Elmo MAN-OCSIG User Manual

Ocarina/Castanet

Analog Servo Drives

Installation Guide

April 2008- Ver. 1.2

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 Ocarina
and Castanet 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-OCSIG

Copyright  2008

Elmo Motion Control Ltd.

All rights reserved.

Ocarina/Castanet Catalog Number:

OCA- X/YYY

Continuous Current

(Amp s)

Maximum DC

Operating Voltage

Related Products:

Evaluation Board Catalog Number
Evaluation Board User Manual

Revision History:

Ver. 1.2 April 2008 Updated Power Ratings Table in Appendix
Ver. 1.1 April 2007 Added section in Ch.4 about connecting to DC motors (MAN-OCSIG.PDF)
Ver. 1.0 June 2006 Initial (MAN-OCSIG.PDF)

Elmo Motion Control Ltd.

64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel

Tel: [phone]
Fax: [phone]

[e-mail]

Elmo Motion Control Inc.

1 Park Drive, Suite 12
Westford, MA 01886
USA

Tel: [phone]
Fax: [phone]

[e-mail]

CAS- X/YY

Continuous Current

(Amps)

Maximum DC

Operating Voltage

OCA-EVLBRD-1 (available upon request)
MAN-EVLBRD-OCA (available on our web site)

Elmo Motion Control GmbH

Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany

Tel: [phone]
Fax: [phone]

[e-mail]

www.elmomc.com

Ocarina/Castanet Installation Guide

MAN-OCSIG (Ver. 1.2)

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 Product Description..................................................................................................2-1

2.2 Highlights..................................................................................................................2-1

2.3 Fault Protection.........................................................................................................2-2

2.4 How to Use this Guide.............................................................................................2-2

Chapter 3: Installation ............................................................................................................3-1

3.1 Before You Begin.......................................................................................................3-1

3.1.1 Site Requirements.............................................................................................3-1

3.2 Unpacking the Amplifier..........................................................................................3-1

3.3 Dimensions................................................................................................................3-2

3.3.1 Ocarina Dimensions......................................................................................... 3-2

3.3.2 Castanet Dimensions........................................................................................3-2

3.4 Mounting...................................................................................................................3-3

3.4.1 Ocarina...............................................................................................................3-3

3.4.2 Castanet..............................................................................................................3-3

3.5 Integrating the Ocarina and Castanet on a PCB.................................................... 3-4

3.5.1 Traces..................................................................................................................3-4

3.5.2 Grounds and Returns.......................................................................................3-4

3.6 Pin Functions.............................................................................................................3-5

3.6.1 Pinouts................................................................................................................3-5

3.6.2 Connector J1 ......................................................................................................3-6

3.7 Ocarina/Castanet Connection Diagram.................................................................3-8

3.8 Main Power and Motor Power................................................................................ 3-9

3.9 Evaluation Board and Cable Kit..............................................................................3-9

3.10 DC Power Supply....................................................................................................3-10

3.11 Heat Dissipation......................................................................................................3-12

3.11.1 Ocarina.............................................................................................................3-12

3.11.1.1 Thermal Data.........................................................................................3-12

3.11.1.2 Heat Dissipation Data...........................................................................3-12

3.11.1.3 How to Use the Charts.........................................................................3-13

3.11.2 Castanet............................................................................................................3-13

Chapter 4: Servo Control Operation.....................................................................................4-1

4.1 Ocarina/Castanet Connected to DC Motors..........................................................4-1

4.2 Current Command Input .........................................................................................4-1

4.3 External Current Limit - Continuous (ECLC)........................................................4-1

4.3.1 External Voltage................................................................................................4-1

Ocarina/Castanet Installation Guide Contents

MAN-OCSIG (Ver. 1.2)

4.3.2 External Resistor...............................................................................................4-2

4.3.3 External Current Limit - Peak (ECLP)...........................................................4-2

4.3.4 External Voltage................................................................................................ 4-2

4.3.5 External Resistor...............................................................................................4-3

4.3.6 Latch Mode (LM).............................................................................................. 4-3

4.4 Status Indications ......................................................................................................4-3

Appendix: Specifications ......................................................................................................A-1

A.1 General Specifications..............................................................................................A-1

A.1.1 Ocarina..............................................................................................................A-1

A.1.2 Castanet.............................................................................................................A-2

A.2 Standards Compliance.............................................................................................A-3

A.2.1 Quality Assurance...........................................................................................A-3

A.2.2 Design................................................................................................................A-3

A.2.3 Safety.................................................................................................................A-3

A.2.4 EMC...................................................................................................................A-4

A.2.5 Workmanship...................................................................................................A-4

A.2.6 PCB ....................................................................................................................A-4

A.2.7 Packing..............................................................................................................A-4

ii

Ocarina/Castanet Installation Guide

MAN-OCSIG (Ver. 1.2)

1-1

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Ocarina and Castanet servo­amplifiers, 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 Ocarina and Castanet and 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 Ocarina and Castanet 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.

Ocarina/Castanet Installation Guide Safety Information

MAN-OCSIG (Ver. 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 Ocarina and Castanet from all voltage sources
before they are opened for servicing.

The Ocarina and Castanet servo drives contains 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

Cleaning after soldering

To avoid the damage of the product's acrylic coating the Flute mus t not be
cleaned after soldering by dissolving solvents and /or "water" cleaning
process. For more details:

www.elmomc.com/applications/article/Soldering-and­Cleaning_Application-Note.pdf

1.2 Cautions

The Ocarina and Castanet 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 Ocarina and Castanet to an approved 12 ~ 95 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 Ocarina and Castanet, verify that all safety
precautions have been observed and that the installation procedures in
this manual have been followed.

Ocarina/Castanet Installation Guide Safety Information

MAN-OCSIG (Ver. 1.2)

1.3 Directives and Standards

The Ocarina and Castanet conform to the following industry safety standards:

Safety Standard Item
In compliance with UL508c Power Conversion Equipment

1-3

In compliance with UL840

Insulation Coordination, Including Clearance and
Creepage Distances of Electrical Equipment

In compliance with UL60950-1
(formerly UL1950)

Safety of Information Technology Equipment,
Including Electrical Business Equipment

In compliance with EN60204-1 Low Voltage Directive, 73/23/EEC

The Ocarina and Castanet 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 r esponsib le for t he perform ance of new
measurements or ensuring that regulatory requirements are met.

1.4 CE Mark Conformance

The Ocarina and Castanet 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 desi gned for use wit hin certai n
voltage limits, the Ocarina and Castanet meet the provisions outlined in Council
Directive 73/23/EEC. The party responsible for ensuring that the equipment meet t he
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.

Ocarina/Castanet Installation Guide Introduction

MAN-OCSIG (Ver. 1.2)

Chapter 2: Introduction

This Installation Guide is intended for design engineers who are integrating an Elmo
Motion Control Ocarina and Castanet servo amplifiers into a machine.

2.1 Product Description

The Ocarina and Castanet series of servo-amplifiers was designed to deliver “the highest
possible power density”. The Ocarina can deliver up to 1.4 kW of continuous power or

2.8 kW of peak power in a matchbox size (2.25 in³ or 38cc) package. The Castanet delivers
up to 240 W of continuous power or 480 W of peak power.

The Ocarina and Castanet are designed for OEMs. They operate from a DC power source in
current mode in conjunction with a DC Brush and Brushless motors (refer to section 4.1).
The Ocarina and Castanet can operate as a stand-alone device.

There are two categories of Ocarinas and Castanets, 60 VDC versions and 100 VDC
versions. Power to the 60 V products is provided by a separate 0 ~ 59 V isolated DC
power source. Power to the 100 V products is provided by a separate 0 ~
DC power source.

95 V isolated

2-1

Note: There is a separate VL terminal for the control/logic supply input. In the 60 VDC
models this terminal can be connected to an external 11 ~ 59 VDC isolated supply. In the
100 VDC models this terminal can be connected to an external 12 ~ 95 VDC isolated
supply whenever the user wants to control the logic supply with an auxiliary low power
voltage source.

If power separation is not needed the VL and VP+ terminals can be shorted so that the
main

power supply will also power the control/logic supply and there will be no need

for a separate control/logic supply.
The Ocarina and Castanet are PCB mounted devices which enable efficient and cost

saving

implementation.

2.2 Highlights

• Operates in current mode

• 0 ~ 59 VDC isolated DC power source for 60 V models

• 0 ~ 95 VDC isolated DC power source for 100 V models

• Zero deadband

• Excellent linearity

• Differential current command input

• Motor current monitor

• Current gain change for low inductance motors

• Status indication by four open collector optos

• External continuous and peak current-limit adjustments

• Interface via 2 mm pitch 0.51 mm square pins

• Package: plated AL 6063T5 with electroless nickel, plastic housing, UL94V0

recognized (Ocarina only)

• Ultra-compact size – Ocarina: 2.1" x 0.6" x 1.8" (55 x 15 x 46.5 mm), Castanet: 2" x

0.49" x 1.65" (51 x 12.5 x 42 mm)

Ocarina/Castanet Installation Guide Introduction

MAN-OCSIG (Ver. 1.2)

• Weight: Ocarina – 1.6 oz (45g), Castanet – 0.76 oz (21.5 grams)

2.3 Fault Protection

Built-in protection against possible fault conditions, including:

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

• Over-heating

• Under/over voltage

• Failure of internal power supplies

• Latch mode for each protective feature

2.4 How to Use this Guide

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

2-2

Chapter 3, Installation, provides step-by-step instructions for unpacking, mounting and

connecting the Ocarina.

Chapter 4, Servo Control Operation, explains how to control the operat ion of t he servo

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