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Elmo 1 Computer Drive User Manual

1. DEIR V Rin 2 5K REH mol 12 di o V Rin25K Vz 5 v Na B AY A v 0 Rin 2 5K Vz 51v 14 Si Na e SIR e V M Wez RV we 5 adi V 6 Rin 125K vz S4v we 6 gt Rout 200 OUTI ym Re OUTRET1 Rout 200 OUT2 yq Re OUTRET2 ANLIN1 V ANLIN1 ANLRET As Per Controller Manufacturer s Recommendations DRU0025A Figure 3 26 General J11 0 Connection Diagram Drum Installation Guide Installation 3 42 MAN DRUIG Ver 1 0 3 4 8 Communication Cables The communication cables use a 9 pin D sub plug that connect to the RS 232 and 9 pin D sub socket that connects to the CANopen ports on the Drum The communication interface may differ according to the user s hardware The Drum 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 Drum to a serial interface on the PC The interface is selected and set up in the Composer software In order to benefit from CANopen communication the user must have an
2. or Single ended Direction Auxiliary Commands Incremental DI Output L DRUOO3 Incremental Differential buttered amp Incremental B2 Output Encoder and Buffered Encoder Differential or l i or an Analog Direction Analog Buffered Encoder Signals k E d Auxiliary or git Drs Encoder Resolver or or d Resolver Signal A input Potentiometer Tachometer or Tachometer Potentiometer o or Potentiometer Absolute or Encoder Absolute Encoder Typical Any application where the Any application where two Port B1 serves as an input for Applications main encoder is used not feedbacks are used by the Pulse amp Direction only for the drive but also drive commands differential or for other purposes such as Port B1 serves as an input for single ended position controllers and or the auxiliary incremental Port B2 is used to output other drives encoder differential or differential buffered Pulse amp Analog Encoder single ended Direction signals applications where position Port B2 is used to output data is required in the differential buffered Encoder s quadrature Auxiliary Incremental format Enc
3. Feature Units 70 48 70 60 R90 60 50 100 R75 100 35 200 R60 200 18 400 Minimum supply voltage VDC 11 14 23 46 92 Nominal supply voltage VDC 42 50 85 170 340 Maximum supply voltage VDC 48 59 95 195 390 Maximum continuous power output W 2700 3400 4300 4000 6000 5600 9600 5600 Efficiency at rated power 2 gt 97 at nominal conditions Maximum output voltage 97 of DC bus voltage at f 22 kHz Amplitude sinusoidal DC c ntindous current A 70 70 90 50 75 35 60 18 Sinusoidal continuous RMS current limit Ic A 50 50 63 35 53 25 42 12 7 Peak current limit A 2xlc 2xIc No Peak 2xIc No Peak 2xIc No Peak 2x Ic Weight g oz 700 g 24 7 oz Dimensions mm in 134 x 95 x 60 5 3 x 3 7 x 2 4 Digital in Digital out Analog in CRA Mounting method Panel mount A 4 Environmental Conditions Feature Details Ambient operating temperature 0 C 40 C 32 F 104 F Storage temperature 20 C 85 C 4 F 185 F Maximum humidity 90 non condensing Protection level Drum Installation Guide Drum Technical Specifications A 6 MAN DRUIG Ver 1 0 A 4 1 Auxiliary Supply Feature D etails Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 12 VDC 195 VDC Auxiliary supply input power lt 4 VA this includes the 5V 200 mA load for the main encoder only lt 5 5 VA this includes the 5V 400 mA load on the main encoder an
4. Drum 1 e Drain e CAN Interface 5 Wire i t CAN Controller H SE 0 ee 6 ME S 7 i 2 LX I 2 m o 3 I m CAN GND e Drum 2 Drain e CAN Interface 5 Wire O e e 6 7 2 NM mi o 3 m CAN GND e Drum n pra e rain H CAN Interface 5 Wie OoOO c 3 i 1209 7 pai 2 PS 3 CAN GND mu DRUOO27A Caution Figure 3 28 CAN open Connection Diagram When installing CANopen communications ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang Drum Installation Guide Installation 3 45 MAN DRUIG Ver 1 0 3 5 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 or a non 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
5. Position Data Emulated in Incremental Encoder Format signals are quadrature differential A input amp buffered Resolver B2 Output same as B1 Tachometer Input B1 Output Tachometer Position Data Emulated in Incremental Encoder Format Ka N vai signals are A input quadrature Tachometer differential amp buffered B2 Output same as B1 Deum Incremental B2 Output Encoder Differential or and Analog Buffered Encoder Auxiliary or Encoder Resolver Signal or Tachometer or Potentiometer Absolute Encoder B1 Input Differential or Single ended Pulse amp Direction Commands pavos B2 Output Incremental Differential Enoader and Buffered or Pulse amp Analog Direction Encoder Signals or Resolver or Tachometer or Potentiometer Absolute Encoder Drum Installation Guide Installation 3 29 MAN DRUIG Ver 1 0 FEEDBACK B Ports Bl and B2 YA 4 4 YA 4 2 B1 Output Potentiometer H BI i Position Data Emulated in Incremental Encoder cormat signals are DR aa pel REOR B
6. MAN DRUIG Ver 1 0 3 20 Absolute Encoders DRU XX YYY Pin Port Signal Heidenhain 2 1 Signal Stegmann B1 Aux CHB Emulated channel B low output CHB Emulated channel B low output Input Auxiliary channel B low input Auxiliary channel B low input Output B1 Aux INDEX Auxiliary INDEX high input INDEX Auxiliary INDEX high input Input Output B1 Aux INDEX Auxiliary INDEX low input INDEX Auxiliary INDEX low input Input Output PWR 5V Encoder Hall 5V supply 5V Hall supply PWR 8V Do not connect 8V Encoder supply Drum Feedback A HC Sate II Table 3 7B Feedback Cable Pin Assignments Incremental Encoder with Hall Sensor HB Hall C Hall B HA Hall A CHA CHA CHA CHA CHB CHB CHB INDEX CHB INDEX INDEX INDEX 5v SUPRET Encoder Hall 5v Supply Hall Encoder Supply Voltage Return b 4 4 4 4 A moe AA nesta Ns tc AE ee ey E DRU0009A Figure 3 10 Main Feedback Incremental Encoder Connection Diagram Drum Installation Guide Installation 3 21 MAN DRUIG Ver 1 0 Drum Feedback A Sine Cosine Encoder WR ET A Encoder 5v Supply Encoder Supply Return DRU0010A Figure 3
7. amp Note In models not containing absolute encoder support it is possible to use terminals 16 and 17 for SUPRET connections and use terminal 26 for 5V connection Table 3 10 Single ended Auxiliary Encoder O ption on FEEDBACK B Pin Assignments Drum Installation Guide Installation 3 35 MAN DRUIG Ver 1 0 FEEDBACK B on the top of the Drum has a 26 pin high density D sub socket Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 26 pin high density D Sub plug with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Drum Feedback B Encoder In models not containing absolute encoder 18 i Encoder Supply support it is possible to use terminals 16 amp 17 SUPRET Va f Voltage Return for circuit common connections y Cr d E L In models not containing absolute encoder E pa Gr support it is possible to use terminal 26 TOM Y gt i ncoder ov Supply for 5v connection pr i Port B1 23 mm Aux 21 Encoder lt D 4 Input M Buffer lt Encoder Input a Drum or Other Device mm e e In mo
8. rating de rating stress etc IPC D 275 Reliability prediction of electronic equipment IPC SM 782 rating de rating stress etc IPC CM 770 Printed wiring for electronic equipment UL508c clearance creepage spacing conductors UL840 sizing etc In compliance with VD E0160 7 IEC 68 Type testing Drum Installation Guide Drum Technical Specifications A 17 MAN DRUIG Ver 1 0 A 10 3 Safety Specification Description 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 Safety of information technology equipment including electrical business equipment In compliance with EN 60204 1 Low voltage directive 72 23 EEC A 10 4 EMC Specification Description In compliance with Electromagnetic compatibility EMC EN55011 Class A with EN61000 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 IEC61000 4 6 criteria A IEC61000 4 8 criteria A IEC61000 4 11 criteria B C A 10 5 Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies A 10 6 PCB In compliance with IPC A 600 level 3 Acceptability of printed circuit boards Drum Installation Guide Drum Technical
9. barrel connector lt S Dd M5 flat washer y Step 1 PE Connection DRU0036B SD O Cee LOSSES HI M5 screw ES2 MS spring washer barrel connector TP Q M5 flat washer Step 2 Power and M otor Connection DRU0036B M6 nut available with the drive O Sale 39955595 AC M6 spring washer DD Ct T barrel connector S CER Table 3 5 Connecting the Main Power and Motor Cables Drum Installation Guide Installation 3 10 MAN DRUIG Ver 1 0 3 4 2 1 Connecting the Motor Cable Connect the motor power cable to the M1 M2 and M3 terminals of the main power connector and the fourth wire to the PE Protective Earth on the heat sink see diagram above The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup amp Notes for connecting the motor cables For best 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 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 Drum Be sure that the motor chassis is properly grounded To close the motor cable into the drive use the barrel connector M6 spring washer and M6 n
10. 14 Female DRU0038 1A Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 16 Interpolated Analog Tachometer and Incremental Encoder Encoder Resolver Potentiometer DRU XX YYY_ DRU XX YYYI DRU XX YYYR DRU XX YYYT Pin Port Signal Function Signal Function Signal Function Signal Function 1 A CHA ChannelA A Sine A S1 Sine A Tacl Tacho Main Input 1 Pos 20 V Input max 2 A CHA ChannelA A Sine A S3 Sine A Tacl Tacho Main Complement Complement Complement x S Input 20V max 3 A CHB Channel B B Cosine B S2 Cosine B Tac2 Tacho Main Input 2 Pos 50 V Input max 4 A CHB ChannelB B Cosine B S4 Cosine B Tac2 Tacho Main Complement Complement Complement s 2 Input 50 V max 5 A INDEX Index R Reference R1 Vref f 1 TS POT Potentio Main 50mA Max meter Input Input 6 A INDEX Index R Reference R2 Vref NC Main Complement Complement complement Input f 1 TS 50 mA Max 7 HalA HA Hall sensor HA Hall sensor A HA Hallsensor A HA Hall A input input input sensor A input 8 HalB HB Hall sensor B HB Hall sensor B HB HallsensorB HB Hall input input input sensor B input 9 HallC HC Hall sensor HC Hall sensor C HC HallsensorC HC Hall C input input input sensor C input 10 B2 CHAO Aux Main CHAO Aux CHAO Aux CHAO Aux Aux channel A Emulated Emulated 2 S Output high output channel A chan
11. MAN DRUIG Ver 1 0 Type Function Port Installation Connector Location Barrel Power Connector M6 Spring Washer M6 Nut Motor Barrel Ground Connector M5 Flat Washer M5 Spring Washer M5 screw VP PR M1 M2 M3 PE PE PE PE DRU0004 Table 3 1 Power Connectors on the Drum Type Function Port Connector Location 26 pin high Feedbacks A JA J3 Male I O J4 Female Feedbacks A amp B density D amp B Sub female Oo 15 pin high Analog Input Ja density D and General Sub male I O DRU0032A Table 3 2 Feedback and I O Connectors on the Drum Type Function Port Connector Location 9 pin D Sub CANopen amp J1 a e J2 Female RS 232 male Optional Backup Supply 9 pin D Sub RS 232 J2 female DRU0031A Table 3 3 Communication and Backup Connectors on the Drum Drum Installation Guide MAN DRUIG Ver 1 0 CANopen Installation PC RS232 CAN Controller I gt Drain wie o_o AUX BACKUP SUPPLY RETE RI e LJ COMRET V Backup Supply nS M OPTIONAL Isolated Transformer Backup Supply The Drum Can Operate Without The External N3
12. N4 N5 N6 Controller INRET INRET OUT1 Feedback B Main Feedback OUTRET1 OUT2 OUTRET2 um l l E E lt a lt um p r i l mum i gt K 1 l m l e ANALIN1 Feedback A ANALIN1 ANLRET ANALIN1 ANALIN1 ANLRET Isolation Boundary Power Connector D Isolated Transformer Figure 3 2 Drum Detailed Connection Diagram DRU0005A Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 4 2 Connecting the Power Cables The main power connector located at the bottom of the Drum as follows Pin Function Cable Pin Positions VP Pos Power input Power a PR Power return Power PE Protective earth Power 3 Phase DC Motor Motor Cable Cable PE Protective earth Motor Motor M1 Motor phase Motor N C M2 Motor phase Motor Motor M3 Motor phase Motor Motor DRU0004A When connecting several motors all must be wired in an identical manner Table 3 4 Connector for Main Power and Motor Cables Drum Installation Guide Installation MAN DRUIG Ver 1 0 DRU0036B M6 nut available with the drive M6 spring washer gt barrel ZE connector Sy M5 spring washer
13. calculated by either jogging or step Note AII software calculated profiles support on the fly changes A 5 3 Position Loop Controller type Position command options 1 2 4 PIP Software Pulse and Direction Analog Potentiometer Position loop bandwidth Position loop sampling time 280 400 usec x 4 current loop sample time Position loop sampling rate up to 4 kHz default 2 75 kHz Drum Installation Guide Drum Technical Specifications A 8 MAN DRUIG Ver 1 0 A 6 Feedbacks A 6 1 Feedback Supply Voltage The Drum has two feedback ports main and auxiliary The drives supply voltage to the main and auxiliary feedback devices 200 mA to the main feedback and 200 mA to the auxiliary feedback Main encoder supply voltage 5 V 5 9 200 mA Auxiliary encoder supply voltage 5 V 5 9 200 mA A 6 2 Main Feedback Options A 6 2 1 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 absolute 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 Peu Peu Peu Peu Phase A input Ph
14. the signals on the Auxiliary Feedback ports when set up to run as a buffered outputs or emulated outputs of the main encoder on FEEDBACK A Port Pin Signal Function Pin Position B2 10 CHAO Buffered channel A output B2 11 CHAO Buffered channel A complement output B2 12 CHBO Buffered channel B output B2 13 CHBO Buffered channel B complement output J4 B2 14 INDEXO Buffered Index output Female B2 15 INDEXO Buffered Index complement B PORTB output X PORT B2 Encoder supply voltage A POWER pwr ENPRE return COMRET BI 19 CHA Auxiliary channel A high output BI 20 CHA Auxiliary channel A low output DRU0039 1A BI 21 CHB Auxiliary channel B high output BI 22 CHB Auxiliary channel B low 26 Pin high density output D sub Socket B1 23 INDEX Auxiliary Index high output B1 24 INDEX Auxiliary Index low output PWR 25 5V Encoder supply voltage amp Note In models not containing absolute encoder support it is possible to use terminals 16 and 17 for SUPRET connections Table 3 8 Main Encoder Buffered O utputs or Emulated Encoder O utputs on FEEDBACK B Pin Assignments Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 31 FEEDBACK B on the top of the Drum has a 26 pin high density D sub socket Connect the Auxiliary Feedback cable from the controller or other device to FEEDBACK B using a 26 pin high density D Sub
15. the standard EN60742 Isolating and Safety Isolating Transformers The nominal DC bus voltage should be in the following range 12 V dcmin lt V ac 0 9 V demax Where V demin is the minimum DC bus V demax is the maximum DC bus 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 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 3 5 1 Powering Up After the Drum has been mounted check that the cables are intact The Drum servo drive is then ready to be powered up Caution Before applying power ensure that the DC supply is within the range specified for your specific type of Drum and that the proper plus minus connections are in order 3 5 2 Initializing the System After the Drum has been connected and mounted the system must be set up and initialized This is accomplished using the Composer 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 Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 46 3 6 Heat Dissipation For full p
16. way there is no need for a separate control logic supply 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 Drum Installation Guide Introduction MAN DRUIG Ver 1 0 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 ti me On the fly gain scheduling Automatic manual and advanced manual tuning and determination of optimal gain and phase margins 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 PT and PVT motion modes 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 Dual position velocity loop Fast output compare OC 2 2 4 Communication Options Drum users can use two communication options RS 232 serial communication CANopen for fast communication in a multi axis distri
17. 11 Main Feedback Interpolated Analog Encoder Connection Diagram Drum Feedback A Resolver DRU0011A Figure 3 12 Main Feedback Resolver Connection Diagram Drum Installation Guide Installation 3 22 MAN DRUIG Ver 1 0 Tachometer with Hall Sensor Drum Feedback A SA A 9 e 8 L i m 8 ua NC EM UI E fi HB NE LR 7 pod ia HA F I u 1 Tacho ME JA L Up to 20Vmax 2 E UE 7 Feedback input 3 m pes Tacho M boa M Only one tachometer port 3 EP is available at a time mm di Tacho D i Up to 50Vmax 4 Pod Pod Feedback input a a um Tacho 25 L L 5v L Cmm CR Encoder Hall 5v Supply SUPRET a T Hall Encoder Supply Voltage Return DRU0012A Figure 3 13 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Drum Tachometer Feedback A Tac1 Tacho Up to 20v max Feedback input Use with applications having a 2 Tac1 Tacho Tacho voltage below 20v 3 Only one tachometer port is available at a time Tac2 Tacho Up to 50v max Feedback input Use with applications having a Tac2 Tacho voltage below 20v and 50v Tacho 5V SUPRET DRU0013A Figure 3 14 Main Feedback Tachometer Feedback Connection Diagram for Brush Motors Drum Installation Guide Installation 3 2
18. 3 MAN DRUIG Ver 1 0 Potentiometer with Drum Feedback A DOLI UN Hall Sensor 9 hd M HC YY mm H e HA z u E m i E 5v Supply SUPRET po EN V Voltage Return DRU0014A Figure 3 15 Main Feedback Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors aos o HN Yy Drum Potentiometer Feedback A Voltage Return 5 M a POT LRS 25 g i i i 5v Supply 5v Cm SUPRET E am DRUO0015A Figure 3 16 Main Feedback Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils Drum Installation Guide MAN DRUIG Ver 1 0 Drum Feedback A SA E Installation 3 24 Heidenhain EnDat 2 1 with Hall Sensor HC HB DATA DATA CLK CLK CLK CLK 5v SUPRET Encoder Hall 5v Supply Hall Encoder Supply Voltage Return DRU0016A Figure 3 17 Main Feedback Heidenhain EnDat 2 1 Feedback with Hall Sensor Connection Diagram Drum Installation Guide MAN DRUIG Ver 1 0 Drum Feedback A Installation 3 25 Heidenhain EnDat 2 1 DATA DATA CLK CLK CLK CLK 5v SUPRET Enco
19. 5 bits 512 revolutions sec 0 5 Drum Installation Guide Drum Technical Specifications A 10 MAN DRUIG Ver 1 0 Feature Details Reference frequency 1 Ts Ts sample time in seconds Reference voltage Supplied by the Drum Reference current up to 50 mA Encoder outputs oO Auxiliary Encoder Output specifications A 6 2 5 Tachometer Maximum operating differential 20 V voltage for TAC1 TACI Maximum absolute differential input 25 V voltage for TAC1 TACI Maximum operating differential voltage for TAC2 TAC2 Maximum absolute differential input 50 V voltage for TAC2 TAC2 Input resistance for TAC2 TAC2 100 kQ Only one Tachometer port can 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 Drum Installation Guide Drum Technical Specifications A 11 MAN DRUIG Ver 1 0 A 6 2 6 Potentiometer Potentiometer Format Single ended Operating Voltage Range 0 5 V supplied by the Drum Potentiometer Resistance 100 Q 1 kQ above this range linearity is affected detrimentally A 6 2 7 Absolute Encoder Feature D etails 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 Maxim
20. 5 mA _ Vee VOL Io max gt Da oy OUZ Executable time If output is set to one of the built in functions Home flag Brake or AOK execution is immediate o o o o upon detection S E 0 lt T lt 4xTS E E o gt If output is set to General output and is executed from a program Digital O utput Schematic the typical time is approximately 0 5 msec A 7 3 Analog Input Feature Details Maximum operating differential voltage 10V Maximum absolute differential input voltage 16V Differential input resistance 3 74 KQ Analog input command resolution 14 bit Drum Installation Guide Drum Technical Specifications A 16 MAN DRUIG Ver 1 0 A 8 Communications Specification Details RxD TxD Gnd Full duplex serial communication for setup and control Baud Rate of 9 600 57 600 bit sec CANopen CANbus Signals CAN H CAN L CAN GND Maximum Baud Rate of 1 Mbit sec Version 95301 V4 01 Device Profile drive and motion control DS402 A 9 Pulse Width Modulation PWM PWM resolution 12 bit PWM switching frequency on the load 2 Ts factory default 22 kHz on the motor A 10 Standards Compliance A 10 1 Quality Assurance ISO 9001 2000 Quality Management A 10 2 Design Specification Description Reliability Prediction of Electronic Equipment In compliance with MIL H D BK 217
21. 9 2322 info il elmomc com Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 info usGelmomc com D 78056 Villingen Schwenningen Germany Tel 49 0 7720 85 77 60 Fax 49 0 7720 85 77 70 info de elmomc com Elmo Motion Control www elmomc com Drum Installation Guide MAN DRUIG Ver 1 0 Contents Chapter 1 Safety Information EE 1 1 L1 Warnings RE EE ORE RE da RE A E RE RE RE REI 1 2 12C A 2222 280222228213222 2242025 1 2 1 3 Directives ANG Standalds scia ada 1 3 1 4 CE Mark CoPTOEBIY EE 1 3 1 5 Warranty le ien an a Ee e ehe Ce teen teinte Ce Date dui dt I td e di 1 3 Chapter 2 Introduction icona c an oe a E 2 1 2 b Drive esc ojala p o qo an tp p bM M MM MM 2 1 2 2 Product Features aaa rer rr UD luis 2 1 221 CHE 2 1 2 22 C Velocity Controls io aed ak rale lil iii 2 2 2 2 5 Position Control uiri rne dads snd decia ia 2 2 2 24 Communication Option EEN 2 2 22 50 Feedback O pH OD Se aleros rta muet menti eo 2 2 2 20 eet re EE 2 3 2 3 SystemArchitectuT iii de 2 3 2 4 How to Usethis EN naaa rara 2 4 RIED EEN Ofi ET 3 1 a Before You Begin otiosa tios at soso leelo 8008223 3 1 Sl SHORGQUTOmels 259 an id s bo ON 31 312 Hardware Requirements coccion 3 1 3 2 Unpacking the Drive Components 1 3 3 3 3 Mounting the D EU za e o aen eb do b d b a d o det 34 34 Connecting the Cables usina ie Toten eco ase Peu esca Erde 3 5 3 4 1 Wiringthe DrUM coetus settee tet ec teet ben
22. Drum Digital Servo Drive Installation Guide April 2008 Ver 1 0 a Elmo Motion Control 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 the Drum servo drive in 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 DRUIG Copyright 2008 Elmo Motion Control Ltd All rights reserved Drum Catalog Number DRU AXX Blank Standard YYY R Version J Feedback Amps Blank Incremental A Advanced Continuous Current Maximum DC Operating Voltage Encoder and or Halls R Resolver Interpolated Analog Encoder T Tachometer amp Potentiometer Q Absolute Encoder Revision History Ver 1 0 April 2008 Initial Release MAN DRUIG PDF Elmo Motion Control Ltd Elmo Motion Control Inc Elmo Motion Control GmbH 64 Gisin St P O Box 463 1 Park Drive Suite 12 Steinkirchring 1 pa Petach Tikva 49103 Israel Tel 972 3 929 2300 Fax 972 3 92
23. Pin D Sub High Density Plug 20 NC Do not connect this pin B Ports BI 21 DIR CHB Direction Auxiliary channel B cia high input ne 22 NC Do not connect this pin G o 23 NC Do not connect this pin EE 24 NC Do not connect this pin y xu PWR 25 5V Encoder supply voltage 26 Pin D Sub Socket amp Note In models not containing absolute encoder support it is possible to use terminals 16 and 17 for SUPRET connections Table 3 11 Single Ended Pulse and Direction Auxiliary Encoder Pin Assignment on FEEDBACK B FEEDBACK B on the top of the Drum has a 26 pin high density D sub socket Connect the Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a 26 pin high density D Sub plug with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Drum Installation Guide Installation 3 37 MAN DRUIG Ver 1 0 Controller Drum Feedback B In models not containing absolute encoder support it is possible to use terminals 16 amp 17 for circuit common connections SUPRET 18 Port B1 wn 4 M DIR CHB 2 lt m PULS CHA Pulse and Direction Input aggio i Drum or Other Device In models not c
24. Specifications A 18 MAN DRUIG Ver 1 0 A 10 7 Packing In compliance with EN 100015 Protection of electrostatic sensitive devices A 10 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 10 9 RoHS In compliance with 2002 95 EC Restrictions on Application of Hazardous effective July 2006 Substances in Electric and Electronic Equipment
25. Sub NEN 24 NC Do not connect this pin PWR 25 5V Encoder supply voltage ale amp Note In models not containing absolute encoder support it is possible to use terminals 16 and 17 for SUPRET connections Table 3 12 Differential Pulse and Direction Auxiliary Encoder Pin Assignment on FEEDBACK B Drum Installation Guide Installation 3 39 MAN DRUIG Ver 1 0 Controller Drum Feedback B In models not containing absolute encoder support it is possible to use terminals 16 amp 17 for circuit common connections SUPRET 18 Port B1 wn a M DIR CHB pes lt lt DIR CHB 2 lt lt PULS CHA 19 lt a M PULS CHA lt Pulse and Direction Input Drum or Other Device In models not containing absolute encoder S S i support it is possible to use terminals 16 amp 17 SUPRET v 18 L SUPRET for circuit common connections um um W PortB2 E 13 E oni C WWII DIR CHB CHBO um MM a D Output mm gt m E DIR CHB Buffer E gt EE PULS CHA M PULS CHA Functionality Definition for Drum YA 4 0 Feedback B Drum Functionality Definition YA 4 0 DRU0024A Figure 3 25 Differential Pulse
26. T Supply return 18 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 19 Bl Aux CHA Main channel A CHA Emulated CHA Emulated CHA Emulated Input high output channel A channel A high channel A Output Auxiliary high output output high channel A high Auxiliary Auxiliary output input channel A channel A high Auxiliary high input input channel A high input 20 BI Aux CHA Main channel A CHA Emulated CHA Emulated CHA Emulated Input low output channel A low channel A low channel A Output Auxiliary output output low channel A low Auxiliary Auxiliary output input channel A low channel A low Auxiliary input input channel A low input 21 Bl Aux CHB Main channel B CHB Emulated CHB Emulated CHB Emulated Input high output channel B channel B high channel B Output Auxiliary high output output high channel B high Auxiliary Auxiliary output input channel B channel B high Auxiliary high input input channel B high input Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 18 Interpolated Analog Tachometer and Incremental Encoder Encoder Resolver Potentiometer DRU XX YYY_ DRU XX YYYI DRU XX YYYR DRU XX YYYT Pin Port Signal Function Signal Function Signal Function Signal Function 22 Bl Aux CHB Mainchannel CHB Emulated CHB Emulated CHB Emulated Input Blow output channel B low channel B low channel B Outpu
27. and Direction Input O ption on FEEDBACK B Connection Diagram Drum Installation Guide Installation 3 40 MAN DRUIG Ver 1 0 3 4 7 1 0 Cables The Drum has one I O port J3 J3 is a general I O which can be used to connect 6 digital inputs 2 digital outputs and 1 analog input 1 0 J3 Port Digital Input 6 Digital Output 2 Analog Input 1 3 4 7 1 General I O Port J 3 Port J3 has a 15 pin high density D Sub plug When assembling this I O cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies using a 15 pin high density metal case D sub female connector socket Pin Signal Function Pin Position 1 ANLIN Analog input 2 ANLIN Analog input 3 ANLRET Analog return 4 OUTRET2 Programmable output return 2 a OUT2 Programmable output 2 6 IN6 Programmable input 6 7 INRET General input return 8 INRET General input return 9 OUTRET1 Programmable output return 1 10 OUT1 Programmable output 1 11 IN1 Programmable input 1 DRUOD96 3A 12 IN2 Programmable input 2 13 VIN Programmable input 3 14 IN4 Programmable input 4 15 INS Programmable input 5 Table 3 13 J31 0 Cable Pin Assignments Drum Installation Guide Installation 3 41 MAN DRUIG Ver 1 0 Controller Drum General I O Rin 2 5K Vz 5 1v
28. andard 40 C Ambient Temp A SA Heatsink not Reguired 0 12 20 30 40 50 60 70 80 90 Motor s Current Ampere Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 47 Power Dissipation 100V series 120 100 _ 80 20VDC 40VDC 6 60VDC 2 i 80VDC 2 96VDC 5 40 D o 20 0 83 167 250 333 417 500 583 667 75 0 Motor s Current Ampere Power Dissipation 200V series 250 200 40VDC 150 80VDC 6 120VDC 2 160VDC 100 196VDC a EN 2 o a s50 0 67 133 200 267 333 400 467 533 60 0 Motor s Current Ampere Drum Installation Guide Installation 3 48 MAN DRUIG Ver 1 0 3 6 3 How to Use the Charts The charts above are based upon theoretical worst case conditions Actual test results show 30 50 better power dissipation To determine if your application needs a heatsink 1 Allow maximum heatsink temperature to be 80 C or less shunt down is 6 C 8 C higher 2 Determine the ambient operating temperature of the Drum as lt 40 C 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 12 W the Drum needs no additional cooling Note T
29. ase B input Pui FigureA 1 Main Feedback Encoder Phase Diagram Drum Installation Guide Drum Technical Specifications A 9 MAN DRUIG Ver 1 0 A 6 2 2 Digital Halls Feature Halls inputs Details Ha Hp Ho Single ended inputs Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range 0 V lt Vm uai lt 5 V Maximum absolute 1 V lt Vi Hai 15 V High level input voltage V muign gt 2 5 V Low level input voltage V iow lt 1 V Input current Sink current when input pulled to the common 3 mA Maximum frequency fmax 2 kHz A 6 2 3 Interpolated Analog Encoder Sine Cosine Feature Analog encoder format Analog input signal level Input resistance Maximum analog signal frequency Interpolation multipliers Maximum counts frequency D etails Sine and Cosine signals Offset voltage 2 2 V 2 8 V Differential 1 V peak to peak Differential 120 Q fmax 250 kHz Programmable x4 to x4096 80 mega counts sec internally Automatic errors correction Signal amplitudes mismatch Signal phase shift Signal offsets Encoder outputs See Auxiliary Encoder Outputs specifications 0 A 6 2 4 Resolver Feature Resolver format Input resistance Resolution Maximum electrical frequency RPS Resolver transfer ratio Details Sine Cosine Differential Differential 2 49 kQ Programmable 10 1
30. buted environment 2 2 5 Feedback Options e Incremental Encoder up to 20 M ega Counts 5 M ega Pulse per second e Digital Halls up to 2 kHz e Incremental Encoder with Digital Halls for commutation up to 20 M ega Counts per second for encoder e nterpolated Analog Sine Cosine Encoder up to 250 kHz analog signal Internal Interpolation up to x4096 A CA Correction of amplitude mismatch phase mismatch signals offset Auxiliary emulated unbuffered single ended encoder output e Resolver Programmable 10 15 bit resolution Up to 512 revolutions per second RPS Auxiliary emulated unbuffered single ended encoder output e Tachometer Potentiometer Drum Installation Guide Introduction MAN DRUIG Ver 1 0 e Absolute Encoder o Heidenhain 2 1 o Stegmann e Elmo drives provide supply voltage for all the feedback options 2 2 6 Fault Protection The Drum includes built in protection against possible fault conditions including e Softwareerror handling e Status reporting for a large number of possible fault conditions e Protection against conditions such as excessive temperature under over voltage loss of commutation signal short circuits between the motor power outputs and between each output and power input return e Recovery from loss of commutation signals and from communication errors 2 3 System Architecture Communication RS 23 and CANopen 12 195 Vis e Isolation _ Boundary Figure 2 1 Dr
31. d feedback B A 5 Control Specifications A 5 1 Current Loop Feature D etails Controller type Vector digital Compensation for bus voltage On the fly automatic 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 current signals and constant power at high speed Current loop bandwidth 2 5 kHz Current loop sampling time Programmable 70 100 usec Current loop sampling rate Up to 16 KHz default 11 KHz Drum Installation Guide Drum Technical Specifications A 7 MAN DRUIG Ver 1 0 A 5 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 options Velocity loop bandwidth Velocity loop sampling time Incremental Encoder Absolute Encoder Heidenhain and Stegmann Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional Tachometer and Potentiometer optional 350 Hz 140 200 usec x2 current loop sample time Velocity loop sampling rate up to 8 kHz default 5 5 kHz Velocity command options Analog Internally
32. dels not containing absolute encoder on support it is possible to use terminals 16 amp 17 _ SUPRET A SUPRET for circuit common connections W PortB2 E 15 il _INDEXO Cam E __INDEXO Cam L 13 Output CHBO gu a iI Buffer UI i 12 gt CHBO Cm 11 EE CHAO a CHAO R bg Functionality Definition for Drum YA 4 2 Feedback B Drum Functionality Definition YA 4 2 DRU0021A Figure 3 23 Single ended Auxiliary Input O ption on FEEDBACK B Connection Diagram Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 36 3 4 6 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 Auxiliary Feedback ports when set up to run as a single ended pulse and direction input Port Pin Signal Function Pin Position B2 10 CHAO Channel A output B2 11 CHAO Channel A complement output B2 12 CHBO Channel B output B2 13 CHBO Channel B complement output 14 NC Do not connect this pin 15 NC Do not connect this pin 18 SUPRET Encoder supply voltage return pwr COMRET i B1 19 PULS CHA Pulse Auxiliary channel A high input UA 26
33. der Hall 5v Supply Hall Encoder Supply Voltage Return DRU0017A Figure 3 18 Main Feedback Heidenhain EnDat 2 1 Feedback Connection Diagram Drum Installation Guide MAN DRUIG Ver 1 0 Drum Feedback A HC Installation 3 26 Stegmann Hiperface with Hall Sensor HB i Crossed Signals HA 8v SUPRET Hall Encoder Supply Voltage Return 9 9 i I b 1 1 8 o pa E fA Cm xt ron ES LG M i YY m 2 E E 1 1 1 Tar m 3 cg A 1 1 1 f E a E NE de r C mm UU l e 6 od p d e a Ces m mm 25 1 mm i ii NNI Halls 5v Supply 26 E EN a BE Encoder 8v Supply DRU0018A Figure 3 19 Main Feedback Stegmann Hiperface Feedback with Hall Sensor Connection Diagram Drum Installation Guide Installation 3 27 MAN DRUIG Ver 1 0 Drum Feedback A EEN Stegmann Hiperface SUPRET Hall Encoder Supply Voltage Return 1 pi a f pog pog fi At R Crossed Signals 2 i A ms mm Mi a mm m TEN NE Cum C 5 M ed mm 11 ML mm 26 i i 8v t K Cum Encoder 8v Supply L e DRU0019A Figure 3 20 Main Feedback Stegmann Hiperface Feedback Connection Diagram Dr
34. e 3 5 342 Connecting the Power Cables eese 3 8 3 4 2 1 Connecting the Motor Cable 3 10 3 4 2 2 Connecting the DC Power 3 10 3 4 2 3 Connecting the Optional Back up Supply Cable 3 13 3 448 Feedback Control and Communication Cable A ssemblies 3 14 344 Main Feedback Cable FEEDBACK A 3 15 3 45 Main and Auxiliary Feedback Combinations 3 28 346 Auxiliary Feedback FEEDBACK BI 3 29 3 4 6 1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B YA 4 ici etuer tiere aa 3 30 3 4 6 2 Differential Auxiliary Encoder Input Option on FEEDBACK B hf EE M iuluareddleasiveddlinve la aio 3 32 3 4 6 3 Single ended Auxiliary Input Option on FEEDBACK B YA 4 2 3 34 3 4 6 4 Pulse and Direction Input Option on FEEDBACK B YA 4 Q 3 36 3 4 7 reus mc S 3 40 3 4 7 1 General I Oborr A II I III IU 3 40 348 Communication Cables serene enne entere nette nnns 3 42 3 4 81 RS 232 Communication 3 42 3 4 8 2 CAN open Communmtcatton essent 3 43 3 5 DC Power Supply lella 3 45 35L Powering LO pirlo ia pie adi 3 45 n x E Drum Installation Guide Contents ii MAN DRUIG Ver 1 0 3 5 2 Initializing the System usce Roce tora O gadd TO 3 45 3 6 Hed DIS pac cm 3 46 361 Drum Thermal Data ii eagle 3 46 362 Heat Dissipation Data 3 46 3 6 33 HOW to Use tne Charts eemper GR RA ated rd e p
35. em 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 Safety of Information Technology Equipment formerly UL1950 Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Drum 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 Drum 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 use within certain voltage limits the Drum meet the provisions outlined in Council Directive 73 23 EEC The party responsible for en
36. en trennen A 11 2 03 AUXITIBEE PORE S one eso td ite a eee ai A 12 A 7 NOG c O CAU CFE HO CAETH CO GAU YF M A 13 A 7 1 Digital Input lte faces ssi deed Aes ii A 14 A 7 2 Digital Output Interface A 15 ARIANE eie oet to earn BUT EN ti e DU On Pd A 15 AS COMMUNI CAU ONS cero ea o ever reer eer rier reir eer Wear reer ety GE D E A 16 A 9 Pulse Width Modulation PWM A 16 AZIO Standards elen e A 16 AOL Qualtty AssUf arce osos nd eon d end edu ieee cadet ace A 16 WA EE A 16 Mic agn PE A 17 Ac Od EMU eta a nl en ah Ein A 17 A 10 5 Mforkmanshil Piagge lilla ip d ate a rae od A 17 A108 PCBz adden eite erai onis didt sd d od qeu vadis deci eats A 17 n x T 1 Drum Installation Guide Contents iii MAN DRUIG Ver 1 0 AIO T Back lale edo tie e temone ame itii rd dine dome rati ftc imt ed A 18 POLO 8 WEBE EE A 18 A109 ROM Siete ict A A A A 18 Drum Installation Guide MAN DRUIG Ver 1 0 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Drum servo drives 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 Drum as well as the 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 resista
37. escribes in detail each software command used to manipulate the Drum motion controller The Composer Software M anual which includes explanations of all the software tools that are part of Elmo s Composer software environment Drum Installation Guide Installation Chapter 3 Installation 3 1 Before You Begin 3 1 1 Site Requirements You can guarantee the safe operation of the Drum by ensuring that it is installed in an appropriate environment Feature Value Ambient operating temperature 0 C to 40 C 32 F to 104 F Maximum relative humidity 90 non condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available The Drum dissipates its heat by convection The maximum operating ambient temperature of 0 C to 40 C 32 F to 104 F must not be exceeded 3 1 2 Hardware Requirements The components that you will need to install the Drum are Described Component Connector in Section Diagram Main Power Cable VP PR 3422 Motor Cable M1 M2 M3 3 4 2 1 DRU0004A Drum Installation Guide Installation MAN DRUIG Ver 1 0 Described Component Connector in Section Main and Auxiliary FEEDBACK A and 344 Feedbacks Cable FEEDBACK B m Digital I O and Analog Input Cable SEN bi dus 3 4 7 1 if needed RS232 Communicati
38. h motor linear motor or voice coil They are designed for use with any type of sinusoidal and trapezoidal commutation with vector control The Drum can operate as a stand alone device or as part of a multi axis system in a distributed configuration on a real time network The drives are easily set up and tuned using Elmo s Composer software tools This Windows based application enables users to quickly and simply configure the servo drive for optimal use with their motor The Drum as part of the Simpli Q product line are fully programmable with Elmo M etronome motion control language Power to the drives is provided by a 12 195 VDC isolated DC power source not included with the Drum The power stage is fully isolated from the control stage A smart control supply algorithm enables the Drum to operate with only one power supply with no need for an auxiliary power supply for the logic If back up functionality is required for storing control parameters in case of power loss an external 12 195 VDC isolated supply should be connected via the CAN connector on the Drum providing maximum flexibility and backup functionality when needed Note This back up functionality can operate from any voltage source within the 12 195 VDC range This is much more flexible than to be restricted by only using a standard 24VDC power supply If back up power is not needed then the main power supply will also power the control logic supply In this
39. he 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 W MAN DRUIG Ver 1 0 Drum Installation Guide Drum Technical Specifications Appendix Drum 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 Control Modes e PTP PT PVT ECAM Follower Dual Loop e Fast event capturing inputs e Fast output compare OC e Motion Commands Analog PWM digital SW and Pulse and Direction 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 Metronome e Event capturing interrupts e Event triggered programming e 32 KB memory 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 Tachometer and potentiometer optional e Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder e Interpolated Analog Encoder optional Sine Cosine Encoder up to 250 kHz Internal Interpolation up to x4096 A
40. ity Definition for Drum YA 4 2 Feedback B Drum Functionality Definition YA 4 2 DRU0022A Figure 3 22 Differential Auxiliary Encoder Input O ption on FEEDBACK B Connection Diagram Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 34 3 4 6 3 Single ended Auxiliary Input Option on FEEDBACK B YA 4 2 The Drum can be used as a slave by receiving the position data on Port B1 of the master encoder 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 Auxiliary Feedback ports when set up to run as a single ended auxiliary input Port Pin Signal Function Pin Position B2 10 CHAO Channel A output B2 11 CHAO Channel A complement output B2 12 CHBO Channel B output B2 13 CHBO Channel B complement output B2 14 INDEXO Index output B2 15 INDEXO Index complement output 26 Pin high density D Sub Plug 18 SUPRET Encoder suppl PORT BI FINIS voltage Erna ni PORT B2 COMRET A POWER B1 19 CHA Auxiliary channel A high input gt 20 NC Do not connect this pin B1 21 CHB Auxiliary channel B high input 22 NC Do not connect this 26 Pin high density pin D Sub Socket B1 23 INDEX Auxiliary Index high input 24 NC Do not connect this pin 25 45V Encoder suppl DIL voltage d
41. l e PWM current command output A 1 7 Built In Protection e Software error handling e Abort hard stops and soft stops e Status reporting e Protection against Shorts between motor power outputs Shorts between motor power outputs and power input return Failure of internal power supplies Over temperature Cont temperature measurement Temperature can be read on the fly Warning can be initiated X degrees before temp disable is activated Over Under voltage Loss of feedback Drum Installation Guide Drum Technical Specifications A 3 MAN DRUIG Ver 1 0 Following error Current limits Loss of commutation signals Communication error A 1 8 Accessories e Cable Kit A 1 9 Automatic Procedures e Commutation alignment e Phase sequencing e Current loop offset adjustment e Current loop gain tuning e Current gain scheduling e Velocity loop offset adjustment e Velocity gain tuning e Velocity gain scheduling e Position gain tuning Drum Installation Guide Drum Technical Specifications A 4 MAN DRUIG Ver 1 0 A 2 Dimensions 60mm E gt 123 50 134mm es Drum Installation Guide Drum Technical Specifications A 5 MAN DRUIG Ver 1 0 A 3 Power Ratings
42. nce earth connection Only qualified personne 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 Drum servo drives 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 ona 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 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 Drum Installation Guide Safety Information 1 9 MAN DRUIG Ver 1 0 1 1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo drive while the power source is on Power cables can carry a high voltage even when the motor is not in moti
43. nel A high high output high output output 11 B2 CHAO Aux Main CHAO Aux CHAO Aux CHAO Aux Aux channel A Emulated Emulated Emulated Output low output channel A channel A channel A low output low output low output 12 B2 CHBO Aux Main CHBO Aux CHBO Aux CHBO Aux Aux channel B Emulated Emulated Emulated Output high output channel B channel B channel B high output high output high output Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 Li Interpolated Analog Tachometer and Incremental Encoder Encoder Resolver Potentiometer DRU XX YYY_ DRU XX YYYI DRU XX YYYR DRU XX YYYT Pin Port Signal Function Signal Function Signal Function Signal Function 13 B2 Aux CHBO Aux Main CHBO Aux CHBO Aux CHBO Aux Output channel B low Emulated Emulated Emulated output channel B low channel B low channel B output output low output 14 B2 Aux INDEXO Aux Main INDEXO Aux INDEX INDEXO Aux INDEXO Aux Output INDEX high high output Emulated INDEX output INDEX high high output output 15 B2 Aux INDEXO Aux Main INDEXO Aux INDEX INDEXO Aux INDEXO Aux Output INDEX low low output Emulated INDEX output INDEX low low output output 16 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 17 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRE
44. nsor A HA Hall sensor A input input 8 Hall B HB Hall sensor B HB Hall sensor B input input 9 Hall C HC Hall sensor C HC Hall sensor C input input 10 B2 Aux CHAO Aux Emulated channel A high CHAO Aux channel A high output Output output Emulated channel A low output 11 B2 Aux CHAO Aux Emulated channel Alow CHAO Aux channel A low output Output output Emulated channel A high output 12 B2 Aux CHBO Aux Emulated channel B high CHBO Aux Emulated channel B high Output output output 13 B2 Aux CHBO Aux Emulated channel B low CHBO Aux Emulated channel B low Output output output 14 B2 Aux INDEXO Aux INDEX high output INDEXO Aux INDEX high output Output 15 B2 Aux INDEXO Aux INDEX low output INDEXO Aux INDEX low output Output 16 CLK Clock N A Do not connect 17 CLK Clock Complement N A Do not connect 18 PWR SUPRET Supply return SUPRET Supply return 19 B1 Aux CHA Emulated channel A high CHA Emulated channel A low output Input output Auxiliary channel A Auxiliary channel A high input Output high input 20 B1 Aux CHA Emulated channel A low CHA Emulated channel A high output Input output Auxiliary channel A low Auxiliary channel A low input Output input 21 B1 Aux CHB Emulated channel B high CHB Emulated channel B high output Input output Auxiliary channel B high Auxiliary channel B high input Output input Drum Installation Guide Installation
45. oder 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 Auxiliary Feedback port when set up to run as a differential auxiliary encoder input PWR amp Port Pin Signal Function Pin Position B2 10 CHAO Buffered channel A output B2 11 CHAO Buffered channel A complement output B2 12 CHBO Buffered channel B output B2 13 CHBO Buffered channel B complement output B2 14 INDEXO Buffered Index output AE B2 15 INDEXO Buffered Index complement output 18 SUPRET Encoder supply voltage EI return CONRAN B1 19 CHA Auxiliary channel A B PORTBI high input PORTB2 B1 20 CHA Auxiliary channel A low A POWER input B1 21 CHB Auxiliary channel B high input B1 22 CHB Auxiliary channel B low input B1 23 INDEX Auxiliary Index high 26 Pin high density input D Sub Socket B1 24 INDEX Auxiliary Index low input 25 5V Encoder supply voltage Note In models not containing absolute encoder support it is possible to use terminals 16 and 17 for SUPRET connections and use terminal 26 for 5V connection Table 3 9 Differential Auxiliary Encoder Input O ption on FEED BACK B Pin Assignments Drum Installation Guide Installation 3 33 MAN DRUIG Ver 1 0 FEEDBACK B on the
46. oder signals Resolver applications For applications such as where position data is Follower ECAM or Dual required in the Encoder s Loop quadrature format Tachometer applications where velocity data is required in the Encoder s quadrature format Absolute Encoder applications where position data is required in the Encoder s quadrature format 3 4 6 Auxiliary Feedback FEEDBACK B When using one of the auxiliary feedback options the relevant functionality of FEEDBACK B ports are software selected for that option Refer to the SimpllQ Command Reference M anual for detailed information about FEEDBACK B setup When assembling the Main Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Note the Feedback connector also supports Feedbacks A and B Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 30 3 4 6 1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B YA 4 4 Through FEEDBACK B Ports B1 and B2 the Drum can provide two simultaneous buffered main or emulated encoder signals to other controllers or drives This option can be used when The Drum is used as a current amplifier to provide position data to the position controller The Drum is used in velocity mode to provide position data to the position controller The Drum is used as a master in Follower or ECAM mode Below are
47. on Cable RS232 3 4 8 1 CANopen CAN in Communication cable s CAN out and 3 4 8 2 if needed Backup Option PC for drive setup and tuning Motor data sheet or manual rdi Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 2 Unpacking the Drive Components Before you begin working with the Drum system verify that you have all of its components as follows The Drum servo drive The Composer software and software manual The Drum is shipped in a cardboard box with styrofoam protection To unpack the Drum 1 Carefully remove the 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 Drum you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Drum It looks like this a E l mo P N DRU 50 100 C Motion Control www elmomc com DRU0028A The P N number at the top gives the type designation as follows DRU AXX YYYR Version T Blank Standard A Advanced Continuous prid Feedback Blank Incremental Maximum DC Encoder Operating Voltage and or Halls R Resolver Interpolated Analog Encoder T Tachometer amp Potentiometer Q Absolute Encoder 4 Verify that the Drum type is the one that you ordered and ensure that the vol
48. on Disconnect the Drum from all voltage sources before it is opened for servicing The Drum servo drives contain grounding conduits for electric current protection A ny 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 Drum 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 Drum to an approved 12 195 VDC auxiliary power supply connect it 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 Drum verify that all safety precautions have been observed and that the installation procedures in this manual have been followed Drum Installation Guide Safety Information 1 3 MAN DRUIG Ver 1 0 1 3 Directives and Standards The Drum conforms to the following industry safety standards Safety Standard It
49. on cable Use 24 26 or 28 AWG twisted pair shielded cables 24 AWG cable is recommended For best results the shield should have aluminum foil and covered by copper braid with a drain wire DRU0026A Connect the 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 Use only a D sub connector with a metal housing Attach the braid shield tightly to the metal housing of the D type connector Connect a termination 120 ohm resistor at each of the two ends of the network cable When assembling the Communication cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Pin Signal Function Pin Position L 2 CANL CAN_L busline dominant low 3 CAN GND CAN ground 4 5 CAN_SHLD Shield attach to the metal housing of the D type 6 CAN_GND CAN Ground ff oo d 7 CAN_H CAN_H busline dominant high 8 Do not connect 5 1 9 Do not connect M Table 3 15 CANopen Cable Pin Assignments Drum Installation Guide Installation 3 44 MAN DRUIG Ver 1 0
50. ontaining absolute encoder S i support it is possible to use terminals 16 amp 17 SUPRET rae 18 1 SUPRET for circuit common connections um E W PortB2 13 GER mm c T DIR CHB CHBO ve UU Es D Output um gt gt DIR CHB Buffer k 1 gt e EE PULS CHA M PULS CHA Functionality Definition for Drum YA 4 0 Feedback B Drum Functionality Definition YA 4 0 DRU0023A Figure 3 24 Single Ended Pulse and Direction Input O ption on FEEDBACK B Connection Diagram Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 38 Below are the signals on the Auxiliary Feedback ports when set up to run as a differential pulse and direction input Port Pin Signal Function Pin Position B2 10 CHAO Channel A output B2 11 CHAO Channel A complement output B2 12 CHBO Channel B output B2 13 CHBO Channel B complement output 14 NC Do not connect this pin 15 NC Do not connect this pin uf d 18 SUPRET pad SE voltage return B1 19 PULS CHA Pulse Auxiliary channel A high 1 9 input Se 26 Pin D Sub High Density Plug B1 20 PULS CHA Pulse Auxiliary channel A Fortes complement high input Gem B1 21 DIR CHB Direction Auxiliary channel B ne high input Te B1 22 DIR CHB _ Direction Auxiliary channel B oxoooeeeenoc complement high input 909990000 23 NC Do not connect this pin 26 Pin D
51. options Emulated encoder outputs of analog encoder Emulated encoder outputs of the resolver Emulated encoder outputs of the potentiometer Emulated encoder outputs of the tachometer Main encoder buffered output P amp D buffered output Emulated encoder outputs of the absolute encoder Maximum frequency fmax 5 MHz pulses output Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Drum Installation Guide Drum Technical Specifications A 13 MAN DRUIG Ver 1 0 Pen Peu Peu Peu Phase A input Phase B input Pui FigureA 2 Auxiliary Feedback Encoder Phase Diagram A 7 I Os The Drum has 6 Digital Inputs 2 Digital Outputs 1 Analog Input Drum Installation Guide Drum Technical Specifications A 14 MAN DRUIG Ver 1 0 A 7 1 Digital Input Interfaces Feature Type of input Details Optically isolated Single ended input voltage PLC level Input current lin Vin 6 SV 25000 Tin 2 2 mA Vin 12V Input current lin V 65V for high speed 12500 inputs Tin 44 mA Vin 12 V High level 12 V Vin 30 V 24 V typical Low level input voltage 0V Vin 65V Minimum pulse width gt 4x TS where TS is sampling time Execution time all inputs
52. ower output capability the Drum is designed to be mounted on an external heatsink It is highly recommended that the Wall on which the Drum is mounted will have heat dissipation capabilities The Drum at free air convection without an additional heatsink can dissipate around 12 W for 40 C ambient temperature and not exceeding 80 C on the heatsink When Free Air Convection is sufficient for the application it is recommended to leave approximately 10 mm of space between the Drum s heatsink and any other assembly 3 6 1 Drum Thermal Data e Free air convection thermal resistance 0 Approximately 3 6 4 C W e Thermal time constant Approximately 40 minutes 2400 seconds thermal time constant means that the Drum will reach 2 3 of its final temperature after 4 minutes e Self heat dissipation capability no external heatsink 12W for 40 C W temperature rise e Shut off temperature 86 C 88 C measured on the heatsink e The thermal resistance when connecting to an external heat sink o The surface of the external heatsink is 50um 0 18 C W o Thermal conductive compound By proper Smearing of the surface a significant improvement of the thermal resistance is achieved 0 13 C W 3 6 2 Heat Dissipation Data Heat Dissipation is shown in graphically below Power Dissipation 60V series 100 90 80 70 50 40 30 d Power Dissipation W 20 10 St
53. plug with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Eagle Feedback B for circuit common connections In models not containing absolute encoder support it possible to use terminals 16 amp 17 SUPRET Controller Port B1 V L Main Encoder or Emulated Encoder ki for circuit common connections In models not containing absolute encoder support it possible to use terminals 16 amp 17 Eagle or Other Device SUPRET Port B2 Output Buffer gt V CHAO Eagle Functionality Definition YA 4 4 SUPRET 18 l 15 INDEXO Cam En 14 ue ii i _INDEXO Cam _ 13 i i CHBO Cam mm 12 it CHBO Cam cHao 1 Em DI UU gt Functionality Definition for Eagle YA 4 2 Feedback B EAG0020A Figure3 21 Main Encoder Buffered O utput or Emulated Encoder O utput on FEEDBACK B Connection Diagram Drum Installation Guide MAN DRUIG Ver 1 0 Installation 3 4 6 2 Differential Auxiliary Encoder Input Option on FEEDBACK B YA 4 2 3 32 The Drum can be used as a slave by receiving the position of the master enc
54. reda 3 48 Appendix D rum Technical Specifications eren nnn A 1 LS u s ccm eec A 1 A LI Motion Control Mod 6s ollare A 1 A 1 2 Advanced Positioning Control Modes sss A 1 A 13 Advanced Filters and Gain Scheduling sss A 1 A4 Fully Programmable id A 1 A 15 Feedback ODHOFS roo oin ais genre A 1 A L6 Inp t le EE A 2 AGLI Built In Protection S arie A 2 A L9 ACCESSORIES pie inni eA Et A 3 A 1 9 Automatic Procedures in Last ped ep l li alii A 3 A DIMENSIONS gen aem nn an mm EE A 4 A Power Rage staat dle test ese nene eset tested A 5 A 4 Environmental Conditions ecco tete rte eil A 5 ALI Auxiliary Supply eo tir GI obras A 6 A5 Control alle sle 1r omite erre ygu nd NG Gn i rd ua A 6 Dech Current LOOD ea A 6 A 52 Melodty Loops siente bte n en e A i qi tne A 7 A HPOSIU ON Mo 0 o eese tt i alii ee dni A 7 ile D ee A 8 Ab Feedback Supply VOS ence eate hi eie eode A 8 A 6 2 Main Feedback Options etre itus ern tete Ed Tete A 8 A 6 2 1 Incremental Encoder Input A 8 A 6 2 2 DigitalHalls a acne YN YY Y YL YN Y NG WY O A 9 A 6 2 3 Interpolated Analog Encoder Sine COSINE nn A 9 PA MR A 9 A 6 2 5 Tachometer zones needa ia A 10 A 6 2 6 Potentiometer A A 11 A 6 2 7 Absolute Encoder ieii ar nnne LIII I IH IW Hu A 11 A 6 2 8 Encoder Outputs sse nenn
55. rum Installation Guide Installation 3 15 MAN DRUIG Ver 1 0 Use only a D sub connector with a metal housing Attach the braid shield tightly to the metal housing of the D type connector On the motor side connections ground the shield to the motor chassis On controller side connections follow the controller manufacturer s recommendations concerning the shield Metal Housing M ake sure that the braid shield is in tight contact with the metal housing DRU0033A Figure 3 9 Feedback and Control Cable Assemblies e Note All D sub type connectors used with the D rum should be assembled in this way 3 4 4 Main Feedback Cable FEEDBACK A The main feedback cable is used to transfer feedback data from the motor to the drive The Drum accepts the following as a main feedback mechanism Incremental encoder only Incremental encoder with digital Hall sensors Digital Hall sensors only Incremental Analog Sine Cosine encoder option Resolver option Tachometer amp Potentiometer Absolute Encoder FEEDBACK A on the front of the Drum has a 26 pin high density D sub socket Connect the Main Feedback cable from the motor to FEEDBACK A using a 26 pin high density D Sub plug with a metal housing When assembling the Main Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies e Note the Feedback connector also supports Feedbacks A and B
56. s Use a 24 AWG twisted pair shielded cable The shield should have copper braid The source of the back up supply must be isolated For safety reasons connect the return of the back up supply source to the closest ground Connect the cable shield to the closest ground near the power source Before applying power first verify the polarity of the connection Drum Installation Guide MAN DRUIG Ver 1 0 Pin Signal Supply Installation Supply J1 8 RET Backup Return common of the back up supply AEN Fo oo o Y Bee L L DRU0038 2A Drum Backup mm i Table 3 6 Back up Cable Plug Isolated Backup Supply DRUO0008A Figure 3 8 Back up Supply Connection Diagram 3 14 J1 9 VDC Backup VDC back up supply Smart Control Internal DC to DC converter allowing for operation from DC power no Supply Options need for auxiliary external supply for normal operation 12 195 VDC supply for backing up the control parameters if DC power is shut off 3 4 3 Feedback Control and Communication Cable Assemblies The Drum 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 D
57. 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 theshidd It is used to terminatethe shield and as a grounding connection The impedance 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 Use shielded wires for motor connections as well If the wires are long ensure that the capacitance between the wires is not too high C 30 nF is satisfactory for most applications Keep all wires and cables as short as possible Keep the motor wires as far away as possible 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 following connectors are used for wiring the Drum Drum Installation Guide
58. suring that the equipment meets 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 fitness for a particular purpose extend beyond this warranty Drum Installation Guide Introduction MAN DRUIG Ver 1 0 Chapter 2 Introduction This installation guide describes the Drum servo drives and the steps for its wiring installation and power up Following these guidelines ensures maximum functionality of the drive and the system to which it is connected 2 1 Drive Description The Drum series are highly resilient digital servo drives designed to deliver the highest density of power and intelligence The Drum delivers up to 9 6 kW of continuous power or 11 2 kW of peak power in a compact package The digital drives are based on Elmo s advanced SimpliQ motion control technology They operate from a DC power source in current velocity position and advanced position modes in conjunction with a permanent magnet synchronous brushless motor DC brus
59. t Auxiliary output output low channel B low Auxiliary Auxiliary output input channel B low channel B low Auxiliary input input channel B low input 23 Bl Aux INDEX Main INDEX INDEX Auxiliary INDEX Emulated INDEX Auxiliary Input high output INDEX high INDEX high INDEX Output Auxiliary input output high input INDEX high Auxiliary input INDEX high input 24 Bl Aux INDEX Main INDEX INDEX Auxiliary INDEX Emulated INDEX Auxiliary Input low output INDEX low INDEX low INDEX Output Auxiliary input output low input INDEX low Auxiliary input INDEX low input 25 PWR 5V Encoder 5V Encoder Hall 5V Encoder 5V Encoder Hall 5V 5V supply Hall 5V supply Hall 5V supply supply 26 PWR 5V Encoder 5V Encoder Hall 5V Encoder 5V Encoder Hall 5V 5V supply Hall 5V supply Hall 5V supply supply Table 3 7 Feedback Cable Pin Assignments Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 19 Absolute Encoders DRU XX YYY Pin Port Signal Heidenhain 2 1 Signal Stegmann 1 A Main A Sine A A Sine A Complement Input 2 A Main A Sine A Complement A Sine A Input 3 A Main B Cosine B B Cosine B Input 4 A Main B Cosine B Complement B Cosine B Complement Input 5 A Main DATA Data DATA Data Input 6 A Main DATA Data Complement DATA Data Complement Input 7 HallA HA Hall se
60. tage meets your specific requirements Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 3 Mounting the Drum The Drum has been designed for two standard mounting options Wall Mount along the back can also be mounted horizontally on a metal surface Book Shelf along the side M5 round head screws one through each opening in the heat sink are used to mount the Drum see the diagram below M d Y 0000 Le OSS O 60 mm 48 10 o T 95 mm N 5 5 for HEXAGON SOCKET SCREW M5x4PLC E a E S 3 A DRU0029A Be dk B 84 50 zua 7 37 mm TRUE R3 amp wo M ee _ 5 50 10 37 DETAIL A DETAIL B SCALE1 1 SCALE1 1 Figure 3 1 Mounting the Drum Drum Installation Guide Installation MAN DRUIG Ver 1 0 3 4 Connecting the Cables 3 4 1 Wiring the Drum Once the Drum 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 Drum A Follow these instructions to ensure safe and proper wiring Use twisted pair shielded cables for control feedback and communication connections For best results the cable
61. the time from application of If input is set to one of the built in functions Home Inhibit Hard Stop Soft Stop Hard and Soft Stop Forward Limit Reverse Limit or Begin execution is immediate upon detection width in high speed mode voltage on O lt T lt 4xTS E E If input is set to General input execution execution is 7 depends on program Typical execution time complete 0 5 msec High speed T lt 5 psec inputs 5 amp 6 N otes minimum pulse Home mode is high speed mode and can be used for fast capture and precise homing 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 Connector Location voroonyd o EN 2 e Il N e o o o c C i E Le Ke S 2 o Digital Input Schematic Drum Installation Guide Drum Technical Specifications A 15 MAN DRUIG Ver 1 0 A 7 2 Digital Output Interface Feature Details Connector Location Type of output Optically isolated Open collector and open emitter Maximum supply output 30 V s Vcc i d E A Tit tt ta Max output current Iout max 15 mA Iout max Vout Low voroonsa KJ VOL at maximum output Vout on 0 3 V 0 02 Iout voltage low level mA RL External resistor RL must be selected to limit output current to no more than 1
62. tion is achieved by using a battery It is highly recommended to connect the PE to the Return negative terminal of the Power Supply O peration with aNON Isolated DC power Supply The PE Protective Ground of the AC network MUST NOT be connected to the Return PR terminal the negative power terminal of the Drum Drum Installation Guide Installation 3 12 MAN DRUIG Ver 1 0 DC Power Supply CYM0006B Figure 3 6 Non Isolated DC Power Supply The Power Supply is directly connected to the AC line The AC must be limited to 135 VAC not to exceed the max 190 VDC in case of 200 VDC drive The network PE MUST NOT be connected to the Return of the Power Supply DC Power Supply Drum Hi Non Isolated I Auto Transformer d v o CYMO0005B Figure 3 7 Non Isolated DC Power Supply The Power Supply is directly connected to the AC line through an Autotransformer The network PE M UST NOT be connected to the Return of the Power Supply Warning Connecting the PE to the PR with a non isolated power supply will cause damages to the system Any component that is connected to the system might be damaged Drum Installation Guide Installation 3 13 MAN DRUIG Ver 1 0 amp Notes for connecting the DC power supply 3 4 2 3 Be aware The Drum can operate from either an o isolated DC power supply or o non isolated DC power supply For best immunit
63. top of the Drum has a 26 pin high density D sub socket Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 26 pin high density D Sub plug with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Drum Feedback B Encoder In models not containing absolute encoder e i 3 Encoder Supply support it is possible to use terminals 16 amp 17 SUPRET i t ef f Voltage Return for circuit common connections y a jp cat In models not containing absolute encoder support it is possible to use terminal 26 i iL for 5v connection pa DN p MEI Encoder 5v Supply Port B1 BN Yn i mm INDEX EE INDEX chB l l i CHB Ui lt Cm CHA LR CHA Encoder Input EA Drum or Other Device In models not containing absolute encoder 8 0 support it is possible to use terminals 16 amp 17 _ SUPRET 48 au i SUPRET for circuit common connections L 9 i 1 W PortB2 45 NE NDEXO A d yr 1 UU 44 E INDEXO f 1 se 13 ii Output SEN C iL Buffer cHBO 12 E 1 CTA CHAO 11 E i de CHAO Functional
64. um Installation Guide MAN DRUIG Ver 1 0 3 4 5 Main and Auxiliary Feedback Combinations Installation 3 28 The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often but not always used The Auxiliary Feedback connector on the Drum 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 B1 and B2 YA 4 4 YA 4 2 YA 4 0 Incremental Encoder Input B1 Output Differential an Buffered Main Encoder Signal B2 output same as B1 Incremental Encoder Interpolated Analog Sin Cos Encoder Input B1 Output Analog Encoder Position Data Emulated in Incremental Encoder DRI Format A input signals are Analog quadrature Encoder differential amp buffered B2 Output same as BI B1 Input Differential or Single ended Auxiliary Incremental Encoder B1 Output Resolver
65. um System Block Diagram Drum Installation Guide Introduction MAN DRUIG Ver 1 0 2 4 How to Use this Guide In order to install and operate your Elmo Drum servo drives 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 Drum The Appendix Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Drum servo drives 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 require CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual Programming Composer User Manual Drum Installation Guide Figure 2 2 Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure this installation guide is an integral part of the Drum documentation set comprising The SimpllQ Software M anual which describes the comprehensive software used with the Drum The SimpllQ Command Reference M anual which d
66. um 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 Encoder outputs See Encoder Outputs specifications A 6 2 8 A 6 2 8 Encoder Outputs Feature Details Encoder output format A B Index not available in analog and absolute encoders Differential outputs Quadrature Interface RS 422 Port B1 output current capability Driving differential loads of 200 Q on INDEX INDEX CHB CHB and CHA CHA pairs Drum Installation Guide Drum Technical Specifications A 12 MAN DRUIG Ver 1 0 Feature D etails Port B2 output current capability INDEXO INDEXO CHBO CHBO and CHAO CHAC pairs are not loaded Available as options Two simultaneous buffered outputs of main incremental encoder input Two simultaneous emulated encoder outputs of analog or absolute encoder input Two simultaneous emulated encoder outputs of resolver input Buffered output of auxiliary input Maximum frequency fmax 5 MHz pulses output Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B A 6 3 Auxiliary Port Encoder input emulated output A B Index pulse and direction Differential or single ended Quadrature Available as
67. understanding of the basic programming and timing issues of a CANopen network The interface is electrically isolated by optocouplers For ease of setup and diagnostics of CAN communication RS 232 and CANopen can be used simultaneously 3 4 8 1 RS 232 Communication amp Notes for connecting the RS 232 communication cable Use a 24 26 or 28 AWG twisted pair shielded cable 24 AWG cable is recommended The shield should have aluminum foil covered by copper braid with a drain wire Connect the 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 Use only a D sub connector with a metal housing Attach the braided shield tightly to the metal housing of the D type connector When assembling the Communication cable follow the instructions in Section 3 4 3 Feedback Control and Communication Cable Assemblies Pin Signal Function Pin Location 1 2 Tx RS 232 transmit 3 Rx RS 232 receive 4 5 COMRET Communication return 6 s L pis 1 5 Table 3 14 RS 232 Cable Pin Assignments Drum Installation Guide MAN DRUIG Ver 1 0 3 4 8 2 amp RS232 Communication Installation 3 43 PC RS232 HA Figure 3 27 RS 232 Connection Diagram CANopen Communication Notes for connecting the CAN open communicati
68. ut in the drive The required torque is 3 4 Nm To close the PE wire into the drive use the barrel connector M5 flat washer M5 spring washer and M5 screw to the heatsink The required torque is 3 4 Nm DRUO0006A Figure3 3 AC Motor Power Connection Diagram 3 4 2 2 Connecting the DC Power The Power stage of the Drum is fully isolated from other sections of the Drum such as the control stage and the heatsink This contributes very significantly to the safety and the EMI immunity of the Drum In addition it simplifies the requirements of the DC power supply used to power the DC bus of the Drum and allows also the operation with a non isolated DC power source O peration with an Isolated DC power Supply The PE Protective Ground of the AC network is connected to the PR terminal The negative power terminal Drum Installation Guide Installation 3 11 MAN DRUIG Ver 1 0 Isolated Power Supply DC Power Supply Drum Isolated Transformer L 1 0 CYM0003C Figure 3 4 Isolated DC Power Supply In this case the isolation is achieved by the isolation transformer It is highly recommended to connect the network PE to the Return negative terminal of the Power Supply Isolated DC Power Supply Drum VP mm d gt d HI i Battery PR I 1 i 1 ce E 7 i CYM0004B Figure 3 5 Isolated Power Supply In this case the isola
69. utomatic correction of amplitude mismatch phase mismatch signal offset Differential encoder buffered outputs e Resolver optional Programmable 10 15 bit resolution Up to 512 revolution per seconds RPS Encoder outputs A B Index Differential encoder buffered outputs Quadrate Drum Installation Guide Drum Technical Specifications A 2 MAN DRUIG Ver 1 0 e Absolute Encoder Heidenhain 2 1 and Stegmann Sine Cosine Encoder up to 250 kHz Internal Interpolation up to x4096 Automatic correction of amplitude mismatch phase mismatch signal offset Differential encoder buffered outputs e Auxiliary Encoder inputs ECAM follower etc A B Index Differential encoder buffered outputs Quadrate A 1 6 Input Output e Analog Input up to 14 bit resolution e Six programmable Digital Inputs optically isolated PLC level nhibit Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion Homing General purpose e Fast event capture inputs optically isolated e Two programmable Digital Outputs optically isolated open emitter and collector Brake Control Amplifier fault indication General purpose Servo enable indication e Differential emulated outputs of the resolver interpolated analog encoder tachometer and absolute encoder e Fast output compare OC optically isolated e Pulse and Direction inputs single ended and differentia
70. y it is highly recommended to use twisted cables for the DC power supply cable A 3 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connect both ends of the cable shield to the closest ground connection one end near the power supply and the other end to the PE terminal on the Drum s heatsink For safety reasons connect the PR of the power supply to the closest ground connection To close the power supply cable into the drive use the barrel connector M6 spring washer and M6 nut in the drive The required torque is 3 4 Nm To close the PE wire into the drive use the barrel connector M5 flat washer M5 spring washer and M5 screw to the heatsink The required torque is 3 4 Nm Connecting the Optional Back up Supply Cable Power to the Drum is provided by a 12 to 195 VDC source depending on model type A smart control supply algorithm enables the Drum to operate with the power supply only with no need for an auxiliary supply voltage If backup functionality is required for storing control parameters in case of power outs an external 12 195 VDC power supply can be connected providing maximum flexibility and optional backup functionality when needed To connect the back up supply to the Auxiliary port use the Drum s J1 connector CAN communication connector Remember you are working with DC power so be sure to exercise caution Notes for back up supply connection

Elmo 1 Computer Drive User Manual

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