Elmo EXTRA IQ RAVEN, RAV-25-60 User Manual

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Raven

Current Mode Servo Amplifiers for Brushless Motors with

Sinusoidal Commutation in

Extended Environmental Conditions

Installation Guide

April 2008 (Ver. 1.1)

www.elmomc.com

Notice

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

This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Raven servo drives in their installation.

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.

Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion Control Ltd.

Information in this document is subject to change without notice.

 

 

 

 

 

 

Document No. MAN-RAVIG

 

 

 

 

 

 

 

 

Copyright 2008

 

 

 

 

 

 

 

Elmo Motion Control Ltd.

 

 

 

 

 

 

 

 

All rights reserved.

 

 

 

 

Raven Catalog

RAV-

XX/YYY

 

 

 

 

 

 

 

Number:

 

 

 

 

 

 

 

 

 

Current

 

 

 

 

 

 

 

 

Maximum

 

 

Operating

 

 

 

Voltage

Revision History:

 

 

Ver. 1.1

April 2008

Updated Power Ratings Table in Appendix

 

Ver. 1.0

June 2007

Initial release

(MAN-RAVIG.PDF)

Elmo Motion Control Ltd.

Elmo Motion Control Inc.

Elmo Motion Control GmbH

 

64 Gisin St., P.O. Box 463

1 Park Drive, Suite 12

Steinkirchring 1

 

Petach Tikva 49103

Westford, MA 01886

D-78056,Villingen-Schwenningen

 

Israel

USA

Germany

 

Tel: +972 (3) 929-2300

Tel: +1 (978) 399-0034

Tel: +49 (0) 7720-8577 60

 

Fax: +972 (3) 929-2322

Fax: +1 (978) 399-0035

Fax: +49 (0) 7720-8577 70

 

info-il@elmomc.com

info-us@elmomc.com

info-de@elmomc.com

www.elmomc.com

 

 

 

 

Raven Installation Guide

Contents

i

MAN-RAVIG(Ver. 1.1)

 

 

 

 

 

 

Contents

Chapter 1: Safety Information ...............................................................................................

1-1

1.1

Warnings.........................................................................................................................

1-1

1.2

Cautions ..........................................................................................................................

1-2

1.3

Conformance to Standards............................................................................................

1-2

1.4

Warranty Information....................................................................................................

1-3

Chapter 2: Introduction...........................................................................................................

2-1

2.1

ExtrIQ Product Family...................................................................................................

2-1

2.2

Product Description .......................................................................................................

2-2

2.3

Standard Features ..........................................................................................................

2-2

2.4

Fault Protection ..............................................................................................................

2-2

2.5

How to Use this Guide ..................................................................................................

2-4

Chapter 3: Installation ............................................................................................................

3-1

3.1

Site Requirements...........................................................................................................

3-1

3.2

Unpacking the Amplifier Components........................................................................

3-1

3.3

Raven Dimensions..........................................................................................................

3-2

3.4

Mounting the Raven ......................................................................................................

3-3

 

3.4.1 Mounting the Heatsink .......................................................................................

3-3

 

3.4.2 Mounting on the PC Board .................................................................................

3-3

3.5

Wiring the Raven ...........................................................................................................

3-4

3.6

Connections ....................................................................................................................

3-5

 

3.6.1 Pin Functions........................................................................................................

3-5

 

3.6.2 Connecting a Non-isolatedRaven to an Isolating Power Transformer..........

3-8

3.7

DC Power Supply...........................................................................................................

3-9

Chapter 4: Servo Control Operation .....................................................................................

4-1

4.1

Current Command Input...............................................................................................

4-1

4.2

CFM

.................................................................................................................................

4-1

4.3

Current Gain Control (CGC).........................................................................................

4-2

4.4

External .............................................................Current Limit - Continuous (ECLC)

4-3

 

4.4.1 ...................................................................................................

External Voltage

4-3

 

4.4.2 ..................................................................................................

External Resistor

4-3

4.5

External ..........................................................................Current Limit - Peak (ECLP)

4-3

 

4.5.1 ...................................................................................................

External Voltage

4-3

 

4.5.2 ..................................................................................................

External Resistor

4-4

4.6

Latch ............................................................................................................Mode (LM)

4-4

4.7

Amplifier ..................................................................................................Enable Logic

4-4

4.8

Status ...........................................................................................................Indications

4-5

Appendix: Technical Specifications ....................................................................................

A-1

A.1

Power Ratings................................................................................................................

A-1

A.2

Electrical Specifications ................................................................................................

A-1

A.3

Mechanical Specifications.............................................................................................

A-2

A.4

Environmental Conditions ...........................................................................................

A-2

A.5

Standards Compliance..................................................................................................

A-3

 

A.5.1 Quality Assurance...............................................................................................

A-3

 

A.5.2 Design ..................................................................................................................

A-3

Raven Installation Guide

Contents

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MAN-RAVIG(Ver. 1.1)

 

 

 

 

 

 

A.5.3 Safety....................................................................................................................

A-3

A.5.4 EMC......................................................................................................................

A-4

A.5.5 Workmanship......................................................................................................

A-4

A.5.6 PCB .......................................................................................................................

A-4

A.5.7 Packing.................................................................................................................

A-4

A.5.8 WEEE* ..................................................................................................................

A-4

A.5.9 RoHS.....................................................................................................................

A-4

Raven Installation Guide

1-1

MAN-RAVIG(Ver. 1.1)

 

 

 

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Raven servo amplifier, it is imperative that you implement the safety procedures included in this user guide. This information is provided to protect you and to keep your work area safe when operating the Raven and accompanying equipment. Read this chapter carefully before you begin the installation process.

Ensure that all system components are connected to earth ground. Electrical safety is provided through a low-resistanceearth connection.

Only qualified personnel may install, adjust, maintain and repair the servo amplifier. A “qualified person” has the knowledge and authorization to perform tasks such as transporting, assembling, installing, commissioning and operating motors.

The Raven servo amplifier contains electrostatic-sensitivecomponents 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 electricitybuild-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.

1.1Warnings

Cleaning after soldering

To avoid the damage of the product's acrylic coating the Raven must not be cleaned after soldering by dissolving solvents and /or "water" cleaning process. For more details: http://www.elmomc.com/applications/article/Soldering-and- Cleaning_Application-Note.pdf

Raven Installation Guide

Safety Information

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To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo amplifier while the power source is on.

Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Raven from all voltage sources before it is opened for servicing.

After shutting off the power and removing the power source from your equipment, wait at least 5 minutes before touching or disconnecting parts of the equipment that are normally loaded with electrical charges (such as capacitors or contacts). Measuring the electrical contact points with a meter before touching the equipment is recommended.

1.2Cautions

The Raven servo amplifier contains hot surfaces and electrically-chargedcomponents during operation.

The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide.

1.3Conformance to Standards

The Raven servo amplifier has been developed, produced, tested and documented in accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.

The Raven servo amplifier is intended for incorporation in a 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 89/392/EEC as amended, and with those of the most recent versions of standards EN60204-1andEN292-2at the least.

According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive 73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the Raven meets the provisions outlined in Council Directive 73/23/EEC. The party responsible for ensuring that the equipment meet the limits required by EMC regulations is the manufacturer of the end product.

Raven Installation Guide

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MAN-RAVIG(Ver. 1.1)

 

 

 

Chapter 2: Introduction

This user guide is intended for the design engineer who is integrating an Elmo Motion Control Raven servo amplifier into a machine.

2.1ExtrIQ Product Family

Elmo Motion Control's ExtrIQ product family is a set of durable motion control products for applications operating under extreme environmental conditions. The products are capable of withstanding the following extreme conditions:

Ambient

Non-operating

-50°C to +100 °C(-58°F to 212 °F)

conditions

Temperature

 

 

 

Range

Operating conditions

-40°C to +70 °C(-40°F to 160 °F)

Temperature

Non-operating

-40°C to +70 °C(-40°F to 160 °F)

Shock

conditions

within 3 min.

Altitude

Non-operating

Unlimited

conditions

 

 

 

 

Operating conditions

-400m to 155,000 m(-1,300ft to 510,000 ft)

Maximum

Non-operating

Up to 95% relative humidity non-

conditions

condensing at 35 °C (95 °F)

Humidity

 

Up to 95% relative humidity non-

 

 

 

Operating conditions

condensing at 25 °C (77 °F), up to 90%

 

relative humidity non-condensingat 42 °C

 

 

 

 

(108 °F)

Vibration

Operating conditions

20 Hz –2,000Hz, 14.6g

 

 

Mechanical

Non-operating

±40g; Half sine, 11 msec

conditions

 

Shock

 

Operating conditions

±20g; Half sine, 11 msec

 

ExtrIQ products have a high power density in the range of 10 W – 9000 W and current carrying capacity of up to 200 A (400A peak).ExtrIQ has been tested using methods and procedures specified in a variety of extended environmental conditions (EEC) standards including:

MIL-STD-704-Aircraft, Electric Power Characteristics

MIL-STD-810-Environmental Engineering Considerations and Laboratory Tests

MIL-STD-1275-Characteristics of 28 Volt DC Electrical Systems in Military Vehicles

MIL-STD-461-Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment

MIL-HDBK-217-Reliability Prediction of Electronic Equipment

ISO-9001:2000

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Introduction

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2.2Product Description

The Raven is a series of miniature ExtrIQ current mode servo amplifiers for brushless motors with sinusoidal commutation. Although highly compact, the Raven can withstand extended environmental conditions and support up to 35 Amps. This high power density servo amplifier can deliver up to 4800 W of peak power or 2400 W of continuous power in a miniature package. The servo amplifier offers significant operating features including excellent output linearity and zero dead band performance.

The Raven incorporates custom mixed analog/digital ICs and a hybrid power stage. The basic configuration is a current mode amplifier targeting the OEM market. As such, no trimmers are used in the basic version. In addition to its compliance with relevant MIL standards, the Raven amplifier also meets UL508c and the relevant CE regulations.

The Raven power stage is implemented on a single ceramic substrate. This design enables very high thermal conductivity, high current carrying capacity, improved EMC and good mechanical strength. The control section is implemented by dedicated custom ICs that contribute to enhanced performance.

2.3Standard Features

Operation in current mode

Internal DC-to-DCconverter, which allows for operation from a single supply

Zero deadband

Excellent linearity

One differential input

Motor current monitor

Current gain change for low inductance motors

Remote current gain control

Current feedback multiplier for low current motors

Status indication and remote control functions by four open collector transistors

External continuous and peak current-limitadjustments

Interface via soldering pins

Package: plated-copperbase plate, plastic housing, UL94V0 recognized

Ultra-compactsize

2.4Fault Protection

Built-inprotection against possible fault conditions, including:

Shorts between the outputs or between each output and the power input/return

Over-temperature

Under/over voltage

Failure of internal power supplies

Latch mode for each protective feature

Under/over voltage

Raven Installation Guide

Introduction

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CREF1+ (J1,2)

20K

CREF1- (J1,1)

20K

 

20K

CREF2+ (J1,4)

20K

CREF2- (J1,3)

20K

 

20K

ECLC(J2,1)

1K

ECLP(J2,3)

1K

ECLRET(J2,2)

 

CM1(J1,7)

21K

CM2(J1,8)

21K

CM3(J1,9)

21K

CMRET(J1,10)

 

AOK(J3,1)

 

SO1(J3,2)

 

SO2(J3,3)

 

SO3(J3,4)

 

SORET(J3,5)

 

(J3,6)

 

EN+ (J2,9)

 

EN- (J2,10)

 

LM(J2,7)

 

 

27.4K

LMRET(J2,8)

 

 

 

 

 

10.5K

 

 

 

 

10nF

20K

10K

100K

 

-

 

AS

 

44.2K

AD

 

 

 

 

+

 

 

-

Current Loop

 

 

 

Amp.

 

 

 

 

A

 

 

 

+

 

 

 

 

Current loop Phase 1

20K

10K

 

 

 

-

 

Current loop Phase 2

 

 

 

 

AD

 

 

 

 

+

 

 

 

 

 

Current loop Phase 3

Current

 

 

 

 

Limits

 

 

 

 

 

 

 

 

PWM

 

Dr4

 

 

Dr3

 

Dr5

 

 

Dr2

 

 

 

 

Current

 

 

 

 

Sensing

 

Dr6

 

 

Dr1

Protections

CFM&CGC

Logic

Figure 2-1: Raven Block Diagram

M1

M2

M3

VP+

PR

CFM(J2,6) 27.4KCGC(J2,5)

14.7K CGCRET(J2,4)

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Introduction

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2.5How to Use this Guide

Installation is the first step in integrating and operating the Elmo Raven servo amplifier. After carefully reading the safety instructions in the first chapter, the following chapters provide you with installation instructions as follows:

Chapter 3, Installation, providesstep-by-stepinstructions for unpacking, mounting and connecting the Raven.

Chapter 4, Servo Control Operation, explains how to control the operation of the servo amplifier.

The Appendix, Technical Specifications, lists all the drive ratings and specifications.