Elmo CBL-CELIO1-5, CBL-MTRENC4-5 User Manual

Cello

Digital Servo Drive Cable Kits

Main Feedback: CBL-DFDBK
(general purpose) CBL-DFDBK-5

Encoder: CBL-MTRENC4
(for SE) CBL-MTRENC4-5

General I/O: CBL-CELIO1-5
(J1) CBL-CELIO1-5

Aux. Power: CBL-CEL24-5
CBL-CEL24-5

Encoder: CBL-MTRENC2
(for SAR, SA,SB,SC) CBL-MTRENC2-5

Aux. Feedback: CBL-CELAUX-5
CBL-CELAUX-5

General I/O: CBL-CELIO2-5
(J2) CBL-CELIO2-5

Motor Power Cable: CBL-MTRPWRCEL
(General Purpose) CBL-MTRPWRCEL-5

Motor Power: CBL-MTRPWR1CEL-5
(for SAR, SA,SB,SC) CBL-MTRPWR1CEL-5

RS-232 Com.: CBL-RJ452321

-5 CBL-RJ452321-5

CAN Com.: CBL-RJ45CAN2-5
CBL-RJ45CAN2-5

Motor Power: CBL-MTRPWR2CEL-5
(for SE) CBL-MTRPWR2CEL-5

CAN Com.: CBL-RJ45CAN1-5
CBL-RJ45CAN1-5

Important Notice

This guide is delivered subject to the following conditions and restrictions:

 This guide contains proprietary information belonging to Elmo Motion Control Ltd.

Such information is supplied solely for the purpose of assisting users of Elmo’s Cello
servo drives in assembling the required cables for their drive.

 The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change
without notice.

 Information in this document is subject to change without notice.

Doc. No. MAN-CBLKIT-CEL

Copyright ©2004

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Document version 1.0: November 2004 (MAN-CBLKIT-CEL.pdf)

Elmo Motion Control Inc.

1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: [phone]
Fax: [phone]
[e-mail]

Elmo Motion Control GmbH

Steinbeisstrasse 41
D-78056, Villingen-Schwenningen
Germany
Tel: [phone]
Fax: [phone]
[e-mail]

www.elmomc.com

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

Contents

1. Introduction............................................................................................................................. 1

1.1 Cello Connectors.......................................................................................................................................... 1

1.2 Cable Cross-Reference................................................................................................................................ 2

2. Cable Kits................................................................................................................................. 3

3. Main Feedback Cables ............................................................................................................ 4

3.1 Gen.-Purpose Main Feedback Cable (CBL-DFDBK-5) .........................................................................4

3.2 Encoder Cable (CBL-MTRENC2-5 for SAR, SA, SB, SC) .................................................................5

3.3 Encoder Cable (CBL-MTRENC4-5 for SE) ...........................................................................................6

4. Auxiliary Feedback Cable (CBL-CELAUX-5)....................................................................... 7

5. General I/O J1 (CBL-CELIO1-5)............................................................................................ 8

6. General I/O J2 (CBL-CELIO2-5)............................................................................................ 9

7. Auxiliary Power Cable (CBL-CEL24-5)................................................................................10

8. Motor Power Cables...............................................................................................................10

8.1 Motor Power Cable (CBL-MTRCEL-5) ...............................................................................................10

8.2 Motor Power Cable (CBL-MTRPWR1CEL-5)...................................................................................11

8.3 Motor Power Cable (CBL-MTRPWR2CEL-5)...................................................................................11

9. Communication Cables .........................................................................................................12

9.1 RS-232 Option (CBL-RJ452321-5) ..........................................................................................................12

9.2 CAN Option (CBL-RJ45CAN1-5) .........................................................................................................13

9.3 CAN Option (CBL-RJ45CAN2).............................................................................................................14

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

1. Introduction

This document provides the wiring details for the cables used to connect Cello digital
servo drives with the end-user application. The servo drive-side pinouts are provided in
Chapter 3 of the drive’s installation guide.

The cables come in two lengths: 2 meters (6 ½ feet) and 5 meters (16 ½ feet). The cable
length is indicated in the cable part number by use of an extended suffix to indicate 5
meter length. For example, cable CBL-CELAUX is a 2 meter cable while
CBL-CELAUX-5 is a 5 meter cable.

CBL-RJ45CAN2, is an exception, it is only 20 cm long.

1.1 Cello Connectors

The following connectors are used for wiring the Cello.

1

Type Function Port Connector Location

5-pin
Pheonix (1

Power VP+, PR

st

two pins)
(provided)

5-pin
Pheonix

Motor M1, M2,

M3

Optional

Back-up Supply

Ground

Power & Motor

(last 3 pins)
(provided)

3 ground
screws

2-pin
Pheonix
(provided)

Ground PE, PE,

PE

Optional

24 VDC
Back-up
Supply

Table 1-1: The Cello’s Power Connectors

Type Function Port Connector Location

15-pin D-

Feedback A Feedback A

Sub

15-pin D­Sub (high­density)

15-pin D­Sub (high­density)

General I/O J1

J2: I/O J1: I/O

General I/O J2

Table 1-2: The Cello’s I/O and Feedback A Connectors

Feedback A

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

Type Function Port Connector Location

8-pin RJ-45 CANopen CAN

8-pin RJ-45 CANopen CAN

2

15-pin D-Sub

Feedback B Feedback B

(high-density)

8-pin RJ-45 RS-232 RS-232

Table 1-3: The Cello’s Communications and Feedback B Connectors

CANopen Feedback B

RS-232

1.2 Cable Cross-Reference

Cable Application

Cable Part. No.

No. of

Pins

Label on

Cello

Main Feedback (gnrl-purpose) CBL-DFDBK-5 15 4

Encoder (for SAR, SA, SB, SC) CBL-MTRENC2-5 15 5

FEEDBACK A

Encoder (for SE) CBL-MTRENC4-5 15

Auxiliary Feedback CBL-CELAUX-5 15 FEEDBACK B 7

General I/O 1 CBL-CELIO1-5 15 J1 8

General I/O 2 CBL-CELIO2-5 15 J2 9

Auxiliary Power CBL-CEL24-5 2 24v 10

pg

6

Motor Power (gnrl-purpose) CBL-MTRPWRCEL-5 4 10

Motor Power (for SAR, SA, SB, SC) CBL-MTRPWR1CEL-5 4 11

Motor Power (for SE) CBL-MTRPWR2CEL-5 4

PE/M1

/M2/M3

11

RS-232 Communications CBL-RJ452321-5 8 RS232 12

CAN Communications CBL-RJ45CAN1-5 8 CAN 13

CAN Communications CBL-RJ45CAN2-5 8 CAN 14

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

2. Cable Kits

Several Cable Kits can be purchased from Elmo. Each contain a set of 8 cables. The -5 suffix
on the kits and on the cables (CBL-DFDBK-5 for example) indicate that the cables are 5m
long. Cables and kits without that suffix are 2m long (except for CBL-RJ45CAN2 which is
20cm long). Customers may purchase cables in kits, or individually in multiples of 10
each. The contents of the kits are listed below:

3

Cable Application

Cable Part. No.

CBL-CELKIT01

-CELKIT01-5

CBL-CELKIT02

-CELKIT02-5

Main Feedback (gnrl-purpose) CBL-DFDBK-5 1 –

Encoder (for SAR, SA, SB, SC) CBL-MTRENC2-5 – 1

Encoder (for SE) CBL-MTRENC4-5 – -

Auxiliary Feedback CBL-CELAUX-5 1 1

General I/O 1 CBL-CELIO1-5 1 1

General I/O 2 CBL- CELIO2-5 1 1

Auxiliary Power CBL-CEL24-5 1 1

Motor Power (general-purpose) CBL-MTRPWRCEL-5

Motor Power (SAR, SA, SB, SC) CBL-MTRPWR1CEL-5

Motor Power (for SE) CBL-MTRPWR2CEL-5

1 -

– 1

– -

RS-232 Communications CBL-RJ452321-5 1 1

CAN Communications CBL-RJ45CAN1-5 1 1

CAN Communications CBL-RJ45CAN2-5 - -

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

3. Main Feedback Cables

The main feedback cables are made of 24-AWG shielded cable. There are 3 types of feedback
cables, all use a 15-pin D-sub plug which connects to the FEEDBACK A port on the Cello.

• The General-Purpose Main Feedback Cable (CBL-DFDBK) is open on the motor side

so that it can be connected to customer-specific connectors.

• Encoder Cable CBL-MTRENC2 has a 15-pole socket on the motor side for Metronix

APM-SAR, SA, SB and SC motors.

• Encoder Cable CBL-MTRENC4 has a 17-pole Amphenol socket on the motor side for

Metronix APM-SE motors.

3.1 Gen.-Purpose Main Feedback Cable (CBL-DFDBK-5)

Pin
No. Color

Pairs

4

1 Green

pair

10 Yellow

2 Pink

3 White

pair

4 Brown

5 Orange

pair

6 Cyan

7 Blue

pair

8 Red

9 –

11 –

12 –

13 –

14 Black

pair

15 Purple

15 Pin
D-sub
Plu

g

The specific
functionality of each pin
is fully outlined in the
Cello Installation Guide.

Figure 1: Single-sided Main Feedback Cable (Part No. CBL-DFDBK-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

3.2 Encoder Cable (CBL-MTRENC2-5 for SAR, SA, SB, SC)

5

D-Type

Pin
No.

1

Color

Green

Socket

Pin
No.

11

Signal

HC

Pair

Description

Hall sensor C input

pair

10

Yellow

9

HB

Hall sensor B input

2 Pink 7 HA Hall sensor A input

3

4

5

6

7

White

Brown

Orange

Cyan

Blue

14

13

2

1

6

SUPRET

+5V

CHA-

CHA

INDEX-

pair

pair

Supply return

Encoder\Hall supply
+5 V

Channel A
complement

Channel A

Index complement

pair

8

Red

5

INDEX

Index

9 – – – –

11 – –

15 Pin
D-sub
Plu

g

Pin No.5

Socket
Connector

12 – –

13 – –

14

15

Black

Purple

4

3

CHB-

pair

CHB

Channel B
complement

Channel B

Figure 2: Encoder Cable (Part No. CBL-MTRENC2-5 for Metronix SAR, SA, SB, SC motors)

Pin No.1

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

3.3 Encoder Cable (CBL-MTRENC4-5 for SE)

6

D-Type

Pin

No.

Color

Socket

Pin
No.

1 Green P HC Hall sensor C input

10 Yellow M HB

Signal

Description

pair

Hall sensor B input

2 Pink K HA Hall sensor A input

3 White G SUPRET Supply return

4 Brown H +5V

5

Orange

B

CHA-

6 Cyan A CHA

7 Blue F INDEX- Index complement

8 Red E INDEX

pair

Encoder\Hall supply
+5 V

Channel A

pair

complement

Channel A

pair

Index

9 – – – –

15 Pin
D-sub
Plu

g

17 Pin
Amphenol
Socket

11 – – – –

12 – – – –

13 – – – –

14

Black

D

CHB-

pair

15 Purple C CHB

-

Drain
Wire

J PE

Channel B
complement

Channel B

Drain Wire
Connection

Figure 3: Encoder Cable (Part No. CBL-MTRENC4-5 for Metronix SE motors)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

4. Auxiliary Feedback Cable (CBL-CELAUX-5)

The auxiliary feedback cable is a 24-AWG shielded cable. It is connected using an 15-pin
Hi-density D-sub plug which connects to the Cello’s FEEDBACK B port.

Four options — described in the Auxiliary Feedback section of the Cello Installation Guide
— are available for auxiliary feedback:

 Main encoder buffered outputs

 Differential encoder inputs

 Single-ended encoder input

 Pulse-and-direction input

The general pinout of the auxiliary feedback cable is as follows:

Port Pin Color Pair Description Pin Position

B1 1 Cyan

B1 2 Orange

B1 3 Purple

B1 4 Black

pair see Installation Guide

pair see Installation Guide

7

B1 5 Red

pair see Installation Guide

B1 10 Blue

B2 6 Pink

pair see Installation Guide

B2 7 Grey

PWR 8 Brown +5V
PWR 9 White

B2 11 Yellow

pair

SUPRET

pair see Installation Guide

B2 12 Green

B2 13 White/Red

pair see Installation Guide

B2 14 White/Black

PWR 15 White/Yellow see Installation Guide

Figure 4: Auxiliary Feedback Cable (Part No. CBL-CELAUX-5)

15 Pin high density

D-Sub Plug

The specific

functionality of
each pin is fully
outlined in the Cello
Installation Guide.

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

5. General I/O J1 (CBL-CELIO1-5)

The digital input cable is a 24-AWG shielded cable. It is connected using an 15-pin Hi­Density D-sub socket.

8

Pin Color Signal Pair Function

1

Orange

IN1 Programmable input 1

pair

2

3

Cyan

Purple

IN2

Programmable input 2

IN3 Programmable input 3

pair

8 Black IN8

4

Gray

OUT2 Programmable output 2

Programmable input 8

pair

5 Pink OUT3

Programmable output 3

6 Blue IN4 Programmable input 4

pair

7 Red IN7

9

10

White/

Yellow

White/

Red

INRET

OUTRET2-3

Programmable input 7

General input return

Programmable output
return 2 & 3

11 Yellow OUT4 Programmable output 4

pair

13 Green OUT5

12

White/

Black

OUTRET4-5

Programmable output 5

Programmable output
return 4 & 5

Pin Position

15 Pin
D-sub
Socket

14 Brown OUT1 Programmable output 1

15 White OUTRET 1

pair

Programmable output
return 1

Figure 5: General Purpose I/O Cable (Part No. CBL-CELIO1-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

6. General I/O J2 (CBL-CELIO2-5)

The digital output cable is a 26-AWG shielded cable. It is connected using a 15-pin Hi­Density D-sub plug.

Pin

Color

Signal Pair Function

Pin Position

9

Orange

1

6 Cyan INRET5

2

Purple

7 Black INRET6

3

Blue

8 Red INRET9

4 Pink IN10 Programmable input 10

9 Gray INRET10

5 Yellow ANLIN1+ Analog input 1

10 Green ANLIN1-

11 Brown ANLIN2+ Analog input 2

12 White ANLIN2-

White/

13

14

15

Black

White/

Red

White/

Yellow

IN5 Programmable input 5

pair

Programmable input return 5

IN6 Programmable input 6

pair

Programmable input return 6

IN9 Programmable input 9

pair

Programmable input return 9

pair

Programmable input return 10

pair

Analog input 1

pair

Analog input 2

ANLRET Analog return

pair

ANLRET

SUPRET

Analog return

Supply return

15 Pin
Hi-Density
D-sub
Plug

Figure 6: General Purpose I/O Cable (Part No CBL-CELIO2-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

7. Auxiliary Power Cable (CBL-CEL24-5)

The auxiliary power cable is a 24-AWG shielded cable terminated by pins on the SimplIQ
side. The pins are screwed into the 2-pole Pheonix Terminal Block provided with the Cello.

Pin
No.

Color

Twisted &

Shielded

Wire

Si

gnal

Description

10

1 Red

+24VDC +24 VDC auxiliary power supply

Pair

2 Black

RET24VDC

Figure 7: Auxiliary Power Cable (Part No. CBL-CEL24-5)

Return (common) of 24 VDC auxiliary power supply

8. Motor Power Cables

There are three types of power cables:

8.1 Motor Power Cable (CBL-MTRPWRCEL-5)

CBL-MTRPWRCEL is a general-purpose motor power cable. It is made from four 14-AWG
shielded wires with pin terminals on the Cello drive. The pins are connected to the
Pheonix Terminal Block supplied with the Cello. The other end is open so that it can be
attached to a customer-specific connector.

Color Signal

Description

White M1 Motor Phase 1 (U)

Black

Red

Green

M2

M3

PE

Motor Phase 2 (V)

Motor Phase 3 (W)

Ground

Figure 8: General-Purpose Motor Power Cable (Part No. CBL-MTRPWRCEL-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

8.2 Motor Power Cable (CBL-MTRPWR1CEL-5)

CBL-MTRPWR1CEL-5 is a 24-AWG shielded cable in which each wire, on the SimplIQ
drive side, is connected to a pin terminal and the wires on the motor side are connected to
a 4-pole socket. This cable is designed for connecting a Cello to a Metronix APM-SAR, SA,
SB or SC motor.

11

Color

Signal

Drive Side

Description

AMP Pin No.

Motor Side

Brown & White M1 Motor Phase 1 (U) 1

Pink & Grey

Blue & Red

Green & Yellow

M2

M3

PE

Motor Phase 2 (V) 2

Motor Phase 3 (W) 3

Ground 4

Figure 9: SAR, SA, SB, SC-type Motor Power Cable (Part No. CBL-MTRPWR1CEL-5)

8.3 Motor Power Cable (CBL-MTRPWR2CEL-5)

CBL-MTRPWR2CEL is designed to provide power to Metronix SE motors. It is made from
four 14-AWG shielded wires with pin terminals on the Cello side. The other end has an
Amphenol 4-pole socket so that it can be attached to an Amphenol plug on the motor.

Color

Signal

Drive Side

Description

Amphenol

Pin No.

Motor Side

White M1 Motor Phase 1 (U) A

Black

Red

Green

M2

M3

PE

Motor Phase 2 (V) B

Motor Phase 3 (W) C

Ground D

Figure 10: SE-type Motor Power Cable (Part No. CBL-MTRPWR2CEL-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

9. Communication Cables

The communication cables use 26-AWG twisted pair shielded cable. They are connected
using an 8-pin RJ-45 plug. Elmo drives can communicate using the following options:

 RS-232, full duplex

 CANopen

9.1 RS-232 Option (CBL-RJ452321-5)

12

RJ45

Pin

No.

Color

D-type
Female
Pin No.

Signal

Description

3 Brown 2 Tx RS-232 transmit

5 White 5 COMRET

Communication
return

6 Green 3 Rx RS-232 receive

1

body

Drain

Wire

body shield cable shield

The shields of the RJ-45 and D-type plugs are connected to each other through the

cable braid.

Figure 11: RS-232 Communications Cable (Part No. CBL-RJ452321-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

9.2 CAN Option (CBL-RJ45CAN1-5)

13

RJ45

Pin
No.

Color

D-type
Female
Pin No.

1 Green 7

2 Yellow 2
3 White 3

Signal

CAN-H

CAN_L

CAN_GND

Description

CAN_H bus line

CAN_L bus line

CAN ground

4 — — — —

5 — — — —

7 — — — —

8 — — — —

body

Drain

Wire

body shield cable shield

1

The shields of the RJ-45 and D-type plugs are connected to each other through the

cable braid.

Figure 12: CAN Cable (Part No. CBL-RJ45CAN1-5)

Cello Cable Kits

MAN-CBLKIT-CEL (Ver. 1.0)

9.3 CAN Option (CBL-RJ45CAN2)

Cable CBL-RJ45CAN2 is 20 cm long, it is used for “daisy-chaining” CAN nodes. On the
Harmonica this cable is connected to the External Dual Can Port.

14

RJ45

Pin
No.

Color

RJ45

Pin

No.

1 Green 1

2 Yellow 2
3 White 3

Signal

CAN-H

CAN_L

CAN_GND

Description

CAN_H bus line

CAN_L bus line

CAN ground

4 — — — —

5 — — — —
7 — — — —

8 — — — —

body

Drain

Wire

body shield cable shield

1

The shields of the two RJ-45 plugs are connected to each other through the cable

braid.

Figure 13: CAN Cable (Part No. CBL-RJ45CAN2)