy spikes over several shunts and enables the specific Tuba to continue normal operation Tuba Tuba TUB0014B Figure 3 10 The Tuba s External DC Link O ption Tuba Installation Guide Installation MAN TUBIG Ver 1 3 3 13 3 4 3 Connecting the Auxiliary Supply Cable 24v Connect the auxiliary supply to the 24VDC terminal block on the bottom of the Tuba Remember you are working with DC power so be sure to exercise caution amp Notes for 24 VDC auxiliary supply connections Usea 24 AWG twisted pair shielded cable For best results the shield should have aluminum fo
33. e MAN TUBIG Ver 1 3 3 4 9 Communication Cables Installation 3 38 3 4 9 1 The communication cables use an 8 pin RJ 45 plug that connect to the RS 232 and CANopen ports on the front of the Tuba The communication interface may differ according to the user s hardware The Tuba 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 Tuba to a serial interface on the PC The interface is selected and set up in the Composer software In order to benefit from CAN open communication the user must have an understanding of the basic programming and timing issues of a CAN open network The interface is electrically isolated by optocouplers For ease of setup and diagnostics of CAN communication RS 232 and CA Nopen can be used simultaneously RS 232 Communication on the COMM 1 Port amp Notes for connecting the RS 232 communication cable Usea260r 28 AWG twisted pair shielded cable The shield should have aluminum foil covered by copper braid with a drain wire Connectthe 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 ThemaleRJ plug must have a shield cover Ensurethat the shield of the cable is connected to the shield of the RJ plug The drain wire can be used to facilita
34. e to DIN Rail Tuba Installation Guide Installation MAN TUBIG Ver 1 3 Press the Tuba down to a vertical position until it clicks onto the DIN rail Figure 3 4 Tuba Mounted on DIN Rail 3 4 Connecting the Cables 3 4 1 Wiring the Tuba Once the Tuba is mounted you are ready to wire the device Proper wiring grounding and shielding are essential for ensuring safe immune and optimal servo performance of the Tuba VN Follow these instructions to ensure safe and proper wiring Usetwisted pair shielded cables for control feedback and communication connections For best results the cable should have an aluminum foil shield covered by copper braid and should contain a drain wire The drain wire is a non insulated wire that is in contact with parts of the cable usually the shidd It is used to terminate the shield and as a grounding connection Theimpedance of the wire must be as low as possible The size of the wire must be thicker than actually required by the carrying current A 24 26 or 28 AWG wire for control and feedback cables is satisfactory although 24 AWG is recommended Useshielded wires for motor connections as well If the wires are long ensure that the capacitance between the wires is not too high C lt 30 nF is satisfactory for most applications Keep all wires and cables as short as possible Tuba Installation Guide MAN TUBIG Ver 1 3 Installation Keep the motor wires as far away as possi
35. emental B1 input same as B1 Encoder or Bd Single eed sel Single ended Analog Pulce amp E na de CIE Auxiliary Encoder 2 Direction ncoder Incremental or Commands or Encoder Resolver Resolver WA or z B2 output or B2 output Tachometer Differential Resolver Tachometer q Differential or and Buffered Position L ERE and Buffered Potentiometer output of B1 Data Emulated in Incremental A input Encoder Format Resolver signals are quadrature differential amp buffered B2 output same as BI B1 output Tachometer Position Data Emulated Tachometer i in Incremental zj E Encoder Format I nput eeh signals are quadrature differential amp buffered B2 output same as B1 Tuba Installation Guide MAN TUBIG Ver 1 3 Installation 3 24 FEEDBACK B Ports B1 and B2 YA 4 4 YA 4 2 YA 4 0 Typical Applications A input Potentiometer B1 output Potentiometer Position Data Emulated in Incremental Encoder Format signals are quadrature differential amp buffered EN B2 output N same as BI E E Elmo O emn Any application wherethe 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 applicati
36. es advanced positioning capabilities Both versions operate with RS 232 and or CANopen communication 2 2 Product Features 2 2 1 Current Control Fully digital Sinusoidal commutation with vector control or trapezoidal commutation with encoder and or digital Hall sensors 12 bit current loop resolution Automatic gain scheduling to compensate for variations in the DC bus power supply 2 2 2 Velocity Control Fully digital Programmable PI and FFW feed forward control filters Sample rate two times current loop sample time On the fly gain scheduling Automatic manual and advanced manual tuning and determination of optimal gain and phase margins Tuba Installation Guide Introduction MAN TUBIG Ver 1 3 2 2 3 Position Control Programmable PIP control filter Programmable notch and low pass filters Position follower mode for monitoring the motion of the slave axis relative to a master axis via an auxiliary encoder input Pulse and direction inputs Sample time four times that of current loop Fast event capturing inputs 2 2 4 Advanced Position Control Advanced model only 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 PTand PVT motion modes Dual position velocity loop Fast output compare OC 2 2 5 Communication Options Depending on the application Tuba use
37. ex marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Technical Specifications Tuba Installation Guide A 13 MAN TUBIG Ver 1 3 A 10 I Os The Tuba has 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs A 10 1 Digital Input Interfaces on GENERAL I O port Feature Details Connector Location Type of input a Optically isolated DIGITAL INPUTS Single ended ias PLC level Input current lin Vin 6 SV 25000 lin 2 2mA Vin 12V Input current lin Vin 6 5V for high speed 12500 inputs5 amp 6 Iin 44mA Vin 12V High level input voltage 12 V lt Vin lt 30 V 24 V typical Low level input voltage 0 V lt Vin lt 6 5 V speed mode 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 1 unay indu o 1 indu o Minimum gt 4x TS where TS is sampling time Soe eree L eL Lee pulse width Execution time If input is set to one of the built in functions all inputs Home Inhibit Hard Stop Soft Stop Hard and Soft the time from Stop Forward Limit Reverse Limit or Begin o YU application of execution is immediate upon detection 2 44 voltage on 0 lt T lt 4xTS a mpu E If input is set to General input execution depe
38. g 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 Note E This is auxiliary information that ensures the correct operation of the equipment Tuba Installation Guide Safety Information 4 gt MAN TUBIG Ver 1 3 1 1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo drive whilethe power source is on Power cables can carry a high voltage even when the motor is not in motion Disconnect the Tuba from all voltage sources before it is opened for servicing The Tuba servo drive contains grounding conduits for electric current protection Any disruption to these conduits may cause the instrument to become hot live and dangerous 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 M easuring the electrical contact points with a meter before touching the equipment is recommended 1 2 Cautions The Tuba servo drive contains hot surfaces and electrically charged components during operation The maximum AC DC power supply connected to the instrument must comply with the paramete
39. h output and power input return Recovery from loss of commutation signals and from communication errors 2 3 System Architecture Tachometer Communication RS 232 and CANopen Potentiometer Analog Encoder Resolver or Incremental Encoder Controller Auxiliary Power 24vDC Auxiliary Protection PWM Current Encoder Feedback Incremental Encoder Buffered Output or Emulated Output Figure 2 1 Tuba System Block Diagram Tuba Installation Guide Introduction MAN TUBIG Ver 1 3 2 4 How to Use this Guide In order to install and operate your Elmo Tuba servo drive 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 Chapter 3 Installation provides step by step instructions for unpacking mounting connecting and powering up the Tuba The Appendix Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Tuba servo drive 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 requi
40. he AC supply is within the range specified for your specific type of Tuba 3 6 Initializing the System After the Tuba has been connected and mounted the system must be set up and initialized This is accomplished using the C omposer Elmo s Windows based software application Install the application and then perform setup and initialization according to the directions in the Composer Software M anual Tuba Installation Guide MAN TUBIG Ver 1 3 Appendix Technical Specifications A 1 Features A 1 1 Motion Control Modes e Current Torque up to 14 kHz sampling rate e Velocity up to 7 kHz sampling rate e Position up to 3 5 kHz sampling rate A 1 2 Advanced Positioning Motion Control Modes e PTP PT PVT ECAM Follower Pulse and Direction Dual Loop e Fastevent capturing inputs e Fast output compare OC A 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 A 1 4 Fully Programmable e Third generation programming structure with motion commands e Eventcapturing interrupts e Event triggered programming A 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
41. hnical Specifications L 34 A 15 MAN TUBIG Ver 1 3 A 10 3 Analog I nput Feature D etails Maximum operating 10V Analog Input differential voltage Maximum absolute 16V differential input voltage Differential input 3 kQ resistance Analog input 14 bit command resolution CIC ANALOG 1 0 COMM 1 COMMITTED 1 0 COMM 2 E VA VA VE A ESSES ACZ AC3 Bt L Ex Reg POWER TUB003B CDR 1 gt ANLIN1 n i ANLIN1 2 ANLRET COR0024A V A 11 Communications Specification Details Connector Location RS 232 Signals RS 232 BEN ports 0 nly one RxD Pi TxD P Gnd E E RS 232 Port Full duplex serial communication for setup can be used and control atatime Baud Rate of 9 600 57 600 bit sec CANbus Signals CANopen CAN H CAN_L CAN CND Maximum Baud Rate of 1 Mbit sec Version DS301 V4 01 Device Profile drive and motion control DS 402 Tuba Installation Guide Technical Specifications A 16 MAN TUBIG Ver 1 3 A 12 Pulse Width Modulation PWM Feature D etails PWM resolution 12 bit PWM switching frequency on the load 2 Ts factory default 22 kHz on the motor A 13 Single phase Operation When operating with a single phase supply TUB x 230 only the voltage drop must be considered Voltage drop can be calculated us
42. iary Feedback FEEDBACK B 347 Tuba Installation Guide Installation 3_4 MAN TUBIG Ver 1 3 3 1 2 6 Other Items Needed Component Described in Section Diagram PC for drive setup and tuning Motor data sheet or AO he A manual 3 2 Unpacking the Drive Components Before you begin working with the Tuba system verify that you have all of its components as follows TheTubaservo drive The Composer software and software manual The Tuba is shipped in a cardboard box with styrofoam protection To unpack the Tuba 1 Carefully removethe 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 Tuba you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Tuba It looks like this Elm P N TUB 15 230 C S N TUB2055004 o Motion Control NA www elmomc com The P N number at thetop gives thetype designation as follows TUB A X YYYR T JA Feedback ank andar Blank Incremental A Advanced Encoder Continuous Current and or Halls Amps R Resolver Nominal AC re lea Operating Voltage Encoder T Tachometer amp Potentiometer Q Absolute Encoder 4 Verify that the Tuba type is the one that you
43. il covered by copper braid The24VDC auxiliary power supply must meet all safety standards and must be separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards For safety reasons connect the return of the 24 VDC source to the closest ground Connect the cable shield to the closest ground near the 24 VDC source Beforeapplying power first verify the polarity of the connection 24VDC 24 VDC auxiliary supply RET24VDC Return common of the 24 VDC auxiliary supply TUBA 24v Isolated Backup Supply 24v mm A i TUB0017A Figure 3 11 Auxiliary Supply 24v Connection Diagram Tuba Installation Guide Installation 3 14 MAN TUBIG Ver 1 3 3 4 4 Feedback and Control Cable Assemblies The Tuba features easy to use D sub type connections for all Control and Feedback cables Below are instructions and diagrams describing how to assemble those cables Use 24 26 or 28 AWG twisted pair shielded cables 24 AWG cable is recommended For best results the shield should have aluminum foil covered by copper braid Useonly a D sub connector with a metal housing Attach the braid shield tightly to the metal housing of the D type connector Onthe motor side connections ground the shield to the motor chassis On controller side connections follow the controller manufacturer s recommendations concern
44. ing the following equation Vout M ax Phase to phase 0 85 V supply AC Vdrop Vdrop AC RMS 80 70 60 50 40 30 20 1 2 3 4 5 6 7 8 9 10 Motor Phase Current RMS Tuba Installation Guide Technical Specifications A 17 MAN TUBIG Ver 1 3 A 14 Standards Compliance A 14 1 Quality Assurance Specification ISO 9001 2000 Quality Management A 14 2 Specification Design MIL HDBK 217F Details Reliability prediction of electronic equipment rating de rating stress etc IPC D 275 Printed wiring for electronic equipment IPC SM 782 clearance creepage spacing conductors IPC CM 770 sizing etc UL508c UL840 In compliance with VD E0160 7 IEC 68 Type testing A 14 3 Safety Specification Details Recognized UL508c Power conversion equipment In compliance with UL 840 Insulation coordination including clearance and creepage distances of electrical equipment In compliance with UL 60950 Safety of information technology equipment including electrical business equipment In compliance with EN 60204 1 Low voltage directive 72 23 EEC A 14 4 EMC Specification In compliance with EN 55011 and EN 61000 D etails Limits and methods of measurement of radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment Electromagnetic compatibility E
45. ing the shield Metal Housing Figure 3 12 Feedback and Control Cable Assemblies V NoteAILD sub type connectors used with the Tuba should be assembled in his way Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 5 Main Feedback Cable Feedback A The main feedback cable is used to transfer feedback data from the motor to the drive The Tuba accepts the following as a main feedback mechanism Incremental encoder only Incremental encoder with digital Hall sensors Digital Hall sensors only Interpolated Analog Sine Cosine encoder option Resolver option Tachometer and Potentiometer Absolute encoder FEEDBACK A on the front of the Tuba has a 15 pin D sub socket Connect the Main Feedback cable from the motor to FEEDBACK A using a 15 pin D Sub plug with a metal housing When assembling the Main Feedback cable follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies Installation 3 15 Interpolated Analog Tachometer and Incremental Encoder Encoder Resolver Potentiometer TUB XX YYY_ TUB XX YYYI TUB XX YYYR TUB XX YYYT Pin Signal Function Signal Function Signal Function Signal Function 1 HC Hall sensorC HC Hall sensorC NC HC Hall sensor C input input input 2 HA HallsensorA HA HallsensorA NC HA Hall sensor A input input input SUPRET Supplyreturn SUPRET Supply return SUPRET Supply return SUPRET Supply return 5V Encoder
46. ion Motor Ground Table A 1 Connectors on the Bottom of the Tuba Power Ext DC Link Pins Type Port Connector Location 8 RJ 45 x 2 COMM 1 9 D Sub Socket ANALOG INPUTS 8 RJ 45 x 2 COMM 2 RS 232 D Sub Socket ANALOG LIL CANopen 15 Hioh Density COMMITTED I O in CUNEO d E D G ITAL COMMITTED I O COMM 2 25 D Sub Plug GENERAL I O OUTPUTS i 15 D Sub Socket FEEDBACK A DEUS AM cesena IO 15 D Sub Plu FEEDBACK B 8 FEEDBACK A Ee FEEDBACK A FEEDBACK B POWER reg Table A 2 Connectors on the Tuba Tuba Installation Guide Technical Specifications 4 7 MAN TUBIG Ver 1 3 A 7 1 Auxiliary Supply Feature D etails Auxiliary power supply DC sourceonly Auxiliary supply input voltage 24 V 15 Auxiliary supply input power 20W The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply amp Be sure to maintain power within the 24V 15 range as higher voltages will damage the fan A 8 Control Specifications A 8 1 Current Loop Feature D etails Controller type Vector digital Compensation for bus voltage On the fly gain scheduling variations Motor types AC brushless sinusoidal DC brushless trapezoidal DC brush Linear motors Moving coils Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a pair of PI controls of AC
47. liary Encoder Input Option on FEEDBACK B YA 4 2 Tuba Installation Guide Contents ji MAN TUBIG Ver 1 3 3 4 7 4 Pulseand Direction Input Option on FEEDBACK B YA 4 0 3 31 3 448 O Cabl ss iae eerte refer rer Ra ap a do 3 33 3481 Analog INPUTS iss iss ett eee tede di ide 3 33 3 4 8 2 Digital Inputs on GENERAL I O bot 3 34 3 4 8 3 Digital Outputs on COMMITTED 1 0 Pott ccceeeseesesssessssrseeeeens 3 36 3 49 Communication Cales 3 38 3 4 9 1 RS 232 Communication on the COM M 1 Port enn 3 38 3 4 9 2 CANopen Communication on the COM M 2 Ports 3 39 35 Powering Uria ete e RR ER REDEANT ENDE Re MER RR MER US 3 41 3 6 Initializing the System 3 41 Appendix Technical Specifications rin A 1 Asl e De hag O A 1 A 11 Motion Control Mode ENEE A 1 A 1 2 Advanced Positioning Motion Control Modes ses A 1 A 1 3 Advanced Filters and Gain Scheduling sese A 1 A LA Fully Programme ENEE A 1 ALS Feedback Op Oe ali fonia ation eH Ono Eee ee tens A 1 ALO Input OUTPUT aii ai ciet ns dot ient nete rac A 2 ASEZ JBulltIn ProteckiOn eri tise stan ni d LD da Aiea dada aa ad A 2 A 2 Tuba DIMAS ON Sii podian A 3 A 3 Mounting Dimensdons i A 4 A 4 Mechanical Specifications ENEE A 4 A5 POWER Ratings eti eit tee iaia aaa a ia A 5 A 6 Environmental Condition A 5 Avil Tuba Connections EE A 6 AJ Auxiliary Supply eed gettin
48. llation Guide MAN TUBIG Ver 1 3 Installation 3 27 3 4 7 2 Differential Auxiliary Encoder Input Option on FEEDBACK B YA 4 2 The Tuba can be used as a slave by receiving the position of the master encoder data on Port B1 in Follower or ECAM mode In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in follower or ECAM mode Below are the signals on the A uxiliary Feedback port when set up to run as a differential auxiliary encoder input Port Pin Signal Function Pin Position B1 1 INDEX Auxiliary Index high input B1 2 CHB Auxiliary Channel B high input B1 3 CHA Auxiliary Channel A high input PWR 4 5V Encoder supply voltage PWR 5 SUPRET Encoder Supply return B2 6 CHAO Buffered Channel A output LV B2 7 CH BO Buffered Channel B output 15 Pin D Sub Socket B2 8 INDEXO Buffered Index output B1 9 INDEX Auxiliary Index low input OPort B1 Power Bl 10 CHB Auxiliary Channel B low input Port B2 Bl 11 CHA Auxiliary Channel A low input 1900088000 PWR 12 SUPRET Supply return g 009000 B2 13 CHAO Buffered Channel A complement output 15 Pin D Sub Plug B2 14 CHBO Buffered Channel B complement output on Tuba B2 15 INDEXO Buffered Index complement output Table 3 6 Differential Auxiliary Encoder Input O ption on FEEDBACK B Pin Assignments FEEDBACK B on thefront of the Tuba has a 15 pin
49. lt In Protection A 2 C Cables Auxiliary feedback 3 23 Auxiliary power 3 13 Communication 3 38 I O 3 33 Main Power 3 12 Motor 3 10 3 11 Power 3 10 CANopen 3 8 CANopen 3 38 3 39 COMM 1 3 8 COMM 1 port 3 2 COMM 2 3 8 COMM 2 port 3 2 COMM 1 Port 3 38 COMM 2 Ports 3 39 COMMITTED I O port 3 3 COMMITTED I O 3 8 COMMITTED I O Port 3 36 Communication 2 2 Communication cables 3 38 Compliance standards 1 3 A 17 Composer 2 1 3 41 Conformance 1 3 A 17 Connecting Auxiliary power cable 3 13 Control cables 3 14 Feedback cables 3 14 Main power cable 3 12 Motor cables 3 11 Power cables 3 10 Regeneration Cable 3 12 Connection diagram 3 9 Connectors Analog Input 3 8 Auxiliary Feedback 3 8 Auxiliary Power Supply 3 8 CANopen 3 8 Digital Inputs 3 8 Digital Outputs 3 8 Main Feedback 3 8 Mains Motor Power 4 External Regeneration 3 8 Connectors 3 8 RS 232 3 8 Control specifications A 7 A 8 Current control 2 1 D Differential auxiliary input 3 27 3 29 3 31 Digital Inputs 3 8 3 34 Digital output interface A 14 b Tuba Installation Guide Index 1 2 MAN TUBIG Ver 1 3 Digital Outputs 3 8 Digital Outputs 3 36 Dimensions A 3 DIN rail mounting 3 6 Documentation Hierarchy 2 4 E Environmental conditions A 5 External Resistor BR1 Regeneration Option 3 12 F Fault
50. n Supply return 4 45 EnDat H eidenhain Encoder 45 supply Halls supply 45V 5 A SineA complement SineA 6 A SineA SineA complement 7 DATA Data complement Data complement 8 DATA DATA DATA 9 SUPRET Supply return Supply return 10 HB Hall B Hall B 11 CLK CLOCK complement 12 48V Stegmann Encoder 48V supply 8V GOMA maximum 13 CLK CLOCK 14 B Cosine B complement CosineB complement 15 B Cosine B Cosine B Table 3 4B Main Feedback CablePin Assignments Tuba Installation Guide MAN TUBIG Ver 1 3 Tuba Feedback A HC GSE tc essas Installation 3 17 Incremental Encoder with Hall Sensor HB HA CHA CHA CHB CHB INDEX INDEX 5V 5V SUPRET 1 o S f 1 1 1 1 1 f1 m II A 10 EN EE 1 1 1 1 1 ia m E mg aoi di QE Fi E ab E 7 P EE ya 5 E ya 15 1 I 1 I A da TD e 14 NE NP A La La 1 de va YA A RM RM A E UU 7 ia Po 12 se t d A E 4 i i Cum Encoder Hall 5v Supply i T A Hall Encoder Supply Voltage Return a TUB0004A Figure 3 13 Main Feedback Incremental Encoder with Digital Hall Sensor Connection Diagram Tuba Installation Guide Installation MAN TUBIG Ver 1 3 3 18 Tuba Feedback A Sine Cosine Encoder
51. nds execution 1s i on program Typical execution time 0 5 msec complete E 3 Il N al High speed T lt 5 psec x inputs 5 amp 6 Notes 2 minimum pulse Home mode is high speed mode and can be Y P width in high used for fast capture and precise homing m Digital Input Schematic Tuba Installation Guide Technical Specifications A 14 MAN TUBIG Ver 1 3 A 10 2 Digital Output Interface on COMMITTED I O port Vcc Feature Details Type of output Optically isolated Open collector and open emitter Maximum supply output 30 V Max output current Iout max Vout Low Iout max 15 mA VOL at maximum output voltage low level Vout on lt 0 3 V 0 02 Iout mA RL External resistor RL must be selected to limit output current to no more than 15 mA _ Vee VOL Io max Connector Location DIGITAL OUTPUTS o EE o ANALOG 1 0 COMM 1 COMMITTED YO COMM 2 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 vI900HOO 4 lt moy N o 5 o o o o E 5 5 ES o S s 70 e 9 Digital Output Schematic Tuba Installation Guide Tec
52. nts Circuit Breakers Contacts Three phase Supply Voltage Single phase Supply Voltage Circuit breaker current rating 15096 200 of drive current 200 300 of drive current Circuit breaker voltage rating 250VAC 480 VAC depending upon operating AC voltage Contactor Up to 150 of drive current Up to 200 of drive current 3 1 2 2 Recommended Wire Cross sections All Models Feature Connection Details AC input ACL AC2 AC3 4 5 mm 10 12AWG Motor M1 M2 M3 4 5mm 10 12AWG Protective earth PE PE 4 5mm 10 12AWG Auxiliary power 24v 0 5 1mm 18 20AWG Tuba Installation Guide MAN TUBIG Ver 1 3 3 1 2 3 Power Connectors Installation Described Component Connector in Section Photo External DC Link B1 B2 on External DC 3423 Cable Link Cable Main Power Cable PE AC1 AC2 and AC3 3 4 2 2 on Power Connector M 1 M2 M3 PE L 4 2 1 D SES on Power Connector 3 Auxiliary Power Cable 24V 0 3 1 2 4 Communication Connectors cable s Described l Component Porton Tuba in Section Diagram RS232 Communication COMM 1 3491 Cable CANopen Communication CORE 3 4 9 2 Tuba Installation Guide MAN TUBIG Ver 1 3 3 1 2 5 Feedback and I O Connectors Installation Cable if needed Component Porton Tuba EE Diagram mo ANALOG 1 0 348 1 me Cable COMMITTED 1 0 3482 Re GENERAL 1 0 3483 M ain Feedback Cable FEEDBACK A 3 4 5 Auxil
53. ons where position data is required in the Encoder s quadrature format Tachometer A pplications where position data is required in the Encoder s quadrature format Potentiometer applications where position data is required in the Encoder s quadrature format A input 7 Incremental Encoder or or ka Single ended Analog 9 ws Auxiliary Encoder Incremental Encoder B2 output E Differential and Buffered B1 input il Differential or Resolver or Tachometer 5 Any application wheretwo feedbacks are used by the drive Port B1 seves as an input for the auxiliary incremental encoder differential or single ended Port B2 is used to output differential buffered Auxiliary Incremental Encoder signals For applications such as Follower ECAM or Dual Loop A input Incremental Dr B1 input Encoder Differential or Single ended Pulse amp Direction Commands B2 output Differential or Analog Encoder or Resolver or Tachometer and Buffered or Potentiometer NX output of B1 Port B1 serves as an input for Pulse amp Direction commands differential or single ended Port B2 is used to output differential buffered Pulse amp Direction signals Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 7 Auxiliary Feedback FEEDBACK B When using one of the auxiliary feedback options the relevant functionality of FEEDBACK B ports are software selected fo
54. pecifications A 9 MAN TUBIG Ver 1 3 A 9 Feedbacks A 9 1 Feedback Supply Voltage Feature Details Main encoder supply voltage 5 V 5 200 mA maximum Auxiliary encoder supply voltage 5 V 5 200 mA maximum A 9 2 Incremental Encoder Input Feature Details Encoder format A Band Index Differential Quadrature Interface RS 422 Input resistance Differential 120 Q Maximum incremental encoder frequency Maximum 5 MHz pulses Minimum quadrature input period PIN 112 nsec Minimum quadrature input high low period PHL 56 nsec Minimum quadrature phase period PPH 28 nsec Maximum encoder input voltage range Common mode 7 V Differential mode 7 V Breu Peu Pen Pen Phase A input Phase B input PH Figure A 1 Encoder Phase Diagram Tuba Installation Guide Technical Specifications A 10 MAN TUBIG Ver 1 3 A 9 3 Digital Halls Feature Details Halls inputs Ha Hs Hc Single ended inputs Built in hysteresis for noise immunity Input voltage Nominal operating range 0 V lt Vin Hal lt 5 V Maximum absolute 1 V Vin Hall lt 15 V High level input voltage VinHigh gt 2 5 V Low level input voltage Vintow 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 A 9 4
55. r that option Refer to the Tuba Command Reference M anual for detailed information about FEEDBACK B setup Installation 3 35 3 4 7 1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B YA 4 4 Through FEEDBACK B Ports B1 and B2 the Tuba can provide two simultaneous buffered main or emulated encoder signals to other controllers or drives This option can be used when The Tuba is used as a current amplifier to provide position data to the position controller The Tuba is used in velocity mode to provide position data to the position controller The Tuba is used as a master in Follower or ECAM mode Below are the signals on the A uxiliary Feedback ports when set up to run as a buffered outputs or emulated outputs of the main feedback on FEEDBACK A Port Pin Signal Function Pin Position B1 1 INDEX Auxiliary index high output B1 2 CHB Auxiliary Channel B high output B1 3 CHA Auxiliary Channel A high output PWR 4 45 Encoder supply voltage PWR 5 SU PRET Encoder supply voltage return B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output 15 Pin D Sub Socket B2 8 INDEXO Buffered Index output EN l B1 9 IN DEX Auxiliary Index low output OPort B1 Power B1 10 CHB Auxiliary Channel B low output Port B2 B1 11 CHA Auxiliary Channel A low output 1900089000 PWR 12 SUPRET Supply return 00090 009 B2 13 CHAO B
56. r will establish the proper commutation automatically during setup However if you plan to copy the set up to other drives then the phase order on all copy drives must be the same amp Notes for connecting the motor cables For best noise immunity it is highly recommended to use a shielded not twisted cable for the motor connection A 4 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor The fourth wire should be used for the ground connection between the motor and the PE terminal of the Tuba Connect the shield of the cable to the closest ground connection at the motor end Connect the shield of the cable to the PE terminal on the Tuba Besurethat the motor chassis is properly grounded TUBMOTOR Figure3 8 AC Motor Power Connection Diagram Tuba Installation Guide Installation 3 45 MAN TUBIG Ver 1 3 3 4 2 2 Connecting the Main Power Cable Connect the main power supply cable to the AC1 AC2 and AC3 terminals of the main power connector Connect the Protective Earth wire to the nearest PE terminal on the terminal block amp Notes for connecting the AC power cable For best noiseimmunity a shielded not twisted cable is recommended not mandatory for the AC power supply cable A 4 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connectthe four wires to the AC power leads of the sourc
57. re CANopen Implementation Guide SimplIQ SoftwareM anual SimpliQ Command Reference M anual Composer U ser Manual Setup Tuba Installation Guide Figure 2 2 Elmo Documentation Hierarchy As depicted in the previous figure this installation guide is an integral part of the Tuba documentation set comprising The Composer Software M anual which includes explanations of all the software tools that are part of Elmo s Composer software environment The SimpllQ Command Reference M anual which describes in detail each software command used to manipulate the Tuba motion controller The SimpliQ Software M anual which describes the comprehensive software used with the Tuba Tuba Installation Guide 3 1 MAN TUBIG Ver 1 3 Chapter 3 Installation 3 1 Before You Begin 3 1 1 Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment Feature Value Ambient operating temperature O C 40 C 32 F 104 F Maximum relative humidity 9096 non condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available operating ambient temperature of 0 C 40 C 32 F 104 F must not be exceeded 1 The Tuba dissipates its heat by forced ventilation fan The maximum 3 1 2 Hardware Requirements 3 1 2 1 AC Input Requireme
58. return 4 23 INRET3 Programmable inputs return 3 24 INRET2 Programmable inputs return2 25 INRET1 Programmable inputs return 1 Table 3 11 Digital Inputs on Committed I O port Pin Assignments 3 34 Tuba Installation Guide Installation 5 35 MAN TUBIG Ver 1 3 Tuba Digital Inputs Controller Rin 2 5K Rin 2 5K Rin 2 5K Rin 2 5K Rin 1 25K Vz 5 1v Rin 1 25K Rin 2 5K Rin 2 5K Vz 5 1v Rin 2 5K Vz 5 1v Rin 2 5K Vz 5 1v As Per Controller Manufacturer s Recommendations TUB0007A Figure 3 28 Digital Inputs on General I O port Connection Diagram Tuba Installation Guide MAN TUBIG Ver 1 3 3 4 8 3 The Tuba servo drive is equipped with a 15 pin high density D sub socket for digital Installation Digital Outputs on COMMITTED I O Port 3 36 outputs When assembling an I O cable for digital outputs follow the instructions in
59. rs can select from two communication options RS 232 serial communication CANopen for fast communication in a multi axis distributed environment 2 2 6 Feedback Options Incremental Encoder up to 20 Mega Counts 5 Mega Pulse per second Digital Halls up to 2 KHz Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder Absolute Encoder Interpolated Analog Sine Cosine Encoder up to 250 kHz analog signal e Internal Interpolation programmable up to x4096 e Automatic Correction of amplitude mismatch phase mismatch signals offset e Encoder outputs buffered differential Resolver e Programmable 10 15 bit resolution e Up to 512 revolutions per second RPS e Encoder outputs buffered differential Tachometer and Potentiometer Two inputs for Tachometer Feedback e Up to 50 VDC e Upto 20 VDC Potentiometer Feedback e 0 5V voltage range e Resistance 100 Q to 1000 Q Tuba Installation Guide Introduction MAN TUBIG Ver 1 3 Elmo drives provide supply voltage for all the feedback options 2 2 7 Fault Protection The Tuba includes built in protection against possible fault conditions including Software error handling Status reporting for a large number of possible fault conditions Protection against conditions such as excessive temperature under over voltage loss of commutation signal short circuits between the motor power outputs and between eac
60. rs outlined in this guide The TUB x 230 series is designed to operate from a single phase 115 VAC source or from a 1 or 3 phase 230 VAC source The TUB x 460 series is designed to operate from a 3 phase 400 or 460 VAC source The Tuba can be connected directly to the line voltage An isolation transformer is not needed gt gt The Tuba drive must be connected to an approved 24 VDC auxiliary power supply through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards Before switching on the Tuba verify that all safety precautions have been observed and that the installation procedures in this manual have been followed gt Tuba Installation Guide Safety Information 1 3 MAN TUBIG Ver 1 3 1 3 Directives and Standards The Tuba conforms to the following industry safety standards Safety Standard Item Recognized UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination Including Clearance and Creepage Distances of Electrical Equipment In compliance with UL60950 1 Safety of Information Technology Equipment formerly UL1950 Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Tuba servo drive has been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control i
61. ry Input Option on FEEDBACK B YA 4 2 The Tuba can be used as a slave by receiving the position data of the master encoder on Port B1 in Follower or ECAM mode In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in Follower or ECAM mode Below are the signals on the A uxiliary Feedback ports when set up to run as a single ended auxiliary encoder input Port Pin Signal Function Pin Position B1 1 INDEX Auxiliary Index input Bl 2 CHB Auxiliary Channd B input Bl 3 CHA Auxiliary Channe A input PWR 4 45V Encoder Supply Voltage PWR 5 SUPRET Encoder Supply return B2 6 CHAO Buffered Channel A output Misc B2 7 CHBO Buffered Channel B output 15 Pin D Sub Socket B2 8 INDEXO Buffered Index output 9 Do not connect this pin O Port B1 Power 10 Do not connect this pin Port B2 ONG 11 Do not connect this pin 100088000 PWR 12 SUPRET Supply return o e B2 13 CHAO Buffered Channel A complement output 15 Pin D Sub Plug B2 14 CHBO Buffered Channel B complement output on Tuba B2 15 INDEXO Buffered Index complement output Table 3 7 Single ended Auxiliary Encoder O ption on FEEDBACK B Pin Assignments FEEDBACK Bon the front of the Tuba has a 15 pin D sub plug Connect the A uxili ary Feedback cable from the feedback device to FEEDBACK B using a 15 pin D Sub socket with a metal housing When
62. s 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 Mark Conformance The Tuba servo drive is 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 Tuba meets the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the equipment meet the limits required 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 fitne
63. ss for a particular purpose extend beyond this warranty Tuba Installation Guide MAN TUBIG Ver 1 3 Chapter 2 Introduction This installation guide describes the Tuba servo drive and the steps for its wiring installation and powering up Following these guidelines ensures maximum functionality of the drive and the system to which it is connected 2 1 Drive Description The Tuba is a powerful servo drive that operates in digital current velocity position and advanced position modes in conjunction with a permanent magnet synchronous brushless motor or DC brush motor The Tuba features flexible sinusoidal and trapezoidal commutation with vector control The Tuba can operate as a stand alone device or as part of a multi axis network in a distributed configuration The Tuba drive is set up and tuned using Elmo s Composer software This Windows based application enables users to quickly and simply configure the servo drive for optimal use with their motor Power to the various models of Tuba is provided by a 115 230 3 x 230 3 x 400 or 3x 460 VAC source A separate 24 VDC power supply serves as both the auxiliary supply and the backup supply This enables a safe and economical power backup feature that is essential for positioning systems An auxiliary 24 VDC power supply is required as the Tuba does not operate without one Two variations of the Tuba are available the Standard version and the A dvanced version which featur
64. te the connection RS 232 L Pin RS 232 R Pin Signal Function Pin Location Tx RS 232 transmit HARO085A COMRET Communication return Rx RS 232 receive CO N OD WU BIWIN H CI OD UU AJUU NJE Table 3 13 RS 232 Cable Pin Assignments Tuba Installation Guide Installation 5 39 MAN TUBIG Ver 1 3 Tuba PC RS 232 RS 232 R 1 COMRET TUB0013A gt Only one RS 232 port can be COMRET used ata time V Figure 3 30 RS 232 Connection Diagram 3 4 9 2 CANopen Communication on the COMM 2 Ports amp Notes for connecting the CAN open communication cable Use260r 28 AWG twisted pair shielded cables For best results the shield should have aluminum foil and covered by copper braid with a drain wire Connectthe shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can usethe drain wire to facilitate connection ThemaleRJ plug must have a shield cover Ensurethat the shield of the cable is connected to the shield of the RJ plug The drain wire can be used to facilitate the connection Connect a termination 120 ohm resistor at each of the two ends of the network cable Pin Signal Function Pin Position 1 CAN H CAN H busline dominant high CANL CAN L busline dominant low E 3 CAN_GND CAN ground m 4 5 8
65. uffered Channel A complement output 15 Pin D sub Plug B2 14 CHBO Buffered Channel B complement output on Tuba B2 15 INDEXO Buffered Index complement output Table 3 5 Main Encoder Buffered O utputs or Emulated Encoder O utputs on FEEDBACK B Pin Assignments FEEDBACK B on the front of the Tuba has a 15 pin D sub plug Connect the Auxiliary Feedback cable from the controller or other device to FEEDBACK B using a 15 pin D Sub socket with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 4 Feedback and Control Cable A ssemblies Tuba Installation Guide MAN TUBIG Ver 1 3 Tuba Feedback B SUPRET Installation 3 26 Controller V CHB Output Buffer Main Encoder or Emulated Encoder p Tuba or Other Device SUPRET Y Tuba Functionality Definition YA 4 4 SUPRET 12 od m9 T INDEXO En a 2 Il INDEXO l E 14 NE Output SHES m gt Buffer oe i i 7 CHBO m mi cHao 13 Va CHAO NN MI Functionality Definition for Tuba YA 4 2 Feedback B Figure 3 22 Main Encoder Buffered O utput or Emulated Encoder O utput on FEEDBACK B Connection Diagram Tuba Insta

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