Manuel d'utilisation / d'entretien du produit 1 du fabricant Elmo
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Drum Digital Servo Drive Installation Guide April 2008 (Ver. 1.0).
Notice This guide is de livered subject to th e following conditions and re strictions: This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such inf ormation is supplied s olely for the pu rpose of ass isting users of the Drum servo drive in its installation.
Contents Chapter 1: S afety Infor mation ........................................................................................ 1-1 1.1 Warni ngs .......................................................................................................
3.5.2 Initializing the System .............................................................................. 3-45 3.6 Heat D issipatio n................................................................................................ 3-46 3.6.1 Drum Thermal Data .
A.10.7 Packing .......................................................................................................A-18 A.10.8 WEEE* ........................................................................................................ A-18 A.10.
Chapter 1: Safety Information In order to achieve the optim um, safe operation of the Drum servo drives, it is imperative that you implement th e safety proce dures included in this installation gu ide. This information is provided to protect you and to keep your work area safe when operating the Drum as well as the accompanying equipment.
1.1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source i s on. Power cables can carry a high voltage, even when t he motor i s not in motion. Disconnect the Drum from all voltage sources before it is opened for servicing.
1.3 Directives and Standards The Drum conforms to the following industry safety standards: Safety Standard Item In compliance with ISO-9001:2000 Quality Management In compliance with UL508c Power Conv.
Dru m In stallation Guide Introduction MAN-D RUIG (Ver. 1.0) 2-1 Chapter 2: Introduction This install ati on guid e descr ib es the Drum serv o dri ves and the st eps for it s wir ing, installation and pow er-up. Following th ese guideline s en sures maximum fu nctionality of the drive and the system to which i t i s connected.
Dru m In stallation Guide Introduction MAN-D RUIG (Ver. 1.0) 2-2 Automatic gain sch eduling, to compensate f or variations in the DC bus power supply 2.
Dru m In stallation Guide Introduction MAN-D RUIG (Ver. 1.0) 2-3 • Absolute Encoder o Heidenhain 2.1 o Stegmann • Elmo drives provide suppl y volt age for all t he feedback options 2.
Dru m In stallation Guide Introduction MAN-D RUIG (Ver. 1.0) 2-4 2.4 How to Use this Guide In order to install and ope rate your Elmo Drum servo drives , you will use this manual in conjunction with a set of Elmo documentation.
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.
C o m p o n e n t Connector Described in Section Diagram Main and A uxiliary Feedbacks Cable FEEDBACK A and FEEDBACK B 3.4.4 Digital I/O and Analog Input Cable (if needed) GENERAL I/O J1 3.4.7.1 RS232 Communication Cable RS232 3.4.8.1 CANopen Communication cable(s) (if needed) CAN (in), CAN (out) and Backup Option 3.
3.2 Unpacking th e 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.
3.3 Mounting the Drum The Drum has been designed for two standard mounti ng 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 bel ow).
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 e ssential f or ensuring s afe, immune and optimal servo performan ce of the Drum.
Type Function Port Connector Location Power VP+, PR Barrel Connector + M6 Spring Washer + M6 Nut Motor M1, M2, M3 Barrel Connector + M5 Flat Washer + M5 Spring Washer + M5 screw Ground PE, PE, PE, PE .
Figure 3-2: Drum Detailed Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver. 1.0) 3-7.
3.4.2 Connecting the Power Cables The main power connector located at the bottom of the Drum, as follows: P in Function Cable Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protecti.
Step 1: PE Connection Step 2: Power and Motor Connection Table 3-5: Connecting the Main Power and Motor Cables M5 screw M5 spring washer M5 flat washer M6 nut (a vailable with the drive ) M6 spring wa.
3.4.2.1 Connecting the Motor Cable Connect the motor power cable to the M1, M2, and M3 terminals of the main power conn ector and the fourth wire to the PE (Protective Earth) on the heat sink (see diagram above). The phase con nection order is arbitrary be cause the Composer w ill establish the proper commutation automatically during setup.
Figure 3-4: Isolated DC Power Supply In this case the isolation is achieved by the isolation transformer. It is highly recommende d to connect the ne twork PE to the Return (negative terminal) of the Power Supply. Figure 3-5: Isolated Power Supply In this case the isolation is achieved by using a battery.
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 Re turn of the Pow er Supply.
Notes for connecting the DC power supply: Be aware: The Drum can operate from either an: o isolated DC power supply or o non-isolated DC power supply For bes t immunity, it is highly recommended to use tw isted cables f or the DC powe r supply cable.
Pin Signal Function Pin Position J1-9 +VDC Backup Supply +VDC back-up supply J1-8 RET B ackup Supply Return (common) of the back-up supply Table 3-6: Back-up Cable Plug Figure 3-8: Back-up Supply Connection Diagram Internal DC-to-DC converter allowing for operation from DC power (no need for aux iliary external su pply for normal operation) .
Use only a D-sub connector with a metal housin g . Attach the braid shield tightly to th e metal housing of the D-type conne ctor. On the motor side connections , ground the shield to th e motor chassis. On controller side con nections, f ollow the co ntroller manufac turer’s recommendati ons concerning the shield.
Incremental Encoder Interpolated Analog Encoder Resol ver Tachometer and Potentiometer DRU XX/YYY _ DRU XX/YYY I DRU XX/YYY R DRU XX/YYY T Pin Port Signal Function Signal Function Signal Function Signal Functi on 1 A– Main Input CHA Chan nel A A+ Sine A S1 Sin e A Tac1+ Tacho Input 1 Pos.
Incremental Encoder Interpolated Analog Encoder Resol ver Tachometer and Potentiometer DRU XX/YYY _ D RU XX/YYY I DRU XX/YYY R DRU XX/YYY T Pin Port Si gnal Function Signal Function Signal Functi on Signal Functio n 13 B2 – A ux. Output CHBO- Aux./Main channel B low output CHBO- Aux.
Incremental Encoder Interpolated Analog Encoder Resol ver Tachometer and Potentiometer DRU XX/YYY _ D RU XX/YYY I DRU XX/YYY R DRU XX/YYY T Pin Port Signal Function Signal Function Signal Functi on Signal Function 22 B1 – Au x.
Absolute Encoders DRU XX/YYY Pin Port Signal Heidenhain 2.1 Signal Stegmann 1 A– Main Input A+ Sine A A- Sine A Compl ement 2 A– Main Input A- Sine A Compleme nt A+ Sine A 3 A– Main Input B+ Cos.
Absolute Encoders DRU XX/YYY Pin Port Signal Heidenhain 2.1 Signal Stegmann 22 B1– A ux. Input/ Output CHB- Emulat ed channel B low output / Auxiliary channel B low input CHB- Emulated channel B low out put/ Auxiliary channel B low input 23 B1– A ux.
Figure 3-11: Main Feedback – Interpolated Analog Encoder Connection Diagram Figure 3-12: Main Feedback – Resolver Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver.
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 Dru m In stallation Guide Inst allation MAN-D RUIG (Ver.
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 Dru m In stallation Guide Inst allation MAN-D RUIG (Ver.
Figure 3-17: Main Feedback – Heidenhain (EnDat 2.1) Feedback with Hall Sensor Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver.
Figure 3-18: Main Feedback – Heidenhain (EnDat 2.1) Feedback Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver. 1.0) 3-25.
Figure 3-19: Main Feedback – Stegmann (Hiperface) Feedback with Hall Sensor Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver.
Figure 3-20: Main Feedback – Stegmann (Hiperface) Feedback Connection Diagram Dru m In stallation Guide Inst allation MAN-D RUIG (Ver. 1.0) 3-27.
3.4.5 Main a nd Auxiliary Feedba ck Combin ation s The Main Fe edback is always u sed in motion con trol devices wh ereas Aux iliary Feedback is often, but not alw ays used. The Auxiliary Feedback c onnector on the D rum, “FEEDBACK B” has two ports, Port B1 and Port B2.
FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 P otentiometer Input A-input Po ten tiom eter Potent iometer Position Data Emulat ed i n Incr ementa l Encoder Format (signa ls ar.
3.4.6.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Opti on on FEEDBACK B (Y A[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.
FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Fee dback cable, from the controller or other de vice, to FEEDBACK B u sing a 26-pin, high density D -Sub plug with a me tal housing. Wh en assemblin g the Auxiliary Fe edback cable, follow the instru ctions in Se ction 3.
3.4.6.2 Differential Auxiliary Enc oder Input O ption o n FEEDBACK B (YA[4] =2) The Drum can be used as a slave by recei ving the position of the master encoder data (on Port B1) in Follower or EC AM mode. In this mode Port B2 provides differential bu ffered auxiliary outputs for the next slave axis in follower or ECAM mode.
FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Feedbac k cable from the f eedback device to FEEDBA CK B using a 26-pin , high density D-S ub plug with a metal h ousing. When assembling th e Auxiliary Fee dback cable, follow the instructions in Section 3.
3.4.6.3 Single-ended Auxiliary Input Opt ion on FEED BACK 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 ECA M mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in Follower or ECAM mode.
FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the Auxiliary Feedbac k cable from the f eedback device to FEEDBA CK B using a 26-pin , high density D-S ub plug with a metal h ousing. When assembling th e Auxiliary Fee dback cable, follow the instructions in Section 3.
3.4.6.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) This mode is us ed for input of differential or s ingle-ende d pulse-and- direction position commands on Port B1. In this mode Port B2 provides different ial buff ered pulse-and- directi on outputs for another axis.
Figure 3-24: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Dru m In stallation Guide Installation MAN-D RUIG (Ver. 1.
Below are the s ignals on the A uxiliary Feedback ports w hen set u p to run as a diffe rential pulse-an d-direction input: Port Pin Signal F un ct io n Pin Position B2 10 CHAO Ch a nn e l A o ut p u t B 2 1 1 C HA O - Channel A complem ent output B2 12 CHBO C h an n el B ou t p ut .
Figure 3-25: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Dru m In stallation Guide Installation MAN-D RUIG (Ver. 1.
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 6 Digital Output 2 Analog Input 1 3.4.7.1 General I/O Port (J3) Port J3 has a 15-pin high density D-Sub plug.
Figure 3-26: General J1 I/O Connection Diagram Dru m In stallation Guide Installation MAN-D RUIG (Ver. 1.0) 3-41.
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 diffe r according to the user’s ha rdware. The Drum can communicate using the f ollowing options: a.
Figure 3-27: RS-232 Connection Diagram 3.4.8.2 CANopen Communication Notes for connecting the C ANopen commun ication cable: Use 24, 26 or 28 AWG twisted pair shielded cables (24 AWG cable is recommended).
Figure 3-28: CANopen Connection Diagram Caution: When installin g CANope n communications, ensure that each servo drive is allocated a uniq ue ID. Otherwise, the CANope n network may hang.
3.5 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specific ations (the Appendix of this guide). The supply source must comply with the safety aspects .
3.6 Heat Dissipation For full power output capability the Drum is de signed to be mounte d on an extern al heatsink. It is highly recomme nded that the “Wall” on which the Drum is mounted w ill have heat dissipation capabilities .
Pow er Di ssi pat i o n 100V seri es 0 20 40 60 80 100 120 0 8. 3 16. 7 25. 0 33.3 41. 7 50.0 58. 3 66. 7 75.0 Moto r's C u rren t (Ampe re) Pow er Dissi pati on ( W ) 20VD C 40VD C 60VD C 80VD C 96VD C Pow er Di ssi pat i o n 200V seri es 0 50 100 150 200 250 0 6.
3.6.3 How to Use the Char ts 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).
Appendix: Drum Technical Specifications A.1 Features A.1.1 Mo tion Co ntrol Modes • Current/ Torque - up to 14 kHz sampling rate • Velocity - up to 7 kHz sampling rate • Position - up to 3.
• 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 Different ial encoder buffered outputs • Auxiliary Encoder in puts (ECA M, follower, etc.
Follow i ng e rror Current limits Loss of comm utation signals Communication error A.1.8 Accesso ries • Cable K it A.1.9 Auto matic Procedures • Commutation alignment • Phase seq.
A.2 Dimensions Dru m In stallation Guide Drum Tech n ical Specification s MAN-D RUIG (Ver. 1.0) A-4.
A.3 Power Ratings Feature Unit s 70/48 70/ 60 R90/60 50/100 R75/100 35/200 R60/200 18/400 Minimum sup ply v ol tag e VD C 11 14 23 46 92 Nomi nal su ppl y vo lta ge VDC 42 50 85 170 340 Maximum su ppl.
A.4.1 Auxiliary Supply Feature Details Auxiliary powe r supply Isolated DC source only Auxiliary supply input voltage 12 VDC ~ 195 VDC Auxiliary supply input pow er < 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.
A.5.2 Velocit y Loop Feature Details Controller type PI Velocity control Fully digital Program mable PI and FFW control filters "On-the-fly" gain scheduling Automatic, manual.
A.6 Feedbacks A.6.1 Feedback Supply V oltage The Drum has tw o feedback ports ( main and auxiliary). Th e drives supply voltage to th e main and auxiliary feedback devices (200 mA to the main feedback and 200 mA to the auxiliary feedback ).
A.6.2.2 Digital Halls Feature Details Halls inpu ts H A , H B , H C . Single ended in puts Built in h ysteresis of 1 V for nois e immunity Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level inpu t voltage: V InHigh > 2.
Feature Details Reference frequency 1/Ts (Ts = sample ti me in seconds) Reference voltage Supplied by the Drum Reference current up to ±50 mA Encoder outputs See Aux iliary Encoder Output s p e c i f i c a t i o n s ( 0) A.
A.6.2.6 Potentiometer Feature Details Potentiomet er Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Dru m Potentiometer Resistance 100 Ω ~ 1 k Ω … above this range, linearity is affected de trimentally Input Resistance 100 k Ω Resolution 14 Bit A.
Feature Details Port B2 output current ca pability INDEXO/IN DEXO-, CHBO/CHBO- and CHAO/CHAO- pairs are not loaded Available as options Two simultaneous buffered outputs of main- incremental e.
Figure A-2: Auxiliary Feedback - Encoder Phase Diagram A.7 I/Os The Drum has: 6 Digital Inputs 2 Digital Outputs 1 Analog Input Dru m In stallation Guide Drum Tech n ical Specification s MAN-D RUIG (Ver.
A.7.1 Dig ital Inp ut Inter faces Feature Details Con nec tor Lo cat ion Type of input Optically isolated Single ended PLC level Input current Ω − = 2500 5 . 6 V Vin Iin * Iin = 2.2 mA @ Vin = 12 V Input current for high speed inputs Ω − = 1250 5 .
A.7.2 Dig ital Output In terface Feature Details C onn ecto r Lo cati on Type of output Optically isolate d Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (V out = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (o n) ≤ 0.
A.8 Communications Specification Details RS-232 Signals: RxD , TxD , Gnd Full duplex, serial communication for setup and control Baud Rate of 9,600 ~ 57,600 bit/sec CANope n CANbus Signals: CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbit/sec Version: DS 301 V4.
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 electri cal.
A.10.7 Packing Specification Description In compliance with EN100015 Protection of electrost atic 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 dri ves to the nearest Elmo sales office.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Elmo 1 c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Elmo 1 - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Elmo 1, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Elmo 1 va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Elmo 1, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Elmo 1.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Elmo 1. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Elmo 1 ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
