Elmo EXTRA IQ RAVEN, RAV-25-60 User Manual
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
Number:
Revision History:
Ver. 1.1 April 2008 Updated Power Ratings Table in Appendix
Ver. 1.0 June 2007 Initial release
Elmo Motion Control Ltd.
64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel
Tel: +972 (3) 929-2300
Fax: +972 (3) 929-2322
info-il@elmomc.com
Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
info-us@elmomc.com
RAV-
Current
Maximum
Operating
Voltage
XX/YYY
(MAN-RAVIG.PDF)
Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (0) 7720-85 77 60
Fax: +49 (0) 7720-85 77 70
info-de@elmomc.com
www.elmomc.com
Raven Installation Guide Contents
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-isolated Raven to an Isolating Power Transformer..........3-8
3.7 DC Power Supply........................................................................................................... 3-9
i
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
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
ii
Raven Installation Guide
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 t his user guide. Thi s
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-resistance earth connect ion.
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-sensit iv e components t hat 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.
1-1
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.
1.1 Warnings
Cleaning after soldering
To avoid the damage of the product's acrylic coating the Raven must not
be cleaned after soldering by dissolving solve nts and / or "w ater" clea ning
process. For more details:
http://www.elmomc.com/applicat ions/ar ti cl e/Sol der ing-and Cleaning_Application-Note.pdf
Raven Installation Guide Safety Information
MAN-RAVIG (Ver. 1.1)
To avoid electric arcing and hazards to personnel and electrical contacts,
never connect/discon nec t the se rvo amplifie r wh ile the pow er so urce 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 me ter
before touching the equipment is recommended.
1-2
1.2 Cautions
The Raven servo amplifier contains hot surfaces and electrically-charged
components during operation.
The maximum DC power supply connected to the ins trument must comply
with the parameters outlined in this guide.
1.3 Conformance 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 f or in corporation in a mach ine or e nd produc t. 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 EN60204-1 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 desi gned for use wit hin certai n
voltage limits, the Raven meets the provisions outlined in Council Directive 73/23/EEC.
The party responsible for ensuring that the equipment meet the li mi ts requi red by EMC
regulations is the manufacturer of the end product.
Raven Installation Guide
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.
2.1 ExtrIQ Product Family
Elmo Motion Control's ExtrIQ product family is a set of durable motion control products
for applications operating under extreme environmental conditi ons. The products are
capable of withstanding the following extrem e condit ions:
2-1
Ambient
Temperature
Range
Temperature
Shock
Altitude
Maximum
Humidity
Vibration
Mechanical
Shock
Non-operating
conditions
-50 °C to +100 °C (-58 °F to 212 °F)
Operating conditions -40 °C to +70 °C (-40 °F to 160 °F)
Non-operating
conditions
Non-operating
-40 °C to +70 °C (-40 °F to 160 °F)
within 3 min.
Unlimited
conditions
Operating conditions -400 m to 155,000 m (-1,300 ft to 510,000 ft)
Non-operating
conditions
Up to 95% relative humidity noncondensing at 35 °C (95 °F)
Up to 95% relative humidity non-
Operating conditions
condensing at 25 °C (77 °F), up to 90%
relative humidity non-condensing at 42 °C
(108 °F)
Operating conditions 20 Hz –2,000 Hz, 14.6g
Non-operating
±40g; Half sine, 11 msec
conditions
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
Raven Installation Guide Introduction
MAN-RAVIG (Ver. 1.1)
2-2
2.2 Product 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.
2.3 Standard Features
Operation in current mode
Internal DC-to-DC converter, 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-limit adjustments
Interface via soldering pins
Package: plated-copper base plate, plastic housing, UL94V0 recognized
Ultra-compact size
2.4 Fault Protection
Built-in protection 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
MAN-RAVIG (Ver. 1.1)
2-3
CREF1+ (J1,2)
CREF1- (J1,1)
CREF2+ (J1,4)
CREF2- (J1,3)
ECLC(J2,1)
ECLP(J2,3)
ECLRET(J2,2)
CM1(J1,7)
CM2(J1,8)
CM3(J1,9)
CMRET(J1,10)
AOK(J3,1)
20K
20K
20K
20K
20K
20K
21K
21K
21K
10.5K
AD
-
AD
+
Current
10K
10K20K
Limits
20K
-
+
1K
1K
100K
44.2K
AS
Current Loop
-
Amp.
A
+
Current loop Phase 1
Current loop Phase 2
Current loop Phase 3
10nF
PWM
Dr3Dr4
Dr2Dr5
M1
SO1(J3,2)
SO2(J3,3)
SO3(J3,4)
SORET(J3,5)
(J3,6)
EN+ (J2,9)
EN- (J2,10)
LM(J2,7)
LMRET(J2,8)
Protections
27.4K
Figure 2-1: Raven Block Diagram
Dr1Dr6
CFM&CGC
Logic
Current
Sensing
14.7K 27.4K
M2
M3
VP+
PR
CFM(J2,6)
CGC(J2,5)
CGCRET(J2,4)
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