Drum
Digital Servo Drive
Installation Guide
April 2008 (Ver. 1.0)
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
i
Contents
Chapter 1: Safety Information ........................................................................................ 1-1
1.1 Warnings.............................................................................................................. 1-2
1.2 Cautions............................................................................................................... 1-2
1.3 Directives and Standards ................................................................................... 1-3
1.4 CE Mark Conformance....................................................................................... 1-3
1.5 Warranty Information ........................................................................................ 1-3
Chapter 2: Introduction.................................................................................................... 2-1
2.1 Drive Description................................................................................................ 2-1
2.2 Product Features ................................................................................................. 2-1
2.2.1 Current Control ...........................................................................................2-1
2.2.2 Velocity Control...........................................................................................2-2
2.2.3 Position Control...........................................................................................2-2
2.2.4 Communication Options............................................................................2-2
2.2.5 Feedback Options........................................................................................2-2
2.2.6 Fault Protection............................................................................................2-3
2.3 System Architecture............................................................................................ 2-3
2.4 How to Use this Guide ....................................................................................... 2-4
Chapter 3: Installation...................................................................................................... 3-1
3.1 Before You Begin................................................................................................. 3-1
3.1.1 Site Requirements........................................................................................3-1
3.1.2 Hardware Requirements............................................................................3-1
3.2 Unpacking the Drive Components ................................................................... 3-3
3.3 Mounting the Drum............................................................................................ 3-4
3.4 Connecting the Cables........................................................................................ 3-5
3.4.1 Wiring the Drum .........................................................................................3-5
3.4.2 Connecting the Power Cables....................................................................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
3.4.3 Feedback Control and Communication Cable Assemblies.................3-14
3.4.4 Main Feedback Cable (FEEDBACK A)...................................................3-15
3.4.5 Main and Auxiliary Feedback Combinations .......................................3-28
3.4.6 Auxiliary Feedback (FEEDBACK B).......................................................3-29
3.4.6.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option
on FEEDBACK B (YA[4]=4)............................................................................... 3-30
3.4.6.2 Differential Auxiliary Encoder Input Option on FEEDBACK B
(YA[4]=2) ........................................................................................................ 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]=0) ...... 3-36
3.4.7 I/O Cables..................................................................................................3-40
3.4.7.1 General I/O Port (J3) ............................................................................ 3-40
3.4.8 Communication Cables ............................................................................3-42
3.4.8.1 RS-232 Communication........................................................................ 3-42
3.4.8.2 CANopen Communication .................................................................. 3-43
3.5 DC Power Supply ............................................................................................. 3-45
3.5.1 Powering Up ..............................................................................................3-45
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3.5.2 Initializing the System ..............................................................................3-45
3.6 Heat Dissipation................................................................................................ 3-46
3.6.1 Drum Thermal Data..................................................................................3-46
3.6.2 Heat Dissipation Data...............................................................................3-46
3.6.3 How to Use the Charts..............................................................................3-48
Appendix: Drum Technical Specifications.................................................................. A-1
A.1 Features............................................................................................................... A-1
A.1.1 Motion Control Modes ..............................................................................A-1
A.1.2 Advanced Positioning Control Modes....................................................A-1
A.1.3 Advanced Filters and Gain Scheduling...................................................A-1
A.1.4 Fully Programmable ..................................................................................A-1
A.1.5 Feedback Options.......................................................................................A-1
A.1.6 Input/Output..............................................................................................A-2
A.1.7 Built-In Protection ......................................................................................A-2
A.1.8 Accessories ..................................................................................................A-3
A.1.9 Automatic Procedures ...............................................................................A-3
A.2 Dimensions......................................................................................................... A-4
A.3 Power Ratings .................................................................................................... A-5
A.4 Environmental Conditions................................................................................ A-5
A.4.1 Auxiliary Supply ........................................................................................A-6
A.5 Control Specifications........................................................................................ A-6
A.5.1 Current Loop...............................................................................................A-6
A.5.2 Velocity Loop..............................................................................................A-7
A.5.3 Position Loop ..............................................................................................A-7
A.6 Feedbacks............................................................................................................ A-8
A.6.1 Feedback Supply Voltage..........................................................................A-8
A.6.2 Main Feedback Options.............................................................................A-8
A.6.2.1 Incremental Encoder Input ...................................................................A-8
A.6.2.2 Digital Halls............................................................................................A-9
A.6.2.3 Interpolated Analog Encoder (Sine/Cosine).......................................A-9
A.6.2.4 Resolver...................................................................................................A-9
A.6.2.5 Tachometer*.......................................................................................... A-10
A.6.2.6 Potentiometer ....................................................................................... A-11
A.6.2.7 Absolute Encoder................................................................................. A-11
A.6.2.8 Encoder Outputs .................................................................................. A-11
A.6.3 Auxiliary Port............................................................................................A-12
A.7
I/Os ......................................................................................................... A-13
A.7.1 Digital Input Interfaces............................................................................A-14
A.7.2 Digital Output Interface ..........................................................................A-15
A.7.3 Analog Input.............................................................................................A-15
A.8 Communications.............................................................................................. A-16
A.9 Pulse Width Modulation (PWM).................................................................... A-16
A.10
Standards Compliance.............................................................................. A-16
A.10.1 Quality Assurance....................................................................................A-16
A.10.2 Design ........................................................................................................A-16
A.10.3 Safety..........................................................................................................A-17
A.10.4 EMC............................................................................................................A-17
A.10.5 Workmanship ...........................................................................................A-17
A.10.6 PCB.............................................................................................................A-17
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A.10.7 Packing.......................................................................................................A-18
A.10.8 WEEE*........................................................................................................A-18
A.10.9 RoHS...........................................................................................................A-18
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1-1
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-resistance earth connection.
Only qualified personnel may install, adjust, maintain and repair the servo drive. A
“qualified person” has the knowledge and authorization to perform tasks such as
transporting, assembling, installing, commissioning and operating motors.
The 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 on a
conductive surface and ground yourself in order to discharge any possible static
electricity build-up.
To avoid any potential hazards that may cause severe personal injury or damage to the
product during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this manual:
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.
Note:
This is auxiliary information that ensures the correct operation of the
equipment.
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Safety Information
1-2
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
motion. Disconnect the Drum from all voltage sources before it is
opened for servicing.
The Drum servo drives contain grounding conduits for electric current
protection. Any disruption to these conduits may cause the instrument
to become hot (live) and dangerous.
After shutting off the power and removing the power source from your
equipment, wait at least 1 minute before touching or disconnecting parts
of the equipment that are normally loaded with electrical charges (such
as capacitors or contacts). Measuring 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.
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Safety Information
1-3
1.3
Directives and Standards
The Drum conforms to the following industry safety standards:
Safety Standard
Item
Quality Management
In compliance with ISO-9001:2000
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,
Including Electrical Business Equipment
(formerly UL1950)
In compliance with EN60204-1
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 EN60204-1 and EN292-2 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 ensuring 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
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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 brush
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 SimplIQ product line, are fully
programmable with Elmo Metronome 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 24 VDC power supply.
If back-up power is not needed, then the main power supply will also power the
control/logic supply. In this 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
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ꢀ Automatic gain scheduling, to compensate for variations in the DC bus
power supply
2.2.2 Velocity Control
ꢀ Fully digital
ꢀ Programmable PI and FFW (feed forward) control filters
ꢀ Sample rate two times current loop sample time
ꢀ “On-the-fly” gain scheduling
ꢀ Automatic, manual and advanced manual tuning and determination of
optimal gain and phase margins
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 distributed environment
2.2.5 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
Internal Interpolation - up to x4096
Automatic Correction of amplitude mismatch, phase mismatch, signals
offset
Auxiliary emulated, unbuffered, single-ended, encoder output
• Resolver
Programmable 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer
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• Absolute Encoder
o
o
Heidenhain 2.1
Stegmann
• 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:
• Software error handling
• Status reporting for a large number of possible fault conditions
• Protection against conditions such as excessive temperature, under/over
voltage, loss of commutation signal, short circuits between the motor power
outputs and between each output and power input/return
• Recovery from loss of commutation signals and from communication errors
2.3
System Architecture
Figure 2-1: Drum System Block Diagram
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Introduction
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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.
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 SimplIQ Software Manual, which describes the comprehensive software
used with the Drum.
ꢀ The SimplIQ Command Reference Manual, which describes, in detail, each
software command used to manipulate the Drum motion controller.
ꢀ The Composer Software Manual, which includes explanations of all the
software tools that are part of Elmo’s Composer software environment.
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Installation
3-1
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
Maximum relative humidity
Operating area atmosphere
0 °C to 40 °C (32 °F to 104 °F)
90% non-condensing
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
VP+ PR
in Section
Diagram
Main Power Cable
Motor Cable
M1 M2 M3
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Described
in Section
Component
Connector
Diagram
Main and Auxiliary
Feedbacks Cable
FEEDBACK A and
FEEDBACK B
Digital I/O and Analog
Input Cable
(if needed)
GENERAL I/O
J1
RS232 Communication
Cable
RS232
CANopen
Communication cable(s)
(if needed)
CAN (in),
CAN (out) and
Backup Option
PC for drive setup and
tuning
Motor data sheet or
manual
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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:
The P/N number at the top gives the type designation as follows:
DRU- A XX/YYY R
Version :
Blank = Standard
A = Advanced
Continuous Current
Feedback:
(Amps)
Blank = Incremental
Maximum DC
Operating Voltage
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
Absolute
Encoder
Q=
4. Verify that the Drum type is the one that you ordered, and ensure that the voltage meets
your specific requirements.
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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).
Figure 3-1: Mounting the Drum
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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.
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 should have an aluminum foil shield covered by copper braid,
and should contain a drain wire.
The drain wire is a non-insulated wire that is in contact with parts of the cable,
usually the shield. It is used to terminate the 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.
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Type
Function
Port
Connector Location
Barrel
Power
Motor
VP+, PR
Connector +
M6 Spring
Washer + M6
Nut
M1, M2, M3
PE
PE
Barrel
Connector +
M5 Flat
Ground
PE, PE, PE,
PE
Washer + M5
Spring Washer
+ M5 screw
Table 3-1: Power Connectors on the Drum
Type
Function
Port
Connector Location
J4 Female: Feedbacks A & B
J3 Male: I/O
26-pin high
density D-
Sub female
Feedbacks A
& B
J4
15-pin high
density D-
Sub male
Analog Input
and General
I/O
J3
Table 3-2: Feedback and I/O Connectors on the Drum
Type
Function
Port
Connector Location
J1 Male: CANopen & Optional
Backup Supply
J2 Female: RS-232
9-pin D-Sub
male
CANopen &
Optional
Backup
J1
Supply
9-pin D-Sub
female
RS-232
J2
Table 3-3: Communication and Backup Connectors on the Drum
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Figure 3-2: Drum Detailed Connection Diagram
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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
PR Power return
Power
Power
Power
PE Protective earth
3-Phase
Motor
Cable
DC Motor
Cable
PE Protective earth
M1 Motor phase
Motor
Motor
Motor
N/C
PE
PE
M2 Motor phase
M3 Motor phase
Motor
Motor
Motor
Motor
PE
PE
When connecting several motors, all must be wired in an identical manner.
Table 3-4: Connector for Main Power and Motor Cables
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M6 nut (available
with the drive)
M6 spring
washer
M5
screw
barrel
connector
M5 spring washer
M5 flat washer
barrel connector
Step 1: PE Connection
M5 screw
M5 spring washer
M5 flat washer
barrel connector
Step 2: Power and Motor Connection
M6 nut (available
with the drive)
M6 spring washer
barrel
connector
Table 3-5: Connecting the Main Power and Motor Cables
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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.
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 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.
Figure 3-3: 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.
Operation with an Isolated DC power Supply:
The PE (Protective Ground of the AC network) is connected to the PR terminal [The negative
power terminal (-)].
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Drum
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.
Drum
Figure 3-5: Isolated Power Supply
In this case the isolation is achieved by using a battery.
It is highly recommended to connect the PE to the Return (negative terminal) of the Power
Supply.
Operation with a NON- 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.
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Drum
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.
Drum
Figure 3-7: Non-Isolated DC Power Supply
The Power Supply is directly connected to the AC line through an Autotransformer.
The network PE MUST 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).
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Notes for connecting the DC power supply:
ꢀ Be aware: The Drum can operate from either an:
o
isolated DC power supply
or
non-isolated DC power supply
o
ꢀ For best immunity, 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.
3.4.2.3
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 connections:
ꢀ 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)
Installation
3-14
Pin Signal
Function
Pin Position
J1-9 +VDC Backup +VDC back-up supply
Supply
J1-8 RET Backup
Supply
Return (common) of the back-up
supply
J1
Male
Table 3-6: Back-up Cable Plug
Figure 3-8: Back-up Supply Connection Diagram
“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.
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-15
ꢀ 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
Make sure that the braid shield is in
tight contact with the metal housing
Figure 3-9: Feedback and Control Cable Assemblies
Note: All D-sub type connectors, used with the Drum, 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 & 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).
Note: the Feedback connector also supports Feedbacks A and B.
J4 Female
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-16
Interpolated Analog
Encoder
Tachometer and
Potentiometer
Incremental Encoder
DRU XX/YYY_
Pin Port Signal
Resolver
DRU XX/YYYR
Signal Function
DRU XX/YYYI
DRU XX/YYYT
Function Signal
Function
Signal Function
Tacho
Tac1+
1
A–
CHA
Channel A
A+
Sine A
S1
Sine A
Input 1
Pos. (20 V
max)
Main
Input
Tacho
Input 1
Neg.
(20 V
max)
2
A–
CHA-
Channel A
A-
Sine A
S3
Sine A
Tac1-
Main
Input
Complement
Complement
Complement
Tacho
3
4
A–
CHB
Channel B
B+
B-
Cosine B
S2
S4
Cosine B
Tac2+
Input 2
Pos. (50 V
max)
Tacho
Input 2
Neg.
Main
Input
A–
CHB-
Channel B
Cosine B
Cosine B
Tac2-
Main
Input
Complement
Complement
Complement
(50 V
max)
5
6
A–
INDEX
Index
R+
R-
Reference
R1
R2
Vref f=1/TS,
50mA Max.
POT
NC
Potentio-
meter
Input
-
Main
Input
A–
INDEX- Index
Complement
Reference
Vref
Main
Input
Complement
complement
f= 1/TS,
50 mA Max.
7
8
9
Hall A
Hall B
Hall C
HA
Hall sensor
A input
HA
Hall sensor A
input
HA
Hall sensor A HA
input
Hall
sensor A
input
HB
Hall sensor B HB
input
Hall sensor B
input
HB
Hall sensor B HB
input
Hall
sensor B
input
HC
Hall sensor
C input
HC
Hall sensor C
input
HC
Hall sensor C HC
input
Hall
sensor C
input
Aux./
10 B2 –
Aux.
CHAO
Aux./Main
channel A
high output
CHAO
Aux./
CHAO
Aux./
CHAO
Emulated
channel A
high
Emulated
channel A
high output
Emulated
channel A
high output
Output
output
11 B2 –
Aux.
CHAO- Aux./Main
channel A
CHAO- Aux./
Emulated
CHAO- Aux./
Emulated
CHAO-
CHBO
Aux./
Emulated
channel A
low
Output
low output
channel A
low output
channel A
low output
output
Aux./
12 B2 –
Aux.
CHBO
Aux./Main
channel B
CHBO
Aux./
CHBO
Aux./
Emulated
channel B
high output
Emulated
channel B
high output
Emulated
channel B
high
Output
high output
output
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-17
Interpolated Analog
Encoder
Tachometer and
Potentiometer
Incremental Encoder
DRU XX/YYY_
Resolver
DRU XX/YYYI
DRU XX/YYYR
DRU XX/YYYT
Pin
Port
Signal
Function
Signal
Function
Signal
Function
Signal
Function
13
B2 – Aux. CHBO-
Output
Aux./Main
channel B low
output
CHBO-
Aux./
CHBO-
Aux./
CHBO-
Aux./
Emulated
channel B low
output
Emulated
channel B low
output
Emulated
channel B
low output
Aux.
14
15
B2 – Aux. INDEXO
Output
Aux./Main
INDEX high
output
INDEXO
INDEXO-
Aux. INDEX
high output
INDEXO Aux./
Emulated
INDEXO
INDEXO-
INDEX
high
INDEX high
output
output
B2 – Aux. INDEXO-
Output
Aux./Main
INDEX low
output
Aux. INDEX
low output
INDEXO Aux./
Aux.
-
Emulated
INDEX low
output
INDEX
low output
16
17
18
19
PWR
PWR
PWR
SUPRET
SUPRET
SUPRET
Supply return
Supply return
Supply return
SUPRET
SUPRET
SUPRET
CHA
Supply return SUPRET
Supply return SUPRET
Supply return SUPRET
Supply return
SUPRET
SUPRET
SUPRET
CHA
Supply
return
Supply return
Supply return
Supply
return
Supply
return
B1 – Aux. CHA
Input/
Main channel A
high output/
Auxiliary
Emulated
channel A
high output/
Auxiliary
CHA
CHA-
CHB
Emulated
channel A high
output/
Emulated
channel A
high
Output
channel A high
input
Auxiliary
output/
Auxiliary
channel A
high input
channel A
high input
channel A high
input
20
B1 – Aux. CHA-
Input/
Main channel A
low output/
Auxiliary
CHA-
Emulated
channel A low
output/
Emulated
channel A low
output/
CHA-
Emulated
channel A
low
Output
channel A low
input
Auxiliary
channel A low
input
Auxiliary
channel A low
input
output/
Auxiliary
channel A
low input
21
B1 – Aux. CHB
Input/
Main channel B
high output/
Auxiliary
CHB
Emulated
channel B
high output/
Auxiliary
channel B
high input
Emulated
channel B high
output/
CHB
Emulated
channel B
high
Output
channel B high
input
Auxiliary
channel B high
input
output/
Auxiliary
channel B
high input
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-18
Interpolated Analog
Encoder
Tachometer and
Potentiometer
Incremental Encoder
DRU XX/YYY_
Resolver
DRU XX/YYYI
DRU XX/YYYR
DRU XX/YYYT
Pin
Port
Signal
Function
Signal
Function
Signal
Function
Signal
Function
22
B1 – Aux. CHB-
Input/
Main channel
B low output/
Auxiliary
CHB-
Emulated
channel B low
output/
CHB-
Emulated
channel B low
output/
CHB-
Emulated
channel B
low
Output
channel B low
input
Auxiliary
channel B low
input
Auxiliary
channel B low
input
output/
Auxiliary
channel B
low input
23
24
B1 – Aux. INDEX
Input/
Main INDEX
high output/
Auxiliary
INDEX
INDEX-
Auxiliary
INDEX high
input
INDEX
INDEX-
Emulated
INDEX high
output/
INDEX
INDEX-
Auxiliary
INDEX
Output
high input
INDEX high
input
Auxiliary
INDEX high
input
B1 – Aux. INDEX-
Input/
Main INDEX
low output/
Auxiliary
INDEX low
input
Auxiliary
INDEX low
input
Emulated
INDEX low
output/
Auxiliary
INDEX
Output
low input
Auxiliary
INDEX low
input
25
26
PWR
PWR
+5V
+5V
Encoder/
Hall +5V
supply
+5V
+5V
Encoder/Hall +5V
+5V supply
Encoder/
Hall +5V supply
+5V
+5V
Encoder/
Hall +5V
supply
Encoder/
Hall +5V
supply
Encoder/Hall +5V
+5V supply
Encoder/
Encoder/
Hall +5V
supply
Hall +5V supply
Table 3-7: Feedback Cable Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-19
Absolute Encoders
DRU XX/YYY
Pin
Port
Signal
Heidenhain 2.1
Signal
Stegmann
1
A– Main
Input
A+
Sine A
A-
Sine A Complement
2
3
A– Main
Input
A-
Sine A Complement
Cosine B
A+
Sine A
A– Main
Input
B+
B+
Cosine B
4
A– Main
Input
B-
Cosine B Complement
Data
B-
Cosine B Complement
Data
5
A– Main
Input
DATA+
DATA-
HA
DATA+
DATA-
HA
6
A– Main
Input
Data Complement
Data Complement
7
Hall A
Hall sensor A
Hall sensor A
input
input
8
Hall B
Hall C
HB
Hall sensor B
HB
Hall sensor B
input
input
9
HC
Hall sensor C
HC
Hall sensor C
input
input
10
11
12
13
14
15
B2– Aux.
Output
CHAO
CHAO-
CHBO
CHBO-
INDEXO
INDEXO-
Aux. / Emulated channel A high
output
CHAO
CHAO-
CHBO
CHBO-
INDEXO
INDEXO-
Aux. channel A high output
/ Emulated channel A low output
Aux. channel A low output /
Emulated channel A high output
Aux. / Emulated channel B high
output
B2– Aux.
Output
Aux. / Emulated channel A low
output
B2– Aux.
Output
Aux. / Emulated channel B high
output
B2– Aux.
Output
Aux. / Emulated channel B low
output
Aux. / Emulated channel B low
output
B2– Aux.
Output
Aux. INDEX high output
Aux. INDEX high output
B2– Aux.
Output
Aux. INDEX low output
Aux. INDEX low output
16
17
18
19
CLK+
CLK-
Clock
N.A
Do not connect
Do not connect
Supply return
Clock Complement
Supply return
N.A
PWR
SUPRET
CHA
SUPRET
CHA
B1– Aux.
Input/
Emulated channel A high
output/Auxiliary channel A
high input
Emulated channel A low output /
Auxiliary channel A high input
Output
B1– Aux.
Input/
20
21
CHA-
CHB
Emulated channel A low
output/Auxiliary channel A low
input
CHA-
CHB
Emulated channel A high output /
Auxiliary channel A low input
Output
B1– Aux.
Input/
Emulated channel B high
output/Auxiliary channel B high
input
Emulated channel B high output/
Auxiliary channel B high input
Output
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-20
Absolute Encoders
DRU XX/YYY
Port
Pin
Signal
Heidenhain 2.1
Signal
Stegmann
22
B1– Aux.
Input/
Output
B1– Aux.
Input/
Output
B1– Aux.
Input/
Output
PWR
CHB-
Emulated channel B low output/ CHB-
Emulated channel B low output/
Auxiliary channel B low input
Auxiliary channel B low input
Auxiliary INDEX high input
23
24
INDEX
INDEX-
INDEX
INDEX-
Auxiliary INDEX high input
Auxiliary INDEX low input
Auxiliary INDEX low input
25
26
+5V
+8V
Encoder/Hall +5V supply
Do not connect
+5V
+8V
+5V Hall
supply
PWR
+8V Encoder
supply
Table 3-7B: Feedback Cable Pin Assignments
Figure 3-10: Main Feedback- Incremental Encoder Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-21
Figure 3-11: Main Feedback – Interpolated Analog Encoder Connection Diagram
Figure 3-12: Main Feedback – Resolver Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-22
Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors
Figure 3-14: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-23
Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors
Figure 3-16: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-24
Figure 3-17: Main Feedback – Heidenhain (EnDat 2.1) Feedback with Hall Sensor
Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-25
Figure 3-18: Main Feedback – Heidenhain (EnDat 2.1) Feedback Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-26
Figure 3-19: Main Feedback – Stegmann (Hiperface) Feedback with Hall Sensor
Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-27
Figure 3-20: Main Feedback – Stegmann (Hiperface) Feedback Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-28
3.4.5
Main and Auxiliary Feedback Combinations
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
FEED-
BACK A
YA[4] = 4
YA[4] = 2
YA[4] = 0
ꢀ
B1 - Output
Differential
and
Buffered
Main
Encoder
Signal
Incremental
Encoder
Input
B2 - output
same as B1
A - input
Incremental
Encoder
ꢁ
B1- Output
Analog
Encoder
Interpolated
Analog
(Sin/Cos)
Encoder
Input
Position
Data
Emulated in
Incremental
Encoder
Format
A-input
Analog
Encoder
(signals are
quadrature,
differential
& buffered)
B1- Input
B1- Input
Differential or
Differential
or
Single-ended
Auxiliary
Incremental
Encoder
Single-ended
Pulse &
Direction
Commands
B2- Output
same as B1
B2- Output
Differential
and Buffered
Pulse &
B2- Output
Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder
Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder
Differential
and
ꢂ
Buffered
Auxiliary
Encoder
Signal
Direction
Signals
B1- Output
Resolver
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)
Resolver
Input
A-input
Resolver
B2- Output
same as B1
B1- Output
Tachometer
Position
Data
Emulated in
Incremental
Encoder
Tachometer
Input
Format
(signals are
quadrature,
differential
& buffered)
A-input
Tachometer
B2- Output
same as B1
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-29
FEEDBACK B Ports B1 and B2
YA[4] = 2
FEED-
BACK A
YA[4] = 4
YA[4] = 0
B1- Output
Potentiometer
Position Data
B1- Input
B1- Input
Differential or
Single-ended
Pulse &
Differential
or
Single-ended
Auxiliary
Incremental
Encoder
Emulated in
Incremental
Encoder
Direction
Commands
Format
(signals are
quadrature,
differential &
buffered)
B2- Output
Differential
and Buffered
Pulse &
Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder
B2- Output
Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder
A-input
Potentiometer
Differential
and
Potentiometer
Input
Direction
Signals
Buffered
Auxiliary
Encoder
Signal
B2- Output
same as B1
Typical
Applications
Any application where two
feedbacks are used by the
drive.
Port B1 serves as an input for
the auxiliary incremental
encoder (differential or
single-ended).
Port B1 serves as an input for
Pulse & Direction
commands (differential or
single-ended).
Port B2 is used to output
differential buffered Pulse &
Direction signals.
ꢀAny application where the
main encoder is used, not
only for the drive, but also
for other purposes such as
position controllers and/or
other drives.
ꢁAnalog Encoder
applications where position Port B2 is used to output
data is required in the
Encoder’s quadrature
format.
differential buffered
Auxiliary Incremental
Encoder signals.
For applications such as
Follower, ECAM, or Dual
Loop.
ꢂResolver applications
where position data is
required in the Encoder’s
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 SimplIQ Command Reference Manual 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 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
Buffered channel A
complement output
Buffered channel B output
Buffered channel B
complement output
B2
B2
B2
11 CHAO-
12 CHBO
13 CHBO-
J4
Female
B2
B2
14 INDEXO
Buffered Index output
Buffered Index complement
output
Encoder supply voltage
return/COMRET
Auxiliary channel A high
output
Auxiliary channel A low
output
Auxiliary channel B high
output
Auxiliary channel B low
output
Auxiliary Index high output
Auxiliary Index low output
Encoder supply voltage
15 INDEXO-
18 SUPRET
19 CHA
PWR
B1
B1
B1
B1
20 CHA-
21 CHB
26 Pin high density
D-sub Socket
22 CHB-
B1
B1
PWR
23 INDEX
24 INDEX-
25 +5V
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 Outputs or Emulated Encoder Outputs 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 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).
Figure 3-21: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B -
Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-32
3.4.6.2 Differential Auxiliary Encoder Input Option on
FEEDBACK B (YA[4]=2)
The Drum can be used as a slave by receiving the position of the master encoder data (on Port
B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered
auxiliary outputs for the next slave axis in follower or ECAM mode.
Below are the signals on the Auxiliary Feedback port when set up to run as a differential
auxiliary encoder input:
Port
Pin Signal
Function
Pin Position
B2
10 CHAO
Buffered channel A
output
B2
B2
B2
11 CHAO-
12 CHBO
13 CHBO-
Buffered channel A
complement output
Buffered channel B
output
Buffered channel B
complement output
J4
Female
B2
B2
14 INDEXO Buffered Index output
15 INDEXO- Buffered Index
complement output
18 SUPRET
Encoder supply voltage
return/COMRET
PWR
B1
B1
19 CHA
20 CHA-
Auxiliary channel A
high input
Auxiliary channel A low
input
B1
B1
B1
B1
21 CHB
Auxiliary channel B
high input
22 CHB-
23 INDEX
24 INDEX-
25 +5V
Auxiliary channel B low
input
Auxiliary Index high
input
26 Pin high density
D-Sub Socket
Auxiliary Index low
input
Encoder supply voltage
PWR
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 Option on FEEDBACK B – Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-33
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).
Figure 3-22: Differential Auxiliary Encoder Input Option on FEEDBACK B -
Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
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
B2
Pin Signal
10 CHAO
11 CHAO-
Function
Pin Position
Channel A output
B2
Channel A
complement output
B2
B2
12 CHBO
13 CHBO-
Channel B output
Channel B
complement output
B2
B2
14 INDEXO Index output
J4
Female
15 INDEXO- Index complement
output
26 Pin high density D-Sub Plug
18 SUPRET
Encoder supply
voltage return/
COMRET
PWR
B1
B1
B1
19 CHA
20 NC
Auxiliary channel A
high input
Do not connect this
pin
21 CHB
22 NC
Auxiliary channel B
high input
Do not connect this
pin
26 Pin high density
D-Sub Socket
23 INDEX
24 NC
Auxiliary Index high
input
Do not connect this
pin
25 +5V
Encoder supply
voltage
PWR
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 Option on FEEDBACK B - Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-35
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).
Figure 3-23: Single-ended Auxiliary Input Option 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
B2
Pin Signal
Function
Pin Position
10
11
12
13
14
15
18
CHAO
CHAO-
CHBO
CHBO-
NC
Channel A output
B2
Channel A complement output
Channel B output.
B2
B2
Channel B complement output
Do not connect this pin
Do not connect this pin
NC
SUPRET
Encoder supply voltage return/
COMRET
J4
Female
PWR
B1
19
PULS/CHA
Pulse/Auxiliary channel A high
input
26 Pin D-Sub
High Density Plug
20
21
NC
Do not connect this pin
B1
DIR/CHB
Direction/Auxiliary channel B
high input
22
NC
Do not connect this pin
23
24
25
NC
NC
+5V
Do not connect this pin
Do not connect this pin
Encoder supply voltage
26 Pin D-Sub Socket
PWR
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
MAN-DRUIG (Ver. 1.0)
Installation
3-37
Figure 3-24: Single-Ended Pulse-and-Direction Input Option 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
B2
Pin Signal
Function
Pin Position
10
11
12
13
14
15
18
CHAO
CHAO-
CHBO
CHBO-
NC
Channel A output
B2
Channel A complement output
Channel B output.
B2
B2
Channel B complement output
Do not connect this pin
Do not connect this pin
NC
J4
Female
SUPRET
Encoder supply voltage return/
COMRET
PWR
B1
19
PULS/CHA
Pulse/Auxiliary channel A high
input
26 Pin D-Sub High Density
Plug
B1
B1
B1
20
21
22
PULS-/CHA- Pulse/Auxiliary channel A
complement high input
DIR/CHB
Direction/Auxiliary channel B
high input
DIR-/CHB-
Direction/Auxiliary channel B
complement high input
23
24
25
NC
NC
+5V
Do not connect this pin
Do not connect this pin
Encoder supply voltage
26 Pin D-Sub Socket
PWR
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
MAN-DRUIG (Ver. 1.0)
Installation
3-39
Figure 3-25: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection
Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-40
3.4.7
I/O 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.
I/O
J3 Port
Digital Input
Digital Output
Analog Input
6
2
1
3.4.7.1
General I/O Port (J3)
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-
ANLRET
OUTRET2
OUT2
IN6
Analog input -
3
Analog return
4
Programmable output return 2
Programmable output 2
Programmable input 6
General input return
General input return
Programmable output return 1
Programmable output 1
Programmable input 1
Programmable input 2
Programmable input 3
Programmable input 4
Programmable input 5
5
6
7
INRET
INRET
OUTRET 1
OUT1
IN1
8
J3
Male
9
10
11
12
13
14
15
IN2
IN3
IN4
IN5
Table 3-13: J3 I/O Cable - Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-41
Figure 3-26: General J1 I/O Connection Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-42
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 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
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
1
Signal
Function
Pin Location
—
—
2
Tx
RS-232 transmit
3
Rx
RS-232 receive
4
—
—
5
COMRET
Communication return
6
—
—
—
—
—
—
J2
Female
7
8
Table 3-14: RS-232 Cable - Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-43
Figure 3-27: RS-232 Connection Diagram
3.4.8.2
CANopen Communication
Notes for connecting the CANopen communication 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
ꢀ 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
1
2
3
4
5
—
—
CAN_L
CAN_L busline (dominant low)
CAN_GND CAN ground
—
—
CAN_SHLD Shield, attach to the metal housing of
the D-type
6
7
8
CAN_GND CAN Ground
J1
Male
CAN_H
—
CAN_H busline (dominant high)
Do not connect
9
—
Do not connect
Table 3-15: CANopen Cable - Pin Assignments
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-44
Caution:
Figure 3-28: CANopen 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
MAN-DRUIG (Ver. 1.0)
Installation
3-45
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 the standard EN60742 (Isolating
and Safety Isolating Transformers). The nominal DC bus voltage should be in the following
range:
1.2 Vdcmin < Vdc < 0.9 Vdcmax
Where:
Vdcmin is the minimum DC bus
Vdcmax 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 Manual.
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-46
3.6
Heat Dissipation
For full power 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
•
Free air convection thermal resistance (θ): Approximately 3.6 – 4 °C/W.
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).
Self heat dissipation capability (no external heatsink): 12W for 40 °C/W temperature
rise.
•
•
•
•
Shut-off temperature: 86 °C – 88 °C (measured on the heatsink).
The thermal resistance when connecting to an external heat sink:
o
o
The surface of the external heatsink is 50um: 0.18 °C/W.
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
60
50
40
30
20
10
0
12VDC
20VDC
30VDC
40VDC
50VDC
56VDC
Heatsink
Required
Standard 40 °C Ambient Temp.
Heatsink
not
0
12
20
30
40
50
60
70
80
90
Required
Motor's Current (Ampere)
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MAN-DRUIG (Ver. 1.0)
Installation
3-47
Power Dissipation 100V series
120
100
80
20VDC
40VDC
60VDC
80VDC
96VDC
60
40
20
0
0
8.3
16.7 25.0 33.3 41.7 50.0 58.3 66.7 75.0
Motor's Current (Ampere)
Power Dissipation 200V series
250
200
150
100
50
40VDC
80VDC
120VDC
160VDC
196VDC
0
0
6.7
13.3 20.0 26.7 33.3 40.0 46.7 53.3 60.0
Motor's Current (Ampere)
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Installation
3-48
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 ≤ 40 °C.
3. Calculate the allowable temperature increase as follows:
•
for an ambient temperature of 40°C , ∆T= 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. If the dissipated power is below 12 W the Drum needs no additional cooling.
Note: The chart above shows that no heatsink is needed when the heatsink temperature is
80 °C, ambient temperature is 40 °C and heat dissipated is 4 W.
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-1
Appendix: Drum Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque -
• Velocity -
up to 14 kHz sampling rate
up to 7 kHz sampling rate
up to 3.5 kHz sampling rate
• Position -
A.1.2 Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop
• Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog, PWM, digital (SW) and Pulse and Direction
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
• 32 KB memory
A.1.5 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Tachometer and potentiometer (optional)
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
• Interpolated Analog Encoder (optional)
ꢀ 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
• 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
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-2
• 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
• Auxiliary Encoder inputs (ECAM, follower, etc.)
ꢀ A, B, Index
ꢀ Differential encoder buffered outputs
ꢀ Quadrate
A.1.6 Input/Output
•
•
Analog Input– up to 14-bit resolution
Six programmable Digital Inputs, optically isolated, PLC level
ꢀ Inhibit/Enable motion
ꢀ Software and analog reference stop
ꢀ Motion limit switches
ꢀ Begin on input
ꢀ Abort motion
ꢀ Homing
ꢀ General-purpose
•
•
Fast event capture inputs, optically isolated
Two programmable Digital Outputs, optically isolated (open, emitter and collector)
ꢀ Brake Control
ꢀ Amplifier fault indication
ꢀ General-purpose
ꢀ Servo enable indication
•
Differential emulated outputs of the resolver, interpolated analog encoder,
tachometer and absolute encoder
•
•
•
Fast output compare (OC), optically isolated
Pulse and Direction inputs (single-ended and differential)
PWM current command output
A.1.7 Built-In Protection
•
•
•
•
Software error handling
Abort (hard stops and soft stops)
Status reporting
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
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-3
ꢀ Following error
ꢀ Current limits
ꢀ Loss of commutation signals
ꢀ Communication error
A.1.8 Accessories
•
Cable Kit
A.1.9 Automatic Procedures
•
•
•
•
•
•
•
•
•
Commutation alignment
Phase sequencing
Current loop offset adjustment
Current loop gain tuning
Current gain scheduling
Velocity loop offset adjustment
Velocity gain tuning
Velocity gain scheduling
Position gain tuning
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-4
A.2 Dimensions
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-5
A.3 Power Ratings
Feature
Units
VDC
VDC
VDC
70/48
11
70/60 R90/60 50/100 R75/100 35/200 R60/200 18/400
Minimum supply voltage
Nominal supply voltage
Maximum supply voltage
14
50
59
23
85
95
46
92
42
170
195
340
390
48
Maximum continuous
power output
W
%
2700
3400
4300
4000
6000
5600
9600
5600
Efficiency at rated power
(at nominal conditions)
> 97
Maximum output voltage
97% of DC bus voltage at f=22 kHz
Amplitude sinusoidal/DC
continuous current
A
A
70
70
50
90
63
50
35
75
53
35
25
60
42
18
Sinusoidal continuous
RMS current limit (Ic)
50
12.7
Peak current limit
Weight
A
2 x Ic
2 x Ic No Peak 2 x Ic No Peak 2 x Ic No Peak 2 x Ic
700 g (24.7 oz)
g (oz)
mm (in)
Dimensions
134 x 95 x 60 (5.3" x 3.7" x 2.4")
Digital in/Digital
out/Analog in
6/2/1
Mounting method
Panel mount
A.4 Environmental Conditions
Feature
Details
Ambient operating temperature
Storage temperature
Maximum humidity
Protection level
0 °C – 40 °C (32 °F – 104°F)
-20 °C – 85 °C (-4 °F – +185 °F)
90% non-condensing
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-6
A.4.1 Auxiliary Supply
Feature
Details
Auxiliary power supply
Auxiliary supply input voltage
Auxiliary supply input power
Isolated DC source only
12 VDC ~ 195 VDC
< 4 VA (this includes the 5V/200 mA load for
the main encoder only)
< 5.5 VA (this includes the 5V/400 mA load on
the main encoder and feedback B)
A.5 Control Specifications
A.5.1 Current Loop
Feature
Details
Controller type
Vector, digital
Compensation for bus voltage
variations
“On-the-fly” automatic gain scheduling
ꢀ
ꢀ
ꢀ
ꢀ
ꢀ
AC brushless (sinusoidal)
DC brushless (trapezoidal)
DC brush
Motor types
Linear motors
Moving coils
ꢀ
ꢀ
ꢀ
Fully digital
Current control
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 µsec
Current loop sampling rate
Up to 16 kHz; default 11 kHz
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-7
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
ꢀ
Incremental Encoder
ꢀ
ꢀ
ꢀ
ꢀ
ꢀ
Absolute Encoder- Heidenhain and Stegmann
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Tachometer and Potentiometer (optional)
Velocity loop bandwidth
Velocity loop sampling time
Velocity loop sampling rate
Velocity command options
< 350 Hz
140 - 200 µsec (x2 current loop sample time)
up to 8 kHz; default 5.5 kHz
ꢀ
ꢀ
Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
A.5.3 Position Loop
Feature
Details
Controller type
“1-2-4” PIP
Position command options
ꢀ
ꢀ
ꢀ
Software
Pulse and Direction
Analog Potentiometer
Position loop bandwidth
Position loop sampling time
Position loop sampling rate
< 80 Hz
280 - 400 µsec (x 4 current loop sample time)
up to 4 kHz; default 2.75 kHz
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-8
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).
Feature
Details
Main encoder supply voltage
Auxiliary encoder supply voltage
5 V +5% @ 200 mA
5 V +5% @ 200 mA
A.6.2 Main Feedback Options
A.6.2.1 Incremental Encoder Input
Feature
Details
Encoder format
ꢀ A, B and Index
ꢀ Differential
ꢀ Quadrature
Interface
RS-422
Input resistance
Differential: 120 Ω
Maximum absolute: 5 MHz pulses
112 nsec
Maximum incremental encoder frequency
Minimum quadrature input period (PIN)
Minimum quadrature input high/low period (PHL) 56 nsec
Minimum quadrature phase period (PPH)
Maximum encoder input voltage range
28 nsec
Common mode: 7 V
Differential mode: 7 V
Figure A-1: Main Feedback - Encoder Phase Diagram
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-9
A.6.2.2 Digital Halls
Feature
Details
Halls inputs
ꢀ HA, HB, HC.
ꢀ Single ended inputs
ꢀ Built in hysteresis of 1 V for noise immunity
Input voltage
Nominal operating range: 0 V < VIn_Hall < 5 V
Maximum absolute: -1 V < VIn_Hall < 15 V
High level input voltage: V InHigh > 2.5 V
Low level input voltage: V InLow < 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
Details
Sine and Cosine signals
Analog encoder format
Analog input signal level
ꢀ
ꢀ
Offset voltage: 2.2 V – 2.8 V
Differential, 1 V peak to peak
Input resistance
Differential 120 Ω
Maximum analog signal frequency
Interpolation multipliers
Maximum “counts” frequency
Automatic errors correction
fMAX : 250 kHz
Programmable: x4 to x4096
80 mega-counts/sec “internally”
Signal amplitudes mismatch
Signal phase shift
Signal offsets
See Auxiliary Encoder Outputs specifications (0)
Encoder outputs
A.6.2.4 Resolver
Feature
Details
Resolver format
ꢀ
Sine/Cosine
Differential
ꢀ
Input resistance
Differential 2.49 kΩ
Programmable: 10 ~ 15 bits
512 revolutions/sec
0.5
Resolution
Maximum electrical frequency (RPS)
Resolver transfer ratio
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-10
Feature
Details
Reference frequency
Reference voltage
Reference current
Encoder outputs
1/Ts (Ts = sample time in seconds)
Supplied by the Drum
up to ±50 mA
See Auxiliary Encoder Output specifications
(0)
A.6.2.5 Tachometer*
Feature
Details
Tachometer format
Differential
±20 V
Maximum operating differential
voltage for TAC1+, TAC1-
Maximum absolute differential input
voltage for TAC1+, TAC1-
±25 V
±50 V
±50 V
Maximum operating differential
voltage for TAC2+, TAC2-
Maximum absolute differential input
voltage for TAC2+, TAC2-
Input resistance for TAC1+, TAC1-
Input resistance for TAC2+, TAC2-
Resolution
46 kΩ
100 kΩ
14 bit
* Only one Tachometer port can be used at a time (either TAC1+/TAC1- or TAC2+/TAC2-).
TAC1+/TAC1- 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
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-11
A.6.2.6 Potentiometer
Feature
Details
Potentiometer Format
Operating Voltage Range
Potentiometer Resistance
Single-ended
0 ~ 5 V supplied by the Drum
100 Ω ~ 1 kΩ … above this range, linearity is
affected detrimentally
Input Resistance
Resolution
100 kΩ
14 Bit
A.6.2.7 Absolute Encoder
Feature
Details
Sine and Cosine signals
Analog encoder format
Analog input signal level
ꢀ
ꢀ
Offset voltage: 2.2 V – 2.8 V
Differential, 1 V peak to peak
Input resistance
Differential 120 Ω
Maximum analog signal frequency
Interpolation multipliers
Maximum “counts” frequency
Automatic errors correction
fMAX : 250 kHz
Programmable: x4 to x4096
80 mega-counts/sec "internally"
Signal amplitudes mismatch
Signal phase shift
Signal offsets
See Encoder Outputs specifications (A.6.2.8)
Encoder outputs
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 Ω on
INDEX/INDEX-, CHB/CHB- and CHA/CHA- pairs
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-12
Feature
Details
Port B2 output current capability
ꢀINDEXO/INDEXO-, CHBO/CHBO- and
CHAO/CHAO- pairs are not loaded
Available as options
ꢀTwo simultaneous buffered outputs of main-
incremental encoder input
ꢀTwo simultaneous emulated encoder outputs
of analog or absolute encoder input
ꢀTwo simultaneous emulated encoder outputs
of resolver input
ꢀBuffered output of auxiliary input
Maximum frequency
Index (marker)
fMAX : 5 MHz pulses/output
Length of pulse is one quadrature (one quarter
of an encoder cycle) and synchronized to A&B
A.6.3 Auxiliary Port
Feature
Details
ꢀ
ꢀ
ꢀ
A, B, Index
Encoder input, emulated output,
pulse and direction
Differential or single ended
Quadrature
120 Ω
Output current capability
Available as 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&D buffered output
Emulated encoder outputs of the absolute
encoder
Maximum frequency
fMAX : 5 MHz pulses/output
Edge separation between A & 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&B
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-13
Figure A-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
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-14
A.7.1 Digital Input Interfaces
Feature
Details
Connector Location
ꢀ
ꢀ
ꢀ
Optically isolated
Single ended
PLC level
Type of input
Vin − 6.5V
Input current
Iin =
2500Ω
* Iin = 2.2 mA @ Vin = 12 V
Vin − 6.5V
Input current
for high speed
inputs
Iin =
1250Ω
* Iin = 4.4 mA @ Vin = 12 V
High-level
input voltage
12 V < Vin < 30 V, 24 V typical
0 V < Vin < 6.5 V
Low-level
input voltage
Minimum
pulse width
> 4 x TS, where TS is sampling time
Execution time If input is set to one of the built-in functions —
(all inputs):
the time from
application of
voltage on
Home, Inhibit, Hard Stop, Soft Stop, Hard and
Soft Stop, Forward Limit, Reverse Limit or
Begin — execution is immediate upon detection:
0<T<4xTS
input until
execution is
complete
If input is set to General input, execution
depends on program. Typical execution time: ≅
0.5 msec.
T < 5 µsec
High-speed
Notes:
inputs – 5 & 6
minimum pulse ꢀHome mode is high-speed mode and can
be used for fast capture and precise
homing
width, in high-
speed mode
ꢀHigh speed input has a digital filter set to
same value as digital filter (EF) of main
encoder
ꢀHighest speed is achieved when turning on
Digital Input Schematic
optocouplers
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-15
A.7.2 Digital Output Interface
Feature
Details
Connector Location
Type of output
ꢀ Optically isolated
ꢀ Open collector and open
emitter
Maximum supply output
(Vcc)
30 V
Max. output current
Iout (max) ≤ 15 mA
Iout (max) (Vout = Low)
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 15 mA.
Vcc −VOL
RL =
Io(max)
Executable time
If output is set to one of the built-
in functions — Home flag, Brake
or AOK — execution is immediate
upon detection:
0 < T < 4 x TS
If output is set to General output
and is executed from a program,
the typical time is approximately
0.5 msec.
Digital Output Schematic
A.7.3 Analog Input
Feature
Details
± 10 V
± 16 V
3.74 kΩ
14-bit
Maximum operating differential voltage
Maximum absolute differential input voltage
Differential input resistance
Analog input command resolution
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-16
A.8
Communications
Specification Details
Signals:
RS-232
ꢀ RxD , TxD , Gnd
ꢀ Full duplex, serial communication for setup and control
ꢀ Baud Rate of 9,600 ~ 57,600 bit/sec
CANbus Signals:
CANopen
ꢀ CAN_H, CAN_L, CAN_GND
ꢀ Maximum Baud Rate of 1 Mbit/sec
Version:
ꢀ DS 301 V4.01
Device Profile (drive and motion control):
ꢀ DS 402
A.9
Pulse Width Modulation (PWM)
Feature
PWM resolution
Details
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
Specification
ISO 9001:2000
Description
Quality Management
A.10.2 Design
Specification
Description
Reliability Prediction of Electronic Equipment
(rating,de-rating,stress.etc)
In compliance with MIL-HDBK-217
ꢀ IPC-D-275
ꢀ IPC-SM-782
ꢀ IPC-CM-770
ꢀ UL508c
Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)
ꢀ UL840
In compliance with VDE0160-7 (IEC68)
Type testing
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-17
A.10.3 Safety
Specification
Description
Power conversion equipment
In compliance with UL508c
In compliance with UL840
In compliance with UL60950
In compliance with EN60204-1
Insulation coordination, including clearance
and creepage distances of electrical equipment
Safety of information technology equipment,
including electrical business equipment
Low voltage directive, 72/23/EEC
A.10.4 EMC
Specification
Description
Electromagnetic compatibility (EMC)
In compliance with
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
Specification
Description
In compliance with IPC-A-610, level 3
Acceptability of electronic assemblies
A.10.6 PCB
Specification
Description
In compliance with IPC-A-600, level 3
Acceptability of printed circuit boards
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
Drum Technical Specifications
A-18
A.10.7 Packing
Specification
Description
In compliance with EN100015
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
Specification
Description
In compliance with 2002/95/EC
Restrictions on Application of Hazardous
(effective July 2006)
Substances in Electric and Electronic Equipment
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