Elmo RAV-25/60 Home Theater Server User Manual
Contents
1. KQ 5 33 KW 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 CFM The amplifier is equipped with a current feedback multiplier CFM Connecting pin J2 6 to J2 5 multiplies the signal of the current feedback by 2 and consequently causes the following changes to occur Current gains are divided by 2 Current monitor is multiplied by 2 Current limits are divided by 2 This function should be activated whenever the rated current and the peak current of the motor are less than 50 of the amplifier rated continuous and peak limits respectively Current Differential Continuous Peak Current Current M onitor Input Current limit Limit Gain A V V A Impedance Without CFM Ic Ip Ip 3 75 3 9 Ip 40 RQ With CFM Ic 2 Ip 2 Ip 7 5 7 8 Ip 40 kQ Table 4 1 CFM Effects The default pin J2 6 left open is the low current feedback For permanent selection a simple short is recommended For remote selection the scheme in Figure 4 1 should be used Raven Installation Guide Servo Control Operation MAN RAVIG Ver 1 1 4 3 Current Gain Control CGC The Raven amplifier is equipped vvith Current Gain Control CGC for improved performance of low induction motors Connecting pin J2 5 to J2 4 reduces the gain of the current loop thus enabling the use of low in2. 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 gn Raven Installation Guide Contents i MAN RAVIG Ver 1 1 Contents Chapter 1 Safety Information ssssssssssssnsesensnsansnnennnnannnn ena ARA KAKA ARKA RKA A ARA RR AR RR RR RR RR RR RA RR RR RR 1 1 LLO VO IOS EE 1 1 EZ CAU ts dida 1 2 1 3 Conformance to Standarde AAA 1 2 LA Warranty Informat OM seen E EAE E AEAEE ERE iak 1 3 Chapter 2 ntroduction sssssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nanmanna 2 1 2 1 Er O Product Faa arar aaa tia tasca arte SEENEN EE 2 1 2 2 Produc Descrip idas as 2 2 2 3 Standard ESTOS insano 2 2 24 A o A A E EE AE trat EEATT 2 2 2 5 HOW to UsSethiS Guide et ei citi ec E ai 2 4 Chapter 3 Installation s sssssssnsunsnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nanmanna 3 1 ES Re ef le EE 3 1 3 2 Unpacking the Amplifier Componente A 31 3 32 Raven DIMENSIONS tratada 3 2 3 4 Mounting the CN 3 3 3 4 1 Mounting the Heatsink A 33 3 4 2 Mounting on the PC Board 33 35 WILING TNE RAV GN ii ais emanades 3 4 EA E CIOE SiO AE tt ataca temia 3 5 3 0 1 PIN Olako o EEE E A a dia 3 5 3 6 2 Connecting a Non isolated Raven to an Isolating Power Trans
3. A R E Raven Installation Guide Contents ii MAN RAVIG Ver 1 1 SE EV ii AN A 3 d EENEG ete i in A ee ee A 4 AL VOS RD icona ds A 4 PRD OUP EB i eset as a EA A 4 A 5 1 PACKING DEE A 4 AO VV EEE ruca tie ii dida A 4 DO ROH Silenci ele O deis den bereder banden A 4 Raven Installation Guide MAN RAVIG Ver 1 1 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Raven servo amplifier itis imperative that you implement the safety procedures included in this user guide This information is provided to protect you and to keep your work area safe when operating the Raven and accompanying equipment Read this chapter carefully before you begin the installation process Ensure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth connection Only qualified personne may install adjust maintain and repair the servo amplifier A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Raven servo amplifier contains 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
4. Feature Switching frequency on the load Current loop bandwidth Current step response Peak current duration full rated peak current Continuous current limit tolerance Peak current limit tolerance Current gain linearity Current gain accuracy Current monitor accuracy Details 32 kHz 5 Up to 4kHz lt 70 usec 2 7 sec 15 1 5 1 5 Better than 1 of rated continuous current Better than 5 for 0 05 Ic lt Imotor gt Ip Better than 5 for 0 05 Ic lt Imotor gt Ip Raven Installation Guide Technical Specifications A 2 MAN RAVIG Ver 1 1 A 3 Mechanical Specifications Feature Details Size 82 x 62 x 25 4 mm 3 228 x 2 440 x 1 000 in Weight 250 g 8 8 oz Power pin material Brass with tin plating Power pin size 1 14 mm 0 45 in square Power pin PCB layout 1 8 0 05 mm 0 071 0 002 in Signal pin J1 J2 material Phosphor bronze with 10u gold plating Signal pin J1 J2 size 0 5 0 1 mm 0 02 0 004 in square Signal pin J1 J2 PCB layout 1 0 05 mm 0 04 0 002 in A 4 Environmental Conditions Ambient EE 50 C to 4100 C 58 F to 212 F Temperature ene Range Operating conditions 40 C to 70 C 40 F to 160 F Temperature Non operating 0 X to 10 C 40 F to 160 F Shock conditions within 3 min Non operating Unlimited conditions Operating conditions 400 m to 155 000 m 1 300 ft to 510 000 ft Maximanm N a oo U SE a humidity non condensing Humi
5. MAN RAVIG Ver 1 1 3 4 Mounting the Raven 3 4 1 Mounting the Heatsink The Raven dissipates its heat by natural convection up to loads of 500W For higher output loads the amplifier should be mounted on an additional heatsink or cooled by fan There are two 4 5 mm holes in the base plate for mounting an additional heatsink see Figure 3 1 3 4 2 Mounting on the PC Board When mounting the Raven on a PC board four screws in addition to the solder pins may be installed to provide a mechanical connection It is important to provide a spacer if any components are located above the amplifier Failure to do so can warp the PC board or puncture the amplifier case When selecting screws the following specifications should be used If a spacer has been added the screw length must be calculated to penetrate the case by no more than 2 6 mm Screw Type Phillips Pan Head Self tapping for plastic screw Nickel plated Steel Meets standards ISO 1478 EN 21478 or DIN 7970 d ST2 2 L 45 P 0 8 dk 4 2 ha by k 1 8 Phillips size 1 4 5 mm is typical for mounting on a PC board assembly without spacers TNE Table 3 1 Dimensions in Millimeters Basic ISO Pitch Main Diameter Minor Diameter Flat End Diameter D iam eter N r P Dimax Dimin Domax Domin D3max D3min ST2 2 2 0 8 2 24 21 1 63 1 52 1 47 1 37 Table 3 2 Size Limits for Tapping Screw Thread Raven Installation Gui
6. also meets UL508c and the relevant CE regulations The Raven power stage is implemented on a single ceramic substrate This design enables very high thermal conductivity high current carrying capacity improved EMC and good mechanical strength The control section is implemented by dedicated custom ICs that contribute to enhanced performance 2 3 Standard Features Operation in current mode Internal DC to DC converter which allows for operation from a single supply Zero deadband Excellent linearity Onedifferential input Motor current monitor Current gain change for low inductance motors Remote current gain control Current feedback multiplier for low current motors Status indication and remote control functions by four open collector transistors External continuous and peak current limit adjustments Interface via soldering pins Package plated copper base plate plastic housing UL94V 0 recognized Ultra compact size 2 4 Fault Protection Built in protection against possible fault conditions including Shorts between the outputs or between each output and the power Input return Over temperature Under over voltage Failure of internal power supplies Latch mode for each protective feature Under over voltage MAN RAVIG Ver 1 1 Raven Installation Guide Introduction CREF1 J1 2 o CREF1 41 1
7. up To avoid any potential hazards that may cause severe personal injury or damage to the product during operation keep all covers and cabinet doors shut The following safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily injury Caution This information is necessary for preventing damage to the product or to other equipment N ote E This is auxiliary information that ensures the correct operation of the equipment 1 1 Warnings Cleaning after soldering To avoid the damage of the product s acrylic coating the Raven 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 Raven Installation Guide Safety Information 1 9 MAN RAVIG Ver 1 1 To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo amplifier while the power sourceis on ZA Power cables can carry a high voltage even when the motor is not in A motion Disconnect the Raven from all voltage sources before it is opened for servicing After shutting off the power and removing the power source from your equipment wait at least 5 minutes before touching or disconnecting parts of the equipment that are normally loaded with electric
8. 400A peak ExtriQ has been tested using methods and procedures specified in a variety of extended environmental conditions EEC standards including e MIL STD 704 Aircraft Electric Power Characteristics e MIL STD 810 Environmental Engineering Considerations and Laboratory Tests e MIL STD 1275 Characteristics of 28 Volt DC Electrical Systems in Military Vehicles e MIL STD 461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment e MIL HDBK 217 Reliability Prediction of Electronic Equipment e 1S0 9001 2000 Operating conditions MAN RAVIG Ver 1 1 Raven Installation Guide Introduction 2 2 Product Description The Raven is a series of miniature ExtriQ current mode servo amplifiers for brushless motors with sinusoidal commutation Although highly compact the Raven can withstand extended environmental conditions and support up to 35 Amps This high power density servo amplifier can deliver up to 4800 W of peak power or 2400 W of continuous power in a miniature package The servo amplifier offers significant operating features including excellent output linearity and zero dead band performance The Raven incorporates 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 Raven amplifier
9. 5 MEI Ic nom 0 lt Recic lt 11 4 K 1 8 Watt At Recic greater than 11 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 5 External Current Limit Peak ECLP The peak current limit of the Raven amplifier can be scaled down by an external voltage or by an external resistor connected between pin J2 3 ECLP and pin J2 2 ECLRET 4 5 1 External Voltage An external positive voltage 0 to 3 75 V to terminal J2 3 ECLP in reference to terminal J2 2 ECLRET will control the peak current limit from zero to Ip nom Vecer 3 75V Ip new Ip nom The voltage is internally clamped to 3 75 V whenever the external Vrcur is higher than 3 75 V The external voltage source must be able to source sink at least 0 4 mA The maximum absolute Vrar is 12 V Raven Installation Guide Servo Control Operation ES MAN RAVIG Ver 1 1 4 5 2 External Resistor Connect an external resistor between terminal J2 3 ECLP and terminal J2 2 ECLRET The resistor value is given by Ip new Rgcrp Kohm 12 5 1 Ip nom 0 lt Recio 5114 K 1 8 Watt At Recue greater than 11 4K the current limit will be internally clamped to the nominal value mo IP nom is the nominal peak current limit of the amplifier 4 6 Latch Mode LM By connecting J2 7 to J2 8 the amplifier can be latched to Disable mode whenever a Sh
10. ExtriQ Raven Current Mode Servo Amplifiers for Brushless Motors with Sinusoidal Commutation in Extended Environmental Conditions Installation Guide April 2008 Ver 1 1 a Elmo rrol www elmomc com Notice This guideis delivered subject to the follovving 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 Raven 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 Document No MAN RAVIG Copyright 2008 Elmo Motion Control Ltd All rights reserved Raven Catalog Number RAV XX YYY Current Maximum Operating Voltage Revision History Ver 1 1 April 2008 Updated Power Ratings Table in Appendix Ver 1 0 June 2007 Initial release MAN RAVIG 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 elmomc com Elmo M otion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399
11. al 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 Raven servo amplifier contains hot surfaces and el ectrically charged components during operation with the parameters outlined in this guide IN The maximum DC power supply connected to the instrument must comply 1 3 Conformance to Standards The Raven servo amplifier has 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 The Raven servo amplifier is intended for incorporation in a machineor end product The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 89 392 EEC 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 Raven meets the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the eq
12. apter 3 Installation 3 1 Site Requirements You can guarantee the safe operation of the Raven by ensuring that it is installed in an appropriate environment Feature Value Ambient operating temperature 40 C 70 C 40 C 160 F Maximum case temperature 87 C 188 F Ba Note Models for extended environmental conditions are available 3 2 Unpacking the Amplifier Components To unpack the Raven 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 Raven you have unpacked is the appropriate type for your requirements find the part number sticker on the side of the Raven sa PIN RAV 25 60 Elmo S N RAV2055003 Motion Control RAVO001A The P N number at the top gives the type designation as follows RAV XX YYY Current Maximum Operating Voltage 3 Verify that the Raven type is the one that you ordered and ensure that the voltage meets your specific requirements Raven Installation Guide Installation 3 2 MAN RAVIG Ver 1 1 3 3 Raven Dimensions La SQR PIN 114 x 5 La SQR PIN 5 x 26 5 NH 1 I I I 6 3 LJ g I ia 27 N IN a I 62 Figure 3 1 Raven Dimensions Raven Installation Guide Installation 3 3
13. ctric and Electronic Equipment Raven Installation Guide Technical Specifications A 5 MAN RAVIG Ver 1 1
14. de MAN RAVIG Ver 1 1 3 5 Wiring the Raven CREF 1 CREF 1 CREF2 CREF2 CMRET e i Motion Controller CC 8 Cm pe ao Controller s La Common E e o 1 y 1 S mu S 1 o e 8 DC Power i l Supply I et e I a NEN j a 0 Lu Isolated Transformer Power M1 Connector M2 M3 PE The controller common must be connected to the CMRET whenever the common mode difference is over 6V Figure 3 2 Basic Wiring Installation RAV0002A Raven Installation Guide Installation MAN RAVIG Ver 1 1 3 6 Connections 3 6 1 Pin Functions The Raven connections are described in the follovving figure and tables zr 95 M3 a 2 1 e M2 m J2 Mia Figure 3 3 Raven Connector Locations Pin Function Remarks VP Positive power input PR Power input return M Motor power output 1 M Motor power output 2 M3 Motor power output 3 Table 3 3 Raven Power Connections Raven Installation Guide Installation MAN RAVIG Ver 1 1 Pin Short Form Function Remarks 1 Current command Negative input of a differential amplifier CREF1 input Input operating voltage range 3 75 V Maximum input voltage 20 V see section 4 1 Maximum common mode voltage 6 V referred to as CMRET Differential input impedance 40 KO 2 Current command Positive in
15. dity conditions at 35 C 95 F 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 M echanical Non operating 40g Half sine 11 msec Shock conditions Operating conditions 209 Half sine 11 msec Raven Installation Guide Technical Specifications A 3 MAN RAVIG Ver 1 1 A 5 Standards Compliance A 5 1 Quality Assurance Specification peas ISO 9001 2000 A 5 2 Design Specification In compliance with MIL STD 704 Quality Management Description Aircraft Electric Power Characteristics In compliance with MIL STD 810 Environmental Engineering Considerations and Laboratory Tests In compliance with MIL STD 1275 Characteristics of 28 Volt DC Electrical Systems in Military Vehicles In compliance with MIL STD 461 Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment In compliance with M IL H D BK 217 Reliability Prediction of Electronic Equipment IPC D 275 PC SM 782 IPC CM 770 UL508c UL840 Reliability prediction of electronic equipment rating de rating stress etc Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc In compliance with V D E0160 7 IEC 68 Type testing A 5 3 Safety Specification Details Recognized UL508c Power conversio
16. ductance motors without the insertion of an additional inductor The default pin J2 5 left open is high gain Shorting this pin to the circuit common pin J2 4 reduces the proportional gain P of the current loop by approx 70 For permanent selection a simple short is recommended For remote selection the following scheme should be used CFM o CFM J2 6 oe a E N N CGC J2 5 A K CGCRET J2 4 CGC c tt eg RAVO004A Figure 4 1 CFM and CGC Remote Control The following table should be used for calculating minimum inductance values Minimum Inductance for High Gain Minimum Inductance for Low Gain 5 60 L Load millihenry gt 12 10 3 Vsupply Volt L Load millihenry gt 4 8 10 3 Vsupply Volt 10 60 L Load millihenry gt 611037 Vsupply Volt L Load millihenry gt 2 4 10 3 Vsupply Volt 15 60 L Load millihenry gt 4 103 Vsupply Volt L Load millihenry gt 1 6 10 3 Vsupply Volt 25 60 L Load millihenry gt 2 4 103 Vsupply Volt L toaa millihenry gt 0 9 10 3 V supply Volt 3 100 L toaa millihenry gt 27 103 V supply Volt L Load millihenry gt 6 6 10 3 Vsupply Volt 10 100 L road millihenry gt 9310 3 Vsupply Volt L Load millihenry gt 2 210 3 Vsupply Volt 15 100 L road millihenry gt 6 10 3 Vsupply Volt L Load millihenry gt 1 5 10 3 Vsupply Volt 20 100 L road m
17. en collector Low Open collector 10 Power Up Reset No Open collector Open collector Open collector Open collector This indication can be used as a digital input for activating an external shunt regulator amp Notes Without latch mode The status indications are reset when the fault disappears With latch mode The Short and Over Temperature Failure status indications are reset when the enable signal is temporarily removed from the enable input Table 4 3 Raven Status Indications 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 Raven Installation Guide MAN RAVIG Ver 1 1 Appendix Technical Specifications A 1 Power Ratings Feature Units 5 60 10 60 15 60 25 60 JEJE Minimum supply voltage VDC 10 20 40 Nominal supply voltage VDC 50 85 170 Maximum supply voltage VDC 59 95 195 Maximum continuous power output 240 480 720 1200 260 800 1200 1600 360 960 1600 2400 Efficiency at rated power at nominal conditions gt 97 Maximum output voltage Up to 100 of DC bus voltage Sinusoidal continuous current magnitude 5 10 B 2 33 10 15 20 225 6 10 15 Peak current limit 2xic Mounting method PCB mount A 2 Electrical Specifications
18. former 3 8 ES DE POW er SUPPLY EE 3 9 Chapter 4 Servo Control O peration sssssssuusnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nannan nnn 4 1 4 1 Current Command Input 4 1 42 e radio il 4 1 4 3 Current Gain Control CGC s sssserrsrsrrrrssrrrsssrsrsssrsr sars rs ars rss sr nr rro rra RR RR RR RR RR RR KSR 4 2 4 4 External Current Limit Continuous ECLC NENNEN 4 3 4 4 1 A a e amiant 4 3 AS e 4 3 4 5 External Current Limit Peak ECL P isssssesstesssestsrssosssarsusss nsassnsasassnelnsasssssnisasieensntnnsa 4 3 EENG une e e EE 4 3 45 2 External Re Sorin naa 4 4 46 Latch Mode Mi 4 4 4 7 Amplifier Enable LOCOICssssssssssssssssarssorsssssrnsrrarsanssnssrnas nanna n ansa ARKA RAKA ARKA RR AR KR KARA RR AR KR RR RR RR RR KR RSA 4 4 H We Eelere EE 4 5 Appendix Technical Specifications ssssssussussnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nanna A 1 AL Power ROUIN O EA AE ee Eege ee ES canten maten mite A 1 A 2 Electrical Specificatii OMS E A 1 A 3 Mechanical Goecfcattions sn anrn rs anar RK a KKR RA RK KRK RR KR KARA RK KR KR RR Ra A 2 A 4 Environmental CONCItiONS sassmsssssrrerssrsrssrsrrsssssrarrarssnssrn snaran narr an A RAR RAR RR KARA RKA R KR KRK RR RR na A 2 AST Standards ee el EE A 3 A 5 1 Quality A SSUNQNCO sesresersrrsersrrsrrsrersrannrsr rn nns ann r rr KR RR ARKA RK KRKA RK KR RR RK KR RR RR KR RR KRKA RK KR RR RK KR nent A 3 A 5 2 DESION amina aorta A 3
19. illihenry gt 4 10 3 Vsupply Volt L Load millihenry gt 1 1 10 3 Vsupply Volt 2 200 Load millihenry gt 49 510 3 Vsupply Volt L Load millihenry gt 121038 Vsupply Volt 6 200 Load millihenry gt 16 5 10 3 V supply Volt L Load millihenry gt 4410 3 Vsupply Volt 10 200 L roaa millihenry gt 10 10 8 V supply Volt L Load millihenry gt 2 43 Vsupply Volt 15 200 L Load millinenry gt 6 5 10 3 Vsuppiy voty L Load millihenry gt 1 6 3 Vsuppiy volt Table 4 2 Minimum Inductance Values MAN RAVIG Ver 1 1 Raven Installation Guide Servo Control Operation 4 4 External Current Limit Continuous ECLC The continuous current limit of the Raven amplifier can be scaled down by an external voltage or by an external resistor connected from pin J2 1 ECLC to pin J2 2 ECLRET 4 4 1 External Voltage An external positive voltage 0 to 3 75 V to terminal J2 1 ECLC in reference to terminal J2 2 ECLRET will control the continuous current limit from zero to Ic nom Vcrc 3 75V IC new Ic nom The voltage is internally clamped to 3 75 V whenever the external Vreic is greater than 3 75 V The external voltage source must be able to source sink at least 0 4 mA The maximum absolute Vrerc is 12 V 4 4 2 External Resistor Connect an external resistor between terminal J2 1 ECLC and terminal J2 2 ECLRET The resistor value is given by Ic new Recre Kohm 12
20. ing this pin to pin J2 5 CGC multiplies CFM multiplier the current feedback signal by 2 7 Latch mode Latch mode input LM 8 Latch mode return Return for Latch mode LM LMRET 9 Enable Positive voltage input of Amplifier Enable EN function To enable operation of the amplifier the opto must be switched on by applying voltage between this pin and pin J2 10 The opto is isolated from the amplifier See Figure 2 1 Minimum On voltage 3 V current consumption 0 6 mA Maximum On voltage 15 V current consumption 5 4 mA 10 Enable Negative voltage input of Amplifier Enable EN function Opto is isolated from the amplifier For details see pin J2 9 Table 3 5 Connector J2 Raven Installation Guide Installation MAN RAVIG Ver 1 1 Pin Short Form Function Remarks 1 Amplifier OK Amplifier OK indication output pin When the AOK amplifier is at normal operating conditions this output is in active low state When a failure occurs this output is changed to open state Opto isolated open collector NPN type See Figure 2 1 Maximum voltage 30 V Maximum current 8 mA On voltage V out on lt 0 8 V 2 Status output 1 Status indication output 1 Specification as in pin Sail J3 1 3 Status output 2 Status indication output 2 Specification as in pin SO2 J3 1 4 Status output 3 Status indication output 3 Specification as in pin SO3 J3 1 5 Status ou
21. n equipment In compliance with UL840 Insulation coordination including clearance and creepage distances of electrical equipment In compliance with UL60950 Safety of information technology equipment including electrical business equipment In compliance with EN 60204 1 Low voltage directive 73 23 EEC Raven Installation Guide Technical Specifications A 4 MAN RAVIG Ver 1 1 A 5 4 EMC Specification Details In compliance with EN 55011 Class A with EN 61000 6 2 Immunity for industrial environment according to IEC61000 4 2 criteria B IEC61000 4 3 criteria A IEC61000 4 4 criteria B IEC61000 4 5 criteria B 1EC61000 4 6 criteria A IEC61000 4 8 criteria A 1EC61000 4 11 criteria B C A 5 5 Workmanship Electromagnetic compatibility EMC In compliance with IPC A 610 level 3 Acceptability of electronic assemblies A 5 6 PCB gege Des S In compliance with IPC A 600 level 3 A cceptability of printed circuit boards A 5 7 Packing specification Des S In compliance with EN 100015 Protection of electrostatic sensitive devices A 5 8 WEEE Speciation 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 5 9 RoHS Speciation In compliance with 2002 95 EC effective July 2006 Restrictions on Application of Hazardous Substances in Ele
22. o gt Current Loop Amp e V Current loop Phase 1 CREF2 J1 4 o CREF2 41 3 lt ECLC J2 1 ECLP J2 3 o ECLRET J2 2 o CM1 J1 7 c i CM2 J1 8 lt CM3 J1 9 o CMRET J1 10 o AOK J3 1 o SO1 J3 2 o Current Sensing 02 J3 3 c Protections 03 J3 4 SORET J3 5 o 43 6 EN J2 9 o A o CFM J2 6 EN 42 10 o CFM8CGC Logic o CGC J2 5 LM J2 7 o E LJ CGCRET J2 4 LMRET J2 8 o t Figure 2 1 Raven Block Diagram Raven Installation Guide Introduction MAN RAVIG Ver 1 1 2 5 How to Use this Guide Installation is the first step in integrating and operating the Elmo Raven servo amplifier 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 Raven 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 Raven Installation Guide MAN RAVIG Ver 1 1 Ch
23. ort or Over Temperature failure occurs Disabling the amplifier temporarily removing the power from Enable pins J2 9 and J2 10 resets the latch Be sure to restore the Enable connection when the reason for the event no longer exists For permanent selection a simple short is recommended For remote selection use the following scheme LM J2 7 LM command Raven 4 latch mode a i LMRET J2 8 RAVO008A Figure 4 2 LM Remote Control 4 7 Amplifier Enable Logic Pins J2 9 and J2 10 are the inputs of an opto coupler which must be energized to enable operation of the amplifier If the Enable input is kept high before turning on the amplifier the amplifier power output will be active immediately upon power on Raven Installation Guide MAN RAVIG Ver 1 1 Servo Control Operation 4 8 Status Indications The following table lists the Raven amplifier status indications Latch Function Option AOK SOL SO SO3 1 Amplifier OR N A Low Open collector Open collector Open collector AOK 2 External disable No Low Low Open collector Low 3 Current limit No Low Open collector Open collector Low 4 Short Yes Open collector Low Open collector Low 5 Over Yes Open collector Open collector Low Low temperature 6 Internal supplies No Open collector Low Low Open collector protection 7 Under voltage No Open collector Low Open collector Open collector 8 Over voltage No Open collector Opencollector Low Open collector 9 Shunt No Low Op
24. put of a differential amplifier CREF1 input Specification as for pin J1 1 3 Current command Negative input of a differential amplifier CREF2 input Specification as for pin J1 1 4 Current command Positive input of a differential amplifier CREF2 input Specification as for pin J1 1 5 N C 6 N C 7 Current monitor Analog output with a scale of 3 9 V for Ip CM1 for M1 Output resistance 21 KQ 8 Current monitor Analog output with a scale of 3 9 V for Ip CM2 for M2 Output resistance 21 kO 9 Current gain Analog output with a scale of 3 9 V for Ip CM3 change return Output resistance 21 KQ 10 Current monitor Return for the current monitor CM signals CMRET return Table 3 4 Connector J1 Raven Installation Guide Installation 3 7 MAN RAVIG Ver 1 1 Pin Short Form Function Remarks 1 External current External voltage scales down rated value ELCL limit continuous 4 Voltage range 0 V to 3 75 V 3 75 V rated Ic Internally limited to rated value 2 Current limits Return for current limits signals ECLRET return 3 External current External voltage scales down rated value ECLP limit peak Voltage range 0 V to 3 75 V 3 75 V rated Ip Internally limited to rated value 4 Current gain Return for CGC signal CGCRET change return 5 Current gain Shorting this pin to the CGCRET pin J2 4 CGC change reduces the proportional gain P of the current loop by 70 6 Current feedback Short
25. tput Status output return for AOK SO1 SO2 SO3 SORET return Isolated from power input return for details see Figure 2 1 6 Status output Status output return for AOK SO1 SO2 SO3 SORET return Isolated from power input return for details see Figure 2 1 Table 3 6 Connector J3 3 6 2 Connecting a Non isolated Raven to an Isolating Power Transformer Be sure to ground DC power common Motor chassis Amplifier heatsink Do not ground the control common which is internally connected to the power common Grounding the control common will create a ground loop MAN RAVIG Ver 1 1 Raven Installation Guide Installation 3 7 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications 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 a 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 Safe
26. ty Isolating Transformers The nominal DC bus voltage should be in the following range 1 2 Vdcmin lt Vdc lt 0 9 Vdcmax where V dcmin is the minimum DC bus V dcmax is the maximum DC bus The recommended minimum power supply capacitance for single phase connections is as follows Amplifier V oltage Range 50 55V 100 V 200 V Recommended capacitance 5600 pF 3300 pF 1500 pF The transformer power should be calculated such that it will be able to deliver power to the amplifier 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 Raven Installation Guide MAN RAVIG Ver 1 1 Chapter 4 Servo Control Operation 4 1 Current Command Input The Raven has two differential inputs 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
27. uipment meet the limits required by EMC regulations is the manufacturer of the end product Raven Installation Guide MAN RAVIG Ver 1 1 Chapter 2 Introduction This user guide is intended for the design engineer who is integrating an Elmo Motion Control Raven servo amplifier into a machine 2 1 ExtriQ Product Family Elmo Motion Control s ExtriQ product family is a set of durable motion control products for applications operating under extreme environmental conditions The products are capable of withstanding the following extreme conditions Ambient Non operating 50 C to 100 C 58 F to 212 F conditions 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 operating Unlimited conditions Operating conditions 400 m to 155 000 m 1 300 ft to 510 000 ft Non operating Up to 95 relative humidity non Maxi mun conditions condensing at 35 C 95 F Humidity Up to 95 relative humidity non condensing at 25 C 77 F up to 90 relative humidity non condensing at 42 C 108 F Operating conditions 20 Hz 2 000 Hz 14 69 Mechanical Non operating 40g Half sine 11 msec Shock conditions Operating conditions 420g Half sine 11 msec ExtriQ products have a high power density in the range of 10 W 9000 W and current carrying capacity of up to 200 A
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