Elmo Computer Hardware BUT- X/YYY User's Manual
Contents
1. 50V 10 0 40V 30V d 20V g 80 70 E External 60 Heatsink amp 5 0 Required Standard 40 C Ambient Temp AAN AAA EE o Heatsink 3 0 not 2 0 Required 1 0 4 0 0 Low LT T TT T LJ T T TT T Low 1 T Bode Vd T T Low d T VoL T T Led T o ly a 94 9 Os Y 94 06 Gy 2 44 9 2 e P SSE d 9 Cw e ow Css Peak Current A Dragonfly Butterfly Installation Guide Installation 3 13 MAN DRBUIG Ver 1 1 Butterfly 100 Series Power Dissipation 6 0 4 a External 5 0 Heatsink 5 Standard 40 C Ambient Temp Required 4 0 ss 2 o 3 0 Heatsink a not 5 2 0 Required 3 e 1 0 0 0 o P N AD V a oj 2 85VDC 70VDC Peak Current A 50VDC 3 10 1 3 How to Use the Charts The charts above are based upon theoretical worst case conditions Actual test results show 3076 5076 better power dissipation To determine if your application needs a heatsink 1 Allow maximum heatsink temperature to be 80 C or less 2 Determine the ambient operating temperature of the Butterfly 3 Calculate the allowable temperature increase as follows e for an ambient temperature of 40 C AT 80 C 40 C 40 C 4 Use the chart to find the actual dissipation power of the drive Follow the voltage curve to the desired output current and then find the dissipated power 5 Ifthe dissipated power is below 4 W the Butterfly will need no2. The voltage is internally clamped to 3 75 V whenever the external VECLP is higher than 3 75 V The external voltage source must be able to source sink at least 40 2 mA The maximum absolute VECLP allowed to be connected is 5 V Dragonfly Butterfly Installation Guide Servo Control Operation 4 3 MAN DRBUIG Ver 1 1 4 2 5 External Resistor Ip new Rec p Kohm 374 1 Ip nom Connect an external resistor between terminal J1 14 ECLP and terminal J1 8 ECLRET The resistor value is given by 0 Recue lt 36 4 K 1 8 Watt At RECLP greater than 36 4K the current limit will be internally clamped to the nominal value IP nom is the nominal peak current limit of the amplifier 4 2 6 Latch Mode LM By connecting J1 7 to J1 15 the amplifier is latched to disable mode whenever a Short Commutation or Over Temperature failure occurs Disabling the amplifier temporarily by removing the power from Enable pin J1 1 resets thelatch Be sure to restore the Enable connection when the reason for the event no longer exists 4 3 Status I ndications The following table lists the Dragonfly and Butterfly amplifier status indications Latch Function Option AOK SO1 SO2 S03 1 Amplifier OK AOK N A Low Open Open collector Open collector collector 2 External disable No Low Low Open collector Low 3 Current limit No Low Open Open collector Low collector 4 Short Yes Open Low Open collector Low collector 5 Over temperatur
3. V k V mm v i 1 i tg 1 Pg F Current E A Sensing E b 1 i X pc zou PR i I o e EE VP I pra KL pra H lori H I e r Bil V3 I 1 1 EE M2 I I 1 e M1 1 l Dr4 ja Dr5 Dr6 lt l s e A LH PR 1 I Commutation i 7 5K 1 EH HC J1 6 I 7 5K i rE HB J1 5 I 1 7 5K LE HA J1 4 I 1 i EH HALL 5v J1 18 1 I I gg HARET J1 17 1 BUT0004A Figure 3 4 Detailed D ragonfly Butterfly Internal Block Diagram Dragonfly Butterfly Installation Guide Installation 3 12 MAN DRBUIG Ver 1 1 3 10 Heat Dissipation 3 10 1 Butterfly The best way to dissipate heat from the Butterfly is to mount it so that its heatsink faces up For best results leave approximately 10 mm of space between the Butterfly s heatsink and any other assembly 3 10 1 1 Thermal Data e Heat dissipation capability 0 Approximately 10 C W e Thermal time constant Approximately 240 seconds thermal time constant means that the Butterfly will reach 2 3 of its final temperature after 4 minutes e Shut off temperature 86 C 88 C measured on the heatsink 3 10 1 2 Heat Dissipation Data Heat Dissipation is shown in graphically below Butterfly 60 Series Power Dissipation
4. Ambient operating temperature 40 C to 70 C 40 F to 160 F Maximum relative humidity 95 non condensing Operating area atmosphere No flammable gases or vapors permitted in area amp Note Models for extended environmental conditions are available The Dragonfly and Butterfly dissipate their heat by convection The maximum ambient operating temperature of 40 C to 70 C 40 F to 160 F must not be exceeded 3 2 Unpacking the Amplifier Tounpack the Dragonfly and Butterfly Carefully remove the servo amplifier from the box and the Styrofoam 1 Check the amplifier to ensure that there is no visible damage to the instrument If any damage has occurred report immediately to the carrier that delivered your amplifier 2 To ensure that the Dragonfly or Butterfly you have unpacked is the appropriate type for your requirements find the part number sticker on the side of the product The P N gives the type designation as follows ga P N BUT 5 100 BUT UYYY Elmo SIN BUT2055003 Motion Control Continuous Current BUTO001A Amps Maximum DC Operating Voltage MAN DRBUIG Ver 1 1 Dragonfly Butterfly Installation Guide Installation DRA X YY Continuous Current Amps Maximum DC Operating Voltage 3 Verify that the Dragonfly or Butterfly type is the one that you ordered and ensure that the voltage meets your specific requirements 3 3 Dimensions 3 3 1 Butterfly D
5. TS ng a ve humidity non condensing Humidity conditions a Up to 95 relative humidity non condensing Operating conditions at 25 C 77 F up to 90 relative humidity non condensing at 42 C 108 F Mechanical Non operating z40g Half sine 11 msec Shock conditions Operating conditions 420g Half sine 11 msec Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 Specifications A 3 Standards Compliance A 3 1 Quality Assurance Spec ISO 9001 2000 Quality M anagement A 3 2 Design Specification In compliance with M IL STD 704 In compliance with M IL STD 810 Description Aircraft Electric Power Characteristics Environmental Engineering Considerations and Laboratory Tests In compliance with M IL STD 1275 Characteristics of 28 Volt DC Electrical Systems in Military Vehicles In compliance with M IL STD 461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment In compliance with M IL HDBK 217 Reliability Prediction of Electronic Equipment IPC D 275 IPC SM 782 PC CM 770 UL508c UL840 Reliability prediction of electronic equipment rating de rating stress ec Printed wiring for electronic equipment clearance creepage spacing conductors sizing ec In compliance with V D E0160 7 IEC 68 Typetesting A 3 3 Safety Specification Details Recognized UL 508c Power c
6. 0 8 V Refer to Section 4 3 Specifications same as in pin J1 2 Logic levels TTL Maximum input voltage 15 VDC Logic levels TTL Maximum input voltage 15 VDC Logic levels TTL Maximum input voltage 15 VDC Latch mode input For more details see the Latch Mode section in Chapter 4 Current limit signals return External voltage scales down the rated value Voltage range 0 V to 3 75 V 3 75 V rated Ic Refer to Section 4 2 Analog output with a scale of 3 9 V for Ip Output resistance 1 KQ Positive input of a differential amplifier Input operating voltage range 3 75 V Maximum input voltage 20 V Maximum common mode voltage 6 V Differential input impedance 40 KQ Refer to Section 4 1 Negative input of a differential amplifier Same specification as in pin J1 11 Current monitor CM signal return Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 Pin 14 15 16 17 18 19 20 21 22 Short Form ECLP LMRET GAIN HARET HALL 5V SORET so2 SO3 EN Function External current limit peak Latch Mode return Current gain change Hall supply voltage return 5 V Hall supply voltage Status output return Status output 2 Status output 3 Enable Installation Description External voltage scales down the rated value Voltage range 0 V to 3 75 V 3 75 V rated Ip Refer to Section 4 2 Return for Latch Mode signals Sho
7. 1 1 20 voltage Nominal supply voltage VDC 42 50 85 Maximum supply VDC 48 59 95 voltage mesi S W 700 280 570 850 230 460 920 1400 power output Efficiency at Rated Power Up to 99 at nominal conditions M aximum output voltage 93 of DC bus voltage at f 32 kHz DC and trapezoidal commutation continuous A 15 5 10 15 2 5 5 10 15 current limit Ic Peak current limit A 2xlc Weight g oz 45g 1 6 oz Dimensions mm in 55x 15x 46 5 2 2 x 0 6 x 1 8 Mounting method PCB mount Dragonfly Butterfly Installation Guide Specifications MAN DRBUIG Ver 1 1 A 1 2 Dragonfly Feature Units 3 60 2 5 100 Minimum supply voltage VDC 11 20 Nominal supply voltage VDC 50 85 M aximum supply voltage VDC 59 95 SUE Jos continuous power W 190 240 Efficiency at rated power 96 Up to 9996 Maximum output voltage 9396 of DC bus voltage at f232 kHz cM 33 25 Peak current limit A 2xlc Weight g oz 21 5 g 0 76 oz Dimensions mm in 51x 12 5 x 42 2 x 0 49 x 1 65 Mounting method PCB mount A 2 Environmental Specifications Ambient Mise ng 50 C to 100 C 58 F to 212 F Temperature Range Operating conditions 40 C to 70 C 40 F to 160 F Temperature Non operating 40 C to 70 C 40 F to 160 F Shock conditions within 3 min Altitude Non operati ng Unlimited conditions Operating conditions 400 m to 155 000 m 1 300 ft to 510 000 ft Maximum N
8. 2 Motor power output 3 Motor power output 2 2 mm Pitch Motor power output 1 0 51 mm SQ Protective earth Power input return Positive power input BUTO0003A Auxiliary power input DRA0002A Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 3 6 2 Connector J 1 Pin H 1 MI 00 10 11 12 13 Short Form EN AOK SO1 HA HB HC LATCH ECLRET ECLC CM CREF CREF CMRET Function Enable Amplifier OK Status output 1 Hall A input Hall B input Hall C input Latch mode Current limits return External current limit continuous Current monitor Current command positive Current command negative Current monitor return I nstallation Description Positive voltage input of the Amplifier Enable function To enable operation of the amplifier the optocoupler must be energized by applying voltage between this pin and pin J1 22 The optocoupler is isolated from the amplifier See Figure OFF voltage 0 V lt Vin 1 V ON voltage 2 5 V lt Vin lt 10 V 5 V typically with current consumption 2 5 mA When the amplifier under normal operating conditions this output is in the active low state When a failure occurs this output is changed to the open state The optocoupler is an isolated open collector NPN type See Figure 3 4 Maximum voltage 30 V Maximum current 8 mA On voltage V our oy lt
9. Current Command Input i iaiaaaavaaaaaaasasassasaananaanannanannannanannanannannnanannnnannanannanaananaa 4 1 4 2 External Current Limit Continuous ECLC eene 4 1 4 2 1 External OS aia 41 42 2 A 4 2 42 3 External Current Limit Peak ECLP enne 4 2 Dragonfly Butterfly Installation Guide Contents ii MAN DRBUIG Ver 1 1 4 2 4 O bosabasdlas n aaa rapa a a ga a kl aa ba raak a kagagd 4 2 4 2 5 External ResiStor dee dd ia 4 3 42 6 Latch Mode LM eene nnne nnne nnne nnns 4 3 4 3 Status VG Cal Oris ecrit eerie Pepe er e vete n be RI EPA tA Vasa XA UN EAR FERE 4 3 Appendix Specifications eren nnne nnnm nnn rr A 1 A 1 General Specifi Cath ONS aiaa aaa EE a EENAA EE Ara aR Ean Eea A 1 A A E gt B HE VA TON A 1 A L2 Dragonfly anri oti mH e rte teta cart ipa ris A a A 2 A 2 Environmental Specifications asinaaanaasaasassssasnarannnnnnnanannannnnnnnnannnnannanannnnnnnannaa A 2 A 3 Standards CoOrmpllarite oil A 3 AL Quality ZASSUTBIICB uma ira A 3 PC YAD E orc A 3 SS PER A 3 RIA EMG sso tee A Gardens en E EUR RR A 4 A35 Workman Sh Diss ear sees eeaeee aeeai aa an aa aAa A AEE maaa AEE aa oa basen HERE rne A 4 AO PCBs itn nied ete een tae ane ra A 4 37 O A 4 PSREN A E E ci A 4 PS ROH Ss aute earner A a aa A 4 Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 Chapter 1 Safety Information In order to achieve th
10. ExtrIQ Dragonfly Butterfly Current Mode Servo Amplifiers for DC Brush and Brushless Motors with Trapezoidal Commutation in Extended Environmental Conditions Installation Guide April 2008 Ver 1 1 a Elmo www elmomc com Notice This guideis 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 the Dragonfly and Butterfly servo drives in their 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 Hornet Bee Catalog Numbers Document No MAN DRBUIG Copyright 2008 Elmo Motion Control Ltd All rights reserved Continuous Current Amps Maximum DC Operating Voltage BUT X YYY DRA X YY Continuous Current Amps Maximum DC Operating Voltage Related Products Evaluation Board Catalog Number Evaluation Board User Manual OCA EVLBRD 1 available upon request MAN EVLBRD OCA available on our web site Revision History Ver L1 April 2008 Updated Power Ratings Table in Appendix Ver
11. LO June2007 Initial release MAN DRBUIG PDF Elmo Motion Control Ltd 64 Gisin St P O Box 463 Petach Tikva 49103 Israel Tel 4972 3 929 2300 Fax 4972 3 929 2322 info il elmomc com Elmo M otion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 info us el momc 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 Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 Contents Chapter 1 Safety Information n nnaaavvnnvvmm HH w e an 1 1 L1 WamINngSu suna me Ree ERREUR den 1 2 1 2 QUIE ONS ba b sa A tss 1 2 13 Directives and Standards a aaianvaaasassssasaaranassasnanansansnnnanannannanannnnannanannannnananannaa 1 3 14 CE Mark Conformance sss enne nenne nnne nennen trennen nnns 1 3 15 Warranty Informati n arsine an aanas enaa aaae enne kaaa nnne enne nnns 1 4 Chapter 2 Introduction nnne ennemi n a ne a ne nnmnnn nannan nan 2 1 2 1 ExtrIQ a A cresce easet cesa iacere a Rak a dete rennan anga dana 2 1 2 2 Product DescrlptlO n ei ire eet entree eda RERO E S ndar E nie ER ERR 2 2 2 3 IS tem E 2 2 2 4 Raul PrOUCCU OM e erario 2 3 25 How toUsethis Guide esee enne nn nennen nnne nenne
12. Return Traces The return traces should be as large as possible but without shorting each other and with minimal cross overs 3 Main Power Supply and Motor Traces The power traces must be kept as far away as possible from the feedback and control traces 4 PE Terminal The PE terminal is connected directly to the Butterfly s heatsink or to the Dragonfly s two PE strips on its lower board In the Butterfly the heatsink serves as an EMI common plane The PE terminal should be connected to the system s Protective Earth Any other metallic parts such as the chassis of the assembly should be connected to the Protective Earth as well 5 Under normal operating conditions the PE trace carries no current The only time these traces carry current is under abnormal conditions such as when the device has become a potential shock or fire hazard while conducting external EMI interferences directly to ground When connected properly the PE trace prevents these hazards from affecting the drive Failure to meet any of the above mentioned requirements can result in drive controller host failure 1 Follow these instructions to ensure safe and proper implementation Dragonfly Butterfly Installation Guide Installation MAN DRBUIG Ver 1 1 3 6 Pin Functions The Dragonfly and Butterfly are PCB mounted analog servo drives Their pinouts are described below 3 6 1 Pinouts No Pins Type Function Connector Location 2X11 I O connector
13. VLBRD OCA available on our web site Dragonfly Butterfly Installation Guide Installation 3 10 MAN DRBUIG Ver 1 1 3 9 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications the Appendix of this guide The supply source must comply with the safety aspects of the relevant requirements in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard all according to the applicable over voltage category If the power source to the power supply is the AC line through an isolated transformer safety margins must be considered in order to avoid activating the under over voltage protection due to line variations and or voltage drop under load In addition to the above the transformer must comply with the safety aspects of the relevant requirements in accordance with the most recent version of the standard EN60742 Isolating and Safety Isolating Transformers The nominal DC bus voltage should be in the following range 1 2 V dcmin V dc lt 99 V demax where V dcmin i5 the minimum DC bus Vdcmax is the maximum DC bus The recommended minimum power supply capacitance for a single phase rectified DC source connection is as follows Amplifier Voltage Range 60 V 100 V Recommended capacitance gt 470 pF 2470 pF The transformer power should be calculated such that it will be able to deliver power to the amplifie
14. additional cooling Note The chart above shows that no heatsink is needed when the heatsink temperature is 80 C ambient temperature is 40 C and heat dissipated is 4 Watts 3 10 2 Dragonfly The best way to dissipate heat from the Dragonfly is to mount it so that its lower board faces upwards For best results leave approximately 10 mm of space between the Dragonfly s lower board and any other assembly Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 Chapter 4 Servo Control Operation 4 1 Current Command Input The Dragonfly and Butterfly have a single differential input The input operating voltage range is 3 75 V meaning that a 3 75 V signal will result in a fully rated peak current The current limit circuits will override this signal if the peak duration exceeds 2 7 seconds and or the required current exceeds the values set by the ECLC and ECLP signals If the input command voltage exceeds 3 75 V input scaling must be implemented by adding a pair of external resistors according to the following formula Rin kQ 5 33 Vin 20 Be careful not to apply input voltage above the maximum allowed input voltage as this will cause the input operational amplifier to operate beyond its limits 20 V and in extreme cases may even damage it 4 2 External Current Limit Continuous ECLC The continuous current limit of the Dragonfly and Butterfly amplifiers can be scaled down by an external voltage or by an ext
15. contribute to a better performance and lower interferences 2 The traces should be as short as possible to minimize EMI and to minimize the heat generated by the conductors 3 The spacing between the high voltage conductors VP PR M1 M2 M3 VL must be at least Surface layer 1 5 mm Internal layer 010 mm Complying with the rules above will help satisfy UL safety standards MIL STD 275 and the IPC D 275 standard for non coated conductors operating at voltages lower than 100VDC and at unlimited altitudes above 10 000 meters 30 000 feet Dragonfly Butterfly Installation Guide I nstallation MAN DRBUIG Ver 1 1 3 5 2 Grounds and Returns The Returns of the Dragonfly and Butterfly are structured internally in a star configuration The returns in each functional block are listed below Functional Block Return Pin Power PR Power Return Internal Switch Mode P S PR Power Return Control section Internal not accessible Feedback SUPRET J2 2 The returns above are all shorted within the Dragonfly and Butterfly in a topology that results in optimum performance 1 When wiring the traces of the above functions on the Integration Board the Returns of each function must be wired separately to its designated terminal on the Dragonfly and Butterfly DO NOT USE A COMMON GROUND PLANE Shorting the commons on the Integration Board may cause performance degradation ground loops etc 2
16. d efficient package The Cymbal operates from a DC power source in the range of 12 195 VDC The Power stage of the Cymbal is fully isolated from other sections of the Cymbal such as the control stage and the heatsink This contributes very significantly to the safety and the EMI immunity of the Cymbal In addition it simplifies the requirements of the DC power supply used to power the DC bus of the Cymbal and allows also the operation with a non isolated DC power source The Cymbal incorporates full custom mixed analog digital ICs and a hybrid power stage The basic configuration is a current mode amplifier targeting the OEM market As such no trimmers are used in the basic version In addition to its compliance with relevant MIL standards the Cymbal amplifier also meets UL508c and the relevant CE regulations The Cymbal power stage is implemented on ceramic substrates This design enables very high thermal conductivity high current carrying capacity improved EM C and good mechanical strength The control section is implemented by dedicated custom ICs that contribute to enhanced performance and reliability 2 2 Standard Features e Operates in current mode e Internal DC to DC converter which allows for operation from a single supply e Zero dead band e Excellent linearity e Onedifferential input e Motor current monitor e Current gain change for low inductance motors e Remote current gain control e Status indication and re
17. e Yes Open Open Low Low collector collector 6 Internal supplies No Open Low Low Open collector protection collector 7 Under voltage No Open Low Open collector Open collector collector 8 Over voltage No Open Open Low Open collector collector collector 9 Shunt No Low Open Low Open collector collector Dragonfly Butterfly Installation Guide Servo Control Operation 4 4 MAN DRBUIG Ver 1 1 Latch Function Option AOK SO1 SO2 SO3 10 Power up reset No Open Open Open collector Open collector collector collector 11 Commutation failure Yes Open Low Low Low collector This indication can be used as a digital input for activating an external shunt regulator Table 4 1 Dragonfly Butterfly Status Indications amp N otes Without latch mode The status indications are reset when the fault disappears With latch mode The Short Over Temperature and Commutation Failure status indications are reset when the enable signal is temporarily removed from the enable input Multiple faults Only the reading of the first fault is reliable Additional faults add on to the status outputs and the indication is therefore meaningless Dragonfly Butterfly Installation Guide A 1 MAN DRBUIG Ver 1 1 Appendix Specifications A 1 General Specifications A 1 1 Butterfly Feature Units 15 48 5 60 10 60 15 60 2 5 100 5 100 10 100 15 100 Minimum supply VDC 1
18. e opti mum safe operation of the Dragonfly and Butterfly servo amplifiers itis 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 Dragonfly and Butterfly 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 hasthe knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Dragonfly and Butterfly servo drive contain electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials such as plastic film and synthetic fabrics Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build up To avoid any potential hazards that may cause severe personal injury or damageto the product during operation keep all covers and cabinet doors shut Thefollowing safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily
19. ernal resistor connected from pin J1 9 ECLC to pin J1 8 ECLRET 4 2 1 External Voltage Vectre IC new Ic nom 3 75V An external positive voltage 0 to 3 75 V to terminal J1 9 ECLC in reference to terminal J1 8 ECLRET will control the continuous current limit from zero to Ic nom The voltage is internally clamped to 3 75 V whenever the external VECLC is greater than 3 75V The external voltage source must be able to source sink at least 0 2 mA The maximum absolute VECLC allowed to be connected is 5 V Dragonfly Butterfly Installation Guide Servo Control Operation MAN DRBUIG Ver 1 1 4 2 2 External Resistor Rika a a eem un Ic nom Connect an external resistor between terminal J1 9 ECLC and terminal J1 8 ECLRET The resistor value is given by 0 lt RECLC 36 4 K 1 8 Watt At RECLC greater than 36 4 K the current limit will be internally clamped to the nominal value IC nom is the nominal continuous current limit of the amplifier 4 2 3 External Current Limit Peak ECLP The peak current limit of the Dragonfly and Butterfly amplifiers can be scaled down by an external voltage or by an external resistor connected between pin J1 14 ECLP and J1 8 ECLRET 4 2 4 External Voltage An external positive voltage 0 to 3 75 V to terminal J1 14 ECLP in reference to terminal J1 8 ECLRET will control the peak current limit from zero to Ip nom Vecer 3 75V Ip new p nom
20. iance with M IL HDBK 217 Reliability Prediction of Electronic Equipment In compliance with ISO 9001 2000 Quality Management In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination Including Clearance and Creepage Distances of Electrical Equipment In compliance with UL60950 1 formerly UL 1950 Safety of Information Technology Equipment Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Dragonfly and Butterfly servo drives have been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation Furthermore Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met 1 4 CE Mark Conformance The Dragonfly and Butterfly servo drives are intended for incorporation in a machine or end product The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98 37 EC as amended and with those of the most recent versions of standards EN 60204 1 and EN 292 2 at the least According to Annex III of Article 13 of Council Directive 93 68 EEC amending Council Directive 73 23 EEC concerning electrical equipment designed for
21. ic and Electronic Equipment
22. imensions 93 00 r 49 00 72 70 i FK 7 p 5 OJ O i 42 L i Th T 5 bolle Mi r mon d NH d f f V D t t 300 i CON Gi 9 m 4 5 6 5 i 45 I 4 2 a i R BUTO002A 55 00 Figure 3 1 Butterfly Dimensions MAN DRBUIG Ver 1 1 Dragonfly Butterfly Installation Guide Installation 3 3 2 Dragonfly Dimensions 50 4mm gt LL i gt a 41 9 2 Ia 3 2 a l DRA0001A Figure 3 2 Dragonfly Dimensions 3 4 Mounting 3 4 1 Butterfly The Butterfly was designed for mounting on a printed circuit board PCB It is connected by 2mm pitch 0 51 mm square pins When designing the Butterfly into a device be sure to leave about 1 cm 0 4 outward from the heatsink to enable free air convection around the Butterfly We recommend that the Butterfly be soldered directly to the board Alternatively the Butterfly can be attached to socket connectors mounted on the PCB If the PCB is enclosed in a metal chassis we recommend that the Butterfly be screw mounted to it as well to help with heat dissipation The Butterfly has screw mount holes on each corner of the heatsink for this purpose 3 4 2 Dragonfly The Dragonfly was designed for mounting on a printed circuit board PCB It is connected by 2mm pitch 0 51 mm square p
23. 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 Dragonfly Butterfly Installation Guide Safety I nformation 1 2 MAN DRBUIG Ver 1 1 1 1 Warnings PAS Cleaning after soldering To avoid the damage of the product s acrylic coating the Dragonfly Butterfly must not be cleaned after soldering by dissolving solvents and or water cleaning process For more details http www elmomc com applications article Soldering and Cleaning Application N ote pdf To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo drive whilethe power sourceis on Power cables can carry a high voltage even when the motor is not in motion Disconnect the Dragonfly and Butterfly from all voltage sources before they are opened for servicing The Dragonfly and Butterfly servo drive contain 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 point
24. ins When designing the Dragonfly into a device be sure to leave about 1 cm 0 4 outward from the lower board to enable free air convection around the Dragonfly We recommend that the Dragonfly be soldered directly to the board Alternatively the Dragonfly can be attached to socket connectors mounted on the PCB Note Elmo recommends you leave approximately 1 cm 0 4 in of space on the side opposite the terminals to allow for free air convection Dragonfly Butterfly Installation Guide Installation MAN DRBUIG Ver 1 1 J Y SE 7 Y al ff 9 7 XT El x omm 11 u L L Z LL LL T Mi 10mm 10m T I 4 SAL Y T i 3 5 I ntegrating the Dragonfly and Butterfly on a PCB The Dragonfly and Butterfly are designed to be mounted on a PCB either by soldering the pins directly to the PCB or by using suitable socket connectors In both cases the following rules apply 3 5 1 Traces 1 The size of the traces on the PCB thickness and width is determined by the current carrying capacity required by the application The rated continuous current limit Ic of the Dragonfly and Butterfly is the current used for sizing the motor traces M1 M2 M3 and PE and power traces VP PR and PE For control feedbacks and Inputs outputs conductors the actual current is very small but generous thickness and width of the conductors will
25. mote control functions by four open collector transistors External continuous and peak current limit adjustments e Package plated aluminum base plate plastic housing UL94V 0 recognized e Ultra lightweight of 700 grams 24 7 oz Cymbal Installation Guide Introduction MAN CYMIG Ver 1 1 2 3 Fault Protection Built in protection against possible fault conditions including e Shorts between the outputs or between each output and the power input return e Over heating Under over voltage e Failure of internal power supplies e Latch mode for each protective feature 2 4 How to Use this Guide Installation is the first step in integrating and operating the Elmo Cymbal servo amplifiers 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 and connecting the Cymbal Chapter 4 Servo Control O peration explains how to control the operation of the servo amplifier The Appendix Technical Specifications lists all the drive ratings and specifications Dragonfly Butterfly Installation Guide Installation MAN DRBUIG Ver 1 1 Chapter 3 Installation 3 1 Before You Begin 3 1 1 Site Requirements You can guarantee the safe operation of the Dragonfly and Butterfly by ensuring that they are installed in an appropriate environment Feature Value
26. n nnn 2 3 Chapter 3 Installation eren rennen ennemi nea nea ne ne i ne ia ne Rua 3 1 2 Before Y o SOI ssec cn accuse al 31 BAT SiteReqgulterents eene aa ean aaea lei e terere saaana 31 3 2 Unpacking the A mplifier essen 3 1 33 DIMENSIONS E NETS OT T i E 3 2 331 Butterfly DIMENSIONS uste 3 2 3 32 Dragonfly Dimensions sss rra 3 3 SAMOA cia 3 3 S L But Venson irte 33 34 2 Dragonfly aenean eene opino spu eniti yea nr e cire ER He UE Ea 3 3 3 5 Integrating the Dragonfly and Butterfly on a PCB sese 3 4 EUN NEIN 0 PP RET 34 35 2 Groundsand Returns sss nennen tenent 3 5 36 PIN E nctlons xxiii terrd n a R EE l aa 3 6 SIN V IIo UcT Cx 36 3 6 2 Gee cio ME 37 3 7 Dragonfly Butterfly Connection Diagram sese 3 9 3 8 Evaluation Board and Cable Kit 3 9 3 9 DC Power Supply setti meii eie tre ad ether Pe aient ege Ra sento 3 10 3 10 Heat DISSI patlOn i e n SH v Ri ER da 3 12 ID D 5B lterily ieu dese or A espe Da DL LE 3 12 3 10 1 E Thermal Data nece ER re repair rene a nk via faa o 3 12 3 10 1 2H eat Dissipation Data nennen nnne nnne 3 12 3 10 1 3H ow to Use the Charts anaaianaasavaasas nsasannasannasannnnanannanannanannananna 3 13 3 10 2 Dragonfly iii Ret chine heme Ere ee bern eredi 3 13 Chapter 4 Servo Control O peration eene nnn nen nen nn nn ena 4 1 4 1
27. onversion equipment In compliance with UL840 Insulation coordination including clearance and creepage distances of electrical equipment In compliance with UL 60950 Safety of information technology equipment induding electrical business equipment In compliance with EN 60204 1 Low voltage directive 73 23 EEC Dragonfly Butterfly Installation Guide Specifications MAN DRBUIG Ver 1 1 A 3 4 EMC Specification Details In compliance with Electromagnetic compatibility EM C EN 55011 Class A with EN 61000 6 2 Immunity for industrial environment according to IEC61000 4 2 criteria B 1EC61000 4 3 criteria A 1EC61000 4 4 criteria B EC61000 4 5 criteria B 1EC61000 4 6 criteria A 1EC61000 4 8 criteria A 1EC61000 4 11 criteria B C A 3 5 Workmanship In compliance with I PC A 610 level 3 Acceptability of electronic assemblies 3 6 PCB In compliance with IPC A 600 level 3 A cceptability of printed circuit boards A 3 7 Packing Specification Details In compliance with EN 100015 Protection of electrostatic sensitive devices A 3 8 WEEE Specification Description In compliance with 2002 96 EC Waste Electrical and Electronic Equipment regulations Please send out of service Elmo drives to the nearest Elmo sales office A 3 9 RoHS speciation In compliance with 2002 95 EC Restrictions on Application of Hazardous effective July 2006 Substances in Electr
28. r including peak power without significant voltage drops The power supply should be located as close as possible to the amplifier The maximum distance is 30 cm 1 foot While driving high inertia loads the power supply must be equipped with a shunt regulator otherwise the amplifier will be disabled whenever the capacitors are charged above the maximum voltage during motor break down Dragonfly Butterfly Installation Guide MAN DRBUIG Ver 1 1 I nstallation 3 11 CREF J1 12 ME CREF J1 11 MER ECLC J1 9 ECLP J1 4 I I 10 5K I I i 20K 10K 54 9K 10nF x S I e 20K i BS e Current Loop 1 AD Amp 1 20K A Buffer x e N 1K IK Current Current PWM Limits Processor Hagani 1K E E ECLRET J1 8 MM CM J1 10 MB E CMRET J1 13 3 3v MH 5v NH VDL NH VD1 EE GAIN 1 16 LMRET J1 15 SMPS VD2 Hm VD3 EE AOK J1 2 IE SO J1 3 M SO2 J1 20 EEE SMPS SO3 J1 21 Mii SORET J1 19 Bii EN J1 1 MH EN J1 22 M LATCH J1 7 M LMRET J1 15 Mii uy V Y W LAY V Y V
29. rting this pin to LMRET pin J1 15 reduces the proportional gain of the current loop by 70 Return used only for Hall supply 5 V supply voltage for Hall sensors Output current maximum of 13 mA Status output common AOK SO1 502 SO3 Isolated from circuit common See Figure 3 4 Status indication output 2 Same specification as in pin J1 2 Status indication output 3 Same specification as in pin J1 2 Negative voltage input of Amplifier Enable function Optocoupler is isolated from the amplifier For details see pin J1 1 Dragonfly Butterfly Installation Guide Installation MAN DRBUIG Ver 1 1 3 7 Dragonfly Butterfly Connection Diagram m Dragonfly Butterfly et E HA Jn Controller H HC HARET Yl HALL 5v T 1 e a Power M3 Connector M2 M1 PE e E B Recommended not mandatory _ ECLRET e o DC Power mm Supply E Jl Isolated Transformer DRA0003A Figure 3 3 Dragonfly Butterfly Connection Diagram 3 8 Evaluation Board and Cable Kit The same circuit board used for the Ocarina and Castanet is also available for evaluating the Dragonfly and Butterfly It comes with standards terminal blocks for power connections and D sub plugs sockets for signals connections The Evaluation Board is provided with a cable kit Evaluation Board Catalog Number OCA EVLBRD 1 Evaluation Board User Manual MAN E
30. s with a meter before touching the equipment is recommended 1 2 Cautions The Dragonfly and Butterfly servo drives contain hot surfaces and electrically charged components during operation The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Dragonfly and Butterfly to an approved 12 95 VDC auxiliary power supply connect them 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 Dragonfly and Butterfly verify that all safety precautions have been observed and that the installation procedures in this manual have been followed Dragonfly Butterfly Installation Guide Safety I nformation 1 3 MAN DRBUIG Ver 1 1 1 3 Directives and Standards The Dragonfly and Butterfly conform to the following industry safety standards Safety Standard Item In compliance with M IL STD 704 Aircraft Electric Power Characteristics In compliance with M IL STD 810 Environmental Engineering Considerations and Laboratory Tests In compliance with M IL STD 1275 Characteristics of 28 Volt DC Electrical Systems in Military Vehicles In compliance with M IL STD 461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment In compl
31. use within certain voltage limits the Butterfly and Dragonfly meet the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the equipment meets the limits required by EMC regulations is the manufacturer of the end product Dragonfly Butterfly Installation Guide Safety I nformation 1 4 MAN DRBUIG Ver 1 1 1 5 Warranty I nformation The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description All Elmo drives are warranted for a period of 12 months from the time of installation or 18 months from time of shipment whichever comes first No other warranties expressed or implied and including a warranty of merchantability and fitness for a particular purpose extend beyond this warranty Cymbal Installation Guide I ntroduction MAN CYMIG Ver 1 1 Chapter 2 I ntroduction This Installation Guideisintended for design engineers who areintegrating Elmo M otion Control Cymbal servo amplifiers into a machine 2 1 Product Description The Cymbal series of servo amplifiers is designed to operate in the current mode controlling permanent magnet trapezoidal brushless motor and DC brush motor The Cymbal exhibits the highest density of power and intelligence and can deliver up to 11 3 kW of continuous power or 13 6 k W of peak power in a most compact an
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