Elmo Server 1.3, Server Tuba Digital Servo User Manual

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Tuba

Digital Servo Drive

Installation Guide

April 2008 (Ver. 1.3)

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 Tuba servo drive in its 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-TUBIG

Elmo Motion Control Ltd.

Tuba Catalog Number:

Revision History:

Ver 1.3 April 2008 Updated Power Ratings Table in Appendix Ver. 1.2 Mar. 2007 Added Absolute Encoder information Ver. 1.12 Oct. 2006 Correction to Interpolated Analog Encoder Ver. 1.11 Sept. 2006 Correction to Encoder Outputs in Appendix Ver. 1.1 Sept. 2005 BR1, BR2  DC Link Ver. 1.0 April 2005 First Edition (MAN-TUBIG.PDF)

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

Blank = Standard

A = Advanced

Continuous Cu rrent

Nominal AC

Operating Voltage

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

TUB- AX/YYY

Version:

(Amp s)

Feedback:

Blank = Incremental

R=Resolver

I = Interpolated

T= Q=

(MAN-TUBIG.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

Encoder and/or Halls

Analog Encoder

Tachometer & Pote n t iomete r

Absolute Encoder

www.elmomc.com

Tuba Installation Guide

MAN-TUBIG (Ver. 1.3)

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 Drive Description......................................................................................................2-1

2.2 Product Features.......................................................................................................2-1

2.2.1 Current Control....................................................................................................... 2-1

2.2.2 Velocity Control ......................................................................................................2-1

2.2.3 Position Control ...................................................................................................... 2-2

2.2.4 A dvanced Position Control (Advanced model only) ............................................. 2-2

2.2.5 Communication Options........................................................................................2-2

2.2.6 Feedback Options.................................................................................................... 2-2

2.2.7 Fault Protectio n .......................................................................................................2-3

2.3 System Architecture..................................................................................................2-3

2.4 How to Use this Guide.............................................................................................2-4

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

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

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

3.1.2 Hardware Requirements........................................................................................ 3-1

3.1.2.1 AC Input Requirements.............................................................................3-1

3.1.2.2 Recommended Wire Cross-sections (All Models)...................................3-1

3.1.2.3 Power Connectors.......................................................................................3-2

3.1.2.4 Communication Connectors......................................................................3-2

3.1.2.5 Feedback and I/O Connectors...................................................................3-3

3.1.2.6 Other Items Needed....................................................................................3-4

3.2 Unpacking the Drive Components..........................................................................3-4

3.3 Mounting the Tuba...................................................................................................3-5

3.3.1 Mounting Directly onto Wall ................................................................................ 3-5

3.3.2 Mounting on a DIN Rail......................................................................................... 3-6

3.4 Connecting the Cables..............................................................................................3-7

3.4.1 Wirin g the Tuba ...................................................................................................... 3-7

3.4.2 Connecting the Power Cables ............................................................................. 3-10

3.4.2.1 Connecting the Motor Cable....................................................................3-11

3.4.2.2 Connecting the Main Power Cable..........................................................3-12

3.4.2.3 Connecting the DC Link Cable................................................................3-12

3.4.3

Connecting the Auxiliary Supply Cable (24v) ..................................................3-13

3.4.4 Feedback and Control Cable Assemblies .......................................................... 3-14

3.4.5 Main Feedback Cable (Feedback A)................................................................... 3-15

3.4.6 Main and Auxiliary Feedback Combinations................................................... 3-23

3.4.7 Auxiliary Feedba ck (FEEDBACK B) ..................................................................3-25

3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option

on FEEDBACK B (YA[4]=4).....................................................................................3-25

3.4.7.2 Differential Auxiliary Encoder Input Option on FEEDB ACK B (YA[ 4]=2)

........................................................................................................3-27

3.4.7.3 Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2).....3-29

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3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)..........3-31

3.4.8

I/O Cables..............................................................................................................3-33

3.4.8.1 Analog Inputs............................................................................................3-33

3.4.8.2 Digital Inputs (on GENERAL I/O Port).................................................3-34

3.4.8.3 Digital Outputs (on COMMITTED I/O Port)........................................3-36

3.4.9

Communication Cables........................................................................................ 3-38

3.4.9.1 RS-232 Communication (on the COMM.1 Port).....................................3-38

3.4.9.2 CANopen Communication (on the COMM.2 Ports).............................3-39

3.5 Powering Up............................................................................................................3-41

3.6 Initializing the System............................................................................................3-41

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

A.1 Features.....................................................................................................................A-1

A.1.1 Motion Control Modes..........................................................................................A-1

A.1.2 Advanced Positioning Motion Control Modes..................................................A-1

A.1.3 Advanced Filters and Gain Scheduling.............................................................. A-1

A.1.4 Fully Programmable .............................................................................................. A-1

A.1.5 Feedback Options...................................................................................................A-1

A.1.6 Input/Output.........................................................................................................A-2

A.1.7 Built-In Protection..................................................................................................A-2

A.2 Tuba Dimensions .....................................................................................................A-3

A.3 Mounting Dimensions.............................................................................................A-4

A.4 Mechanical Specifications.......................................................................................A-4

A.5 Power Ratings...........................................................................................................A-5

A.6 Environmental Conditions......................................................................................A-5

A.7 Tuba Connections.....................................................................................................A-6

A.7.1 Auxiliary Supply.................................................................................................... A-7

A.8 Control Specifications..............................................................................................A-7

A.8.1 Current Loop..........................................................................................................A-7

A.8.2 Velocity Loop..........................................................................................................A-8

A.8.3 Position Loop.......................................................................................................... A-8

A.9 Feedbacks..................................................................................................................A-9

A.9.1 Feedback Supply Voltage.....................................................................................A-9

A.9.2 Incremental Encoder Input...................................................................................A-9

A.9.3 Digital Halls.......................................................................................................... A-10

A.9.4 Interpolated Analog Encoder (Sine/Cosine) ................................................... A-10

A.9.5 Resolver.................................................................................................................A-11

A.9.6 Tachometer*..........................................................................................................A-11

A.9.7 Potentiometer ....................................................................................................... A-12

A.9.8 Encoder Outputs.................................................................................................. A-12

A.10 I/Os A-13

A.10.1 Digital Input I nterfaces (on GENERAL I/O port)...........................................A-13

A.10.2 Digital Output Interface (on COMMITTED I/O port) ................................... A-14

A.10.3 Analog Input......................................................................................................... A-15

A.11 Communications....................................................................................................A-15

A.12 Pulse Width Modulation (PWM)..........................................................................A-16

A.13 Single-phase Operation.........................................................................................A-16

A.14 Standards Compliance...........................................................................................A-17

A.14.1 Quality Assurance................................................................................................ A-17

A.14.2 Design.................................................................................................................... A-17

A.14.3 Safety ..................................................................................................................... A-17

A.14.4 EMC .......................................................................................................................A-17

A.14.5 Workmanship.......................................................................................................A-17

A.14.6 PCB.........................................................................................................................A-18

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A.14.7 Packing ..................................................................................................................A-18

A.14.8 Environmental...................................................................................................... A-18

Index.......................................................................................................................................... I-1

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Tuba Installation Guide

MAN-TUBIG (Ver. 1.3)

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Tuba servo drive, 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 Tuba 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 Tuba servo drive contains electrostatic-sensiti ve comp onents that can b e 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.

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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 Tuba from all voltage sources before it is opened for servicing.

The Tuba servo drive contains grounding conduit s for elect ri c 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

1.2 Cautions

The Tuba servo drive contains hot surfaces and electrically-charged components during operation.

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

The TUB-x/230 series is designed to operate from a single phase 115 VAC source or from a 1- or 3-phase 230 VAC source. The TUB-x/460 series is designed to operate from a 3-phase 400 or 460 VAC source. The Tuba can be connected directly to the line voltage. An isolation transformer is not needed.

The Tuba drive must be connected to an approved 24 VDC auxiliary power supply 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 Tuba, verify that all safety precautions have been observed and that the installation procedures in this manual have been followed.

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MAN-TUBIG (Ver. 1.3)

1.3 Directives and Standards

The Tuba conforms to the following industry safety standards:

Safety Standard Item

Recognized UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and

Creepage Distances of Electrical Equipment

1-3

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 Tuba servo drive 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.

1.4 CE Mark Conformance

The Tuba servo drive 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 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 Tuba 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.

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.

Tuba Installation Guide

MAN-TUBIG (Ver. 1.3)

Chapter 2: Introduction

This installation guide describes the Tuba servo drive and the steps for its wiring, installation and powering up. Following these guidelines ensures maximum functionality of the drive and the system to which it is connected.

2.1 Drive Description

The Tuba is a powerful servo drive that operates in digital current, velocity, position and advanced position modes, in conjunction with a permanent-magnet synchronous brushless motor or DC brush motor. The Tuba features flexible sinusoidal and trapezoidal commutation, with vector control. The Tuba can operate as a stand-alone device or as part of a multi-axis network in a distributed configuration.

The Tuba drive is set up and tuned using Elmo’s Composer software. This Windowsbased application enables users to quickly and simply configure the servo drive for optimal use with their motor.

2-1

Power to the various models of Tuba is provided by a 115, 230, 3 x 230, 3 x 400 or 3x 460

VAC source. A separate 24 VDC power supply serves as both the auxiliary supply and the

backup supply. This enables a safe and economical “power backup” feature that is essential for positioning systems. An auxiliary 24 VDC power supply is required as the Tuba does not operate without one.

Two variations of the Tuba are available: the Standard version and the Advanced version,

which features advanced positioning capabilities. Both versions operate with RS-232 and/or CANopen communication.

2.2 Product Features

2.2.1 Current Control

 Fully digital  Sinusoidal commutation with vector control or trapezoidal commutation

with encoder and/or digital Hall sensors

 12-bit current loop resolution  Automatic gain scheduling, to compensate for variations in the DC bus

power supply

2.2.2 Velocity Control

 Fully digital  Programmable PI and FFW (feed forward) control filters  Sample rate two times current loop sample time  “On-the-fly” gain scheduling  Automatic, manual and advanced manual tuning and determination of

optimal gain and phase margins

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2.2.3 Position Control

 Programmable PIP control filter  Programmable notch and low-pass filters  Position follower mode for monitoring the motion of the slave axis relative

to a master axis, via an auxiliary encoder input

 Pulse-and-direction inputs  Sample time: four times that of current loop  Fast event capturing inputs

2.2.4 Advanced Position Control (Advanced model only)

 Position-based and time-based ECAM mode that supports a non-linear

follower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory

 PT and PVT motion modes  Dual (position/velocity) loop  Fast output compare (OC)

2-2

2.2.5 Communication Options

Depending on the application, Tuba users can select from two communication options:

 RS-232 serial communication  CANopen for fast communication in a multi-axis distributed environment

2.2.6 Feedback Options

 Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second  Digital Halls – up to 2 kHz  Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts

per second for encoder

 Absolute Encoder  Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)

• Internal Interpolation – programmable up to x4096

• Automatic Correction of: ♦ amplitude mismatch ♦ phase mismatch ♦ signals offset

• Encoder outputs, buffered, differential.

 Resolver

• Programmable 10~15 bit resolution

• Up to 512 revolutions per second (RPS)

• Encoder outputs, buffered, differential

 Tachometer and Potentiometer

Two inputs for Tachometer Feedback:

• Up to ±50 VDC

• Up to ±20 VDC

Potentiometer Feedback:

• 0 ~ 5 V voltage range

• Resistance: 100 Ω to 1000 Ω

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MAN-TUBIG (Ver. 1.3)

 Elmo drives provide supply voltage for all the feedback options

2.2.7 Fault Protection

The Tuba includes built-in protection against possible fault conditions, including:

 Software error handling

 Status reporting for a large number of possible fault conditions

 Protection against conditions such as excessive temperature, under/over

voltage, loss of commutation signal, short circuits between the motor power outputs and between each output and power input/return

 Recovery from loss of commutation signals and from communication errors

2.3 System Architecture

Tachometer

I/Os

Communication

RS 232 and CANopen

Controller

Potentiometer

Analog

Encoder

Resolver

Incremental

Encoder

Auxiliary

Power

Supply

24 VDC

2-3

Auxiliary

Protection

PWM

Current Feedback

Encoder

Incremental Encoder

Buffered Output

Power Stage

Emulated Output

Figure 2-1: Tuba System Block Diagram

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MAN-TUBIG (Ver. 1.3)

2.4 How to Use this Guide

In order to install and operate your Elmo Tuba servo drive, you will use this manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully reading the safety instructions in the first chapter, the following chapters provide you with installation instructions as follows:

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

connecting and powering up the Tuba.

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

Upon completing the instructions in this guide, your Tuba servo drive should be successfully mounted and installed. From this stage, you need to consult higher-level Elmo documentation in order to set up and fine-tune the system for optimal operation. The following figure describes the accompanying documentation that you will require.

2-4

CA Nope n Implementation Guide SimplI Q Softw are Manual

SimplI Q Command Refer e nc e M anua

Programming

Composer Us e r Manual

Setup

Tu b a I ns t allation Guide

Installation

Figure 2-2: Elmo Documentation Hierarchy

As depicted in the previous figure, this installation guide is an integral part of the Tuba documentation set, comprising:

 The Composer Software Manual, which includes explanations of all the

software tools that are part of Elmo’s Composer software environment.

 The SimplIQ Command Reference Manual, which describes, in detail, each

software command used to manipulate the Tuba motion controller.

 The SimplIQ Software Manual, which describes the comprehensive software

used with the Tuba.

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Chapter 3: Installation

3.1 Before You Begin

3.1.1 Site Requirements

You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment.

Feature Value

Ambient operating temperature 0 °C – 40 °C (32 °F – 104 °F) Maximum relative humidi ty 90% non-condensing Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

3-1

The Tuba dissipates its heat by forced ventilation (fan). The maximum operating ambient temperature of 0 °C – 40 °C (32 °F – 104 °F) must not be exceeded.

3.1.2 Hardware Requirements

3.1.2.1 AC Input Requirements

Circuit Breakers & Contacts Three-phase Supply Voltage Single-phase Supply Voltage

Circuit breaker current rating 150% - 200% of drive current 200% ~ 300% of drive current Circuit breaker voltage rating 250VAC / 480 VAC depending upon operating AC voltage Contactor Up to 150% of drive current Up to 200% of drive current

3.1.2.2 Recommended Wire Cross-sections (All Models)

Feature Connection Details

AC input AC1, AC2, AC3 4 ~ 5 mm

, 10 ~ 12 AWG

Motor M1, M2, M3 4 ~ 5 mm2, 10 ~ 12 AWG

Protective earth PE, PE 4 ~ 5 mm Auxiliary power 24v +, – 0.5 ~ 1 mm

, 10 ~ 12 AWG

, 18 ~ 20 AWG

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3.1.2.3 Power Connectors

Described

Component Connector

in Section Photo

3-2

External DC Link Cable

B1, B2 on External DC

Link Cable

3.4.2.3

Main Power Cable

Motor Cable

PE, AC1, AC2, and AC3

on Power Connector

M1, M2, M3, PE

on Power Connector

3.4.2.2

3.4.2.1

Auxiliary Power Cable

24v +, -

3.1.2.4 Communication Connectors

Component Po rt o n Tuba

Described in Section

Diagram

RS232 Communication Cable

CANopen Communication cable(s)

COMM. 1

COMM. 2

3.4.9.1

3.4.9.2

COR016

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3.1.2.5 Feedback and I/O Connectors

3-3

Component Po rt o n Tuba

Analog Inputs (if needed)

Digital Outputs Cable (if needed)

ANALOG I/O

COMMITTED I/O

Described in Section

3.4.8.1

3.4.8.2

Diagram

CEL0040A-DWG

COR016A

Digital Inputs Cable (if needed)

Main Feedback Cable

Auxiliary Feedback Cable (if needed)

GENERAL I/O

FEEDBACK A

FEEDBACK B

3.4.8.3

3.4.5

3.4.7

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3.1.2.6 Other Items Needed

3-4

Component Described in Section

PC for drive setup and tuning

Diagram

Motor data sheet or manual

3.2 Unpacking the Drive Components

Before you begin working with the Tuba system, verify that you have all of its components, as follows:

 The Tuba servo drive  The Composer software and software manual

The Tuba is shipped in a cardboard box with styrofoam protection.

To unpack the Tuba:

1. Carefull y remove t he servo drive from the box and the St yrofoam.

2. Check the drive to ensure that there is no visible damage to the instrument. If any damage has occurred, report it immediately to the carrier that delivered your drive.

3. To ensure that the Tuba you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Tuba. I t looks l ike t his:

The P/N number at the top gives the type designation as follows:

TUB- AX/YYY

Version:

Blank = Standard

A = Advanced

Continuous Cu rrent

(Amp s)

Nominal AC

Operating Voltage

Feedback:

Blank = Incremental

Encoder and/or Halls

R=Resolver

I = Interpolated

Analog Encoder

Tachometer & Pote n t iomete r

Absolute

Encoder

4. Verify that the Tuba type is the one that you ordered, and ensure that the voltage meets your specific requirements.

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3.3 Mounting the Tuba

The Tuba has been designed for two standard mounti ng opti ons:

 Attaching directly to the wall with screws  Mounting on a DIN rail

With either type of mounting, be sure to leave about 10 cm (4 in) above and below the instrument for heat dissipation.

3.3.1 Mounting Directly onto Wall

The vertical mounting strip at the back of the Tuba enables you to screw the drive directly into a wall.

To mount the Tuba with the mounting strip:

1. On the back of the drive, push the mounting strip up until it clicks and locks. The top lip (with the hole) should be exposed.

3-5

Figure 3-1: Extending the Mounting Strip

Mount the Tuba vertically onto the wall with two screws, one through the top hole of the mounting strip and one at the bottom.

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3.3.2 Mounting on a DIN Rail

At the top rear of the Tuba, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area.

To mount the Tuba on a DIN rail:

2. Be sure that the vertical mounting strip (with the hole at the top) is pressed down fully and does not protrude from the top of the instrument.

3-6

Figure 3-2: Mounting Strip Pressed Down

Tilt the Tuba back towards the top part of the DIN rail.

Figure 3-3: Attaching Top Part of Mounting Groove to DIN Rail

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Press the Tuba down to a vertical position until it clicks onto the DIN rail.

3-7

Figure 3-4: Tuba Mounted on DIN Rail

3.4 Connecting the Cables

3.4.1 Wiring the Tuba

Once the Tuba is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Tuba.

Follow these instructions to ensure safe and proper wiring:

 Use twisted pair shielded cables for control, feedback and communication connections.

For best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire.

The drain wire is a non-insulated wire that is in contact with parts of the cable, usually the shield. It is used to terminate the shield and as a grounding connection.

 The impedance of the wire must be as low as possible. The size of the wire must be thicker

than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and feedback cables is satisfactory although 24 AWG is recommended.

 Use shielded wires for motor connections as well. If the wires are long, ensure that the

capacitance between the wires is not too high: C < 30 nF is satisfactory for most applications.

 Keep all wires and cables as short as possible.

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 Keep the motor wires as far away as possible from the feedback, control and

communication cables.

 Ensure that in normal operating conditions, the shielded wires and drain carry no current.

The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground, in order to prevent them from affecting the drive. Failing to meet this requirement can result in drive/controller/host failure.

 After completing the wiring, carefully inspect all wires to ensure tightness, good solder

joints and general safety.

The Tuba has the following connectors:

3-8

Type

Function

Port on Tuba Connector Location

8-pin RJ-45 x 2 RS-232 COMM. 1 9 pin D-sub socket Ana log Input ANALOG I/O 8-pin RJ-45 x 2 CANopen

(In/Out)

15-pin high-density

Digital Outputs COMMITTED I/O

COMM. 2

D-sub socket 25-pin D-sub plug Digital Inputs GENERAL I/O 15-pin D-sub socket Main Feedback FEEDBACK A 15-pin D-sub plug Auxiliary

FEEDBACK B

Feedback

2-pin terminal strip Molex

10-pin terminal block Molex

Auxiliary Power Supply

Mains, Motor Power & DC Link

24v +, -

B1, B2, M1, M2, M3, PE, PE, AC1, AC2, AC3

Table 3-1: Connectors on the Tuba

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3-9

Figure 3-5: Tuba Detailed Connection Diagram

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3.4.2 Connecting the Power Cables

Access the power terminal connections on the Tuba servo drive by removing the front safety cover located at the bottom of the front panel of the unit, as shown below:

Figure 3-6: Removable Bottom Panel

After removing the safety cover, the power terminal connections are visible, as follows:

3-10

Figure

3-7: Tuba Power Connectors

The main power connector located at the bottom of the Tuba, as follows:

Pin Function Cable Pin Positions

B1 DC Link (+) DC Link B2 DC Link (-) DC Link

AC3 Phase 3 Power AC2 Phase 2 Power AC1 Phase 1 Power PE Protective earth Power

AC Motor

Cable

DC Motor

Cable

PE Protective earth Motor Motor M3 Motor phase Motor N/C* M2 Motor phase Motor Motor M1 Motor phase Motor Motor*

When connecting several motors, all must be wired in an identical manner.

* On prototype versions of the Tuba, M3 was connected to the Motor and M1 was not.

Table 3-2: Connector for Main Power and Motor Cables

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.2.1 Connecting the Motor Cable

Connect the motor power cable to the M1, M2, M3 and PE terminals of the main power connector. The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup. However, if you plan to copy the set-up to other drives, then the phase order on all copy drives must be the same.

Notes for connecting the motor cables:

 For best noise immunity, it is highly recommended to use a shielded (not twisted)

cable for the motor connection. A 4-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor.

 The fourt h wire should be used for the ground connecti on bet ween the motor and

the PE terminal of the Tuba.

 Connect the shield of the cable to the closest ground connection at the motor end.  Connect the shield of the cable to the PE terminal on the Tuba.  Be sure that the motor chassis is properly grounded.

3-11

Tuba

M2 M3

TUBMOTOR

Figure 3-8: AC Motor Power Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.2.2 Connecting the Main Power Cable

Connect the main power supply cable to the AC1, AC2 and AC3 terminals of the main power connector. Connect the Protective Earth wire to the nearest PE terminal on the terminal block.

Notes for connecting the AC power cable:

 For best noise immunity, a shielded (not twisted) cable is recommended (not

mandatory) for the AC power supply cable. A 4-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor.

 Connect the four wires to the AC power leads of the source.  For safety requirements, the fourth wire must b e used for the protecti ve earth

connection (connected to the PE terminal).

Tuba

AC3

3-12

AC1

Figure

TUB00020B

3-9: Main Power Supply Connection Diagram

3.4.2.3 Connecting the DC Link Cable

Each Tuba contains a shunt. Its purpose is to "absorb" regenerated energy created by the motor during braking and convert that energy into heat. If the energy regenerated by the motor exceeds the capacity of the shunt, the drive is switched off and an over-voltage error message is sent.

To prevent this from happening, the capacity of the shunt system can be extended by connecting the shunts of s everal Tu bas in parallel. Whe n tw o or more Tubas are con nec ted, by DC Link cables, the regenerated energy is distributed equally among the drives. This spreads the energy spikes over several shunts and enables the specific Tuba to continue normal operation.

Figure 3-10: The Tuba's External DC Link Option

(Note: Tuba 1 and 2 must have an identical voltage rating.)

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.3 Connecting the Auxiliary Supply Cable (24v)

Connect the auxiliary supply to the 24VDC terminal block on the bottom of the Tuba. Remember, you are working with DC power; so be sure to exercise caution.

Notes for 24 VDC auxiliary supply connections:

 Use a 24 AWG twisted pair shielded cable. For best results the shield should have

aluminum foil covered by copper braid.

 The 24 VDC auxiliary power supply must meet all safety standards and must be

separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards.

 For safety reasons, connect the return of the 24 VDC source to the closest ground.  Connect the cable shield to the closest ground near the 24 V DC source.  Before applying power, first verify the polarity of the connection.

Pin Signal Function Pin Position

[+] +24VDC +24 VDC auxiliary

supply

3-13

[-] RET24VDC Return (common) of the

24 VDC auxiliary supply

Table 3-3: A uxiliary Power Supply

TUBA

Figure 3-11: Auxiliary Supply (24v) Connection Diagram

TUB0017A

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.4 Feedback and Control Cable Assemblies

The Tuba features easy-to-use D-sub type connections for all Control and Feedback cab les. Below are instructions and diagrams describing how to assemble those cables.

 Use 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended).

For best results, the shield should have aluminum foil covered by copper braid.

 Use only a D-sub connector with a metal hous ing.  Attach the braid shield tightly to the metal housing of the D-type connector.  On the motor side connections, ground the shield to the motor chassis.  On controller side connections, follow the controller manufacturer’s

recommendations concerning the shield.

3-14

Metal Housing

Make sure that the braid shield is in

tight contact with the metal housing

Figure 3-12: Feedback and Control Cable Assemblies

Note: All D-sub type connectors, used with the Tuba, should be assembled in this way.

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.5 Main Feedback Cable (Feedback A)

The main feedback cable is used to transfer feedback data from the motor to t he drive. The Tuba accepts the following as a main feedback mechanism:

 Incremental encoder only  Incremental encoder with digital Hall sensors  Digital Hall sensors only  Interpolated Analog (Sine/Cosine) encoder (option)  Resolver (option)  Tachometer and Potentiometer  Absolute encoder

FEEDBACK A on the front of the Tuba has a 15-pin D-sub socket. Connect the Main Feedback cable from the motor to FEEDBACK A using a 15-pin, D-Sub plug with a metal housing. When assembling the Main Feedback cable, follow the instructions in Section and Control Cable Assemblies).

Interpolated Analog

Incremental Encoder

Encoder

Resolver

3.4.4 (Feedback

Tachometer and

Potentiometer

3-15

TUB XX/YYY_ TUB XX/YYYI TUB XX/YYYR TUB XX/YYYT

Pin Signal Function Signal Function Signal Function Signal Function

1 HC Hall sensor C

input

2 HA Hall sensor A

input 3 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 4 +5V Encoder/Hall

+5V supply 5 CHA- Channel A

complement 6 CHA Channel A A+ Sine A S1 Sine A Tac 1+ Tacho Input 1

7 INDEX- Index

complement

8 INDEX Index R+ Reference R1 Vref f=1/TS,

9 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

10 HB Hall sensor B

input

11 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 12 +5V Encoder/Hall

+5V supply

13 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 14 CHB- Channel B

complement

15 CHB Channel B B+ Cosine B S2 Cosine B Tac 2+ Tacho Input 2

HC Hall sensor C

input

HA Hall sensor A

input

+5V Encoder/Hall

+5V supply

A- Sine A

complement

R- Reference

complement

HB Hall sensor B

input

+5V Encoder/Hall

+5V supply

B- Cosine B

complement

NC - HC Hall sensor C

NC - HA Hall sensor A

+5V Encoder/Hall

S3 Sine A

R2 Vref complmnt

NC - HB Hall sensor B

+5V Encoder/Hall

S4 Cosine B

+5V supply

complement

f= 1/TS, 50mA Maximum

50mA Max.

+5V supply

complement

input

+5V Encoder/Hall

+5V supply

Tac 1- Tacho Input 1

Neg. (20V max)

Pos. (20V max)

NC -

POT Potentiometer

Input

input

+5V Encoder/Hall

+5V supply

Tac 2- Tacho Input 2

Neg. (50V max)

Pos. (50V max)

Table 3-4A: Main Feedback Cable Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-16

Absolute Encoders

TUB XX/YYYQ

Pin Signal Heidenhain Stegmann

1 HC Hall C Hall C 2 HA Hall A Hall A 3 SUPRET Supply return Supply return 4 +5V EnDat (Heidenhain) Encoder +5 supply Halls supply +5V 5 A- Sine A complement Sine A 6 A+ Sine A Sine A complement 7 DATA- Data complement Data complement 8 DATA+ DATA DATA 9 SUPRET Supply return Supply return

10 HB Hall B Hall B 11 CLK- CLOCK complement 12 +8V - Stegmann Encoder +8V supply

8 V @90mA maximum 13 CLK+ CLOCK 14 B- Cosine B complement Cosine B complement 15 B+ Cosine B Cosine B

Table 3-4B: Main Feedback Cable Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba

Feedback A

Hall C

Incremental Encoder

with Hall Sensor

3-17

CHA

CHA-

CHB

CHB-

INDEX

INDEX-

+5V

SUPRET

Hall B

Hall AHA

CHA

CHA-

CHB

CHB-

INDEX

INDEX-

Encoder / Hall +5v Supply Hall / Encoder Supply / Voltage Return3

TUB0004A

Figure 3-13: Main Feedback- Incremental Encoder with Digital Hall Sensor - Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-18

Tuba

Feedback A

SUPRET

A+

A-

B+

B-

R+

R-

+5v

A+

A-

B+

B-

R+

R-

Encoder +5v Supply

Encoder Supply Return

Sine / Cosine

Encoder

TUB0005A

Figure 3-14: Main Feedback – Interpolated Analog Encoder Connection Diagram

Tuba

Feedback A

Figure 3-15: Main Feedback – Resolver Connection Diagram

Resolver

TUB0006A

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

only one tachometer port is available at a time

3-19

Figure

3-16: Main Feedback – Tachometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure

3-17: Main Feedback – Tachometer Feedback Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-20

Figure

3-18: Main Feedback – Potentiometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure

3-19: Main Feedback – Potentiometer Feedback Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-21

Figure

3-20: Main Feedback – Stegmann Feedback Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-22

Figure

3-21: Main Feedback – Heidenhain Feedback Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.6 Main and Auxiliary Feedback Combinations

The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but not always used. The Auxiliary Feedback connector on the Tuba, “FEEDBACK B” has two ports, Port B1 and Port B2. When used in combination with the Main Feedback port, “FEEDBACK A”, the ports can be set, by software, as follows:

3-23

FEEDBACK A

Incremental

Encoder

Input

Interpolated

Analog

(Sin/Cos)

Encoder

Input

Resolver

Input



A - input

Analog

Encoder



A - input

Analog

Encoder



A - input

Resolver

FEEDBACK B Ports B1 and B2

YA[4] = 4 YA[4] = 2 YA[4] = 0

B1 - output

Differential and Buffered Main Encoder Signal

B2 - output

same as B1

B1 - output

Analog Encoder Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered)

B2 - output

same as B1

B1 - output

Resolver Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered)

B2 - output

same as B1

A - input

Incremental

Encoder

Analog

Encoder

Resolver

Tachometer

Potentiometer

Feedback Ports B1 and B2 are not to be

confused with the DC Link connectors on the 10-pin terminal block.

B1 - input

Differential or Single-ended Auxiliary Incremental Encoder

B2 - output

Differential and Buffered output of B1

A - input

Incremental

Encoder

Resolver

Tachometer

Potentiometer

Analog

B1 - input

Differential or Single-ended Pulse & Direction Commands

B2 - output

Differential and Buffered output of B1

Tachometer

Input



A - input

Tachometer

B1 - output

Tachometer Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered)

B2 - output

same as B1

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

FEEDBACK A

Potentiometer

Input



A - input

Potentiometer

YA[4] = 4 YA[4] = 2 YA[4] = 0

B1 - output

Potentiometer Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered)

B2 - output

same as B1

FEEDBACK B Ports B1 and B2

A - input

Incremental

Encoder

Analog

Encoder

Resolver

Tachometer

Potentiometer

B1 - input

Differential or Single-ended Auxiliary Incremental Encoder

B2 - output

Differential and Buffered output of B1

A - input

Incremental

Encoder

Resolver

Tachometer

Potentiometer

Analog

3-24

B1 - input

Differential or Single-ended Pulse & Direction Commands

B2 - output

Differential and Buffered output of B1

Typical Applications

 Any application where the

main encoder is used, not only for the drive, but also for other purposes such as position controllers and/or other drives.

 Analog Encoder

applications where position data is required in the Encoder’s quadrature format.

 Resolver applications

where position data is required in the Encoder’s quadrature format.

 Tachometer Applications

where position data is required in the Encoder’s quadrature format.

 Potentiometer applications

where position data is required in the Encoder’s quadrature format.

Any application where two feedbacks are used by the drive.

Port B1 serves as an input for the auxiliary incremental encoder (differential or singleended).

Port B2 is used to output differential buffered Auxiliary Incremental Encoder signals.

For applications such as Follower, ECAM, or Dual Loop.

Port B1 serves as an input for Pulse & Direction commands (differential or single-ended).

Port B2 is used to output differential buffered Pulse & Direction signals.

COR016

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.7 Auxiliary Feedback (FEEDBACK B)

When using one of the auxiliary feedback options, the relevant functionality of FEEDBACK B ports are software selected for that option. Refer to the Tuba Command Reference Manual for detailed information about FEEDBACK B setup.

3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B (YA[ 4]=4)

Through FEEDBACK B (Ports B1 and B2) the Tuba can provide two simultaneous buffered main, or emulated, encoder signals to other controllers or drives. This option

can be used when:  The Tuba is used as a current amplifier to provide position data to the position

controller.

 The Tuba is used in velocity mode, to provide position data to the position controller.  The Tuba is used as a master in Follower or ECAM mode.

Below are the signals on the Auxiliary Feedback ports when set up to run as a buffered outputs or emulated outputs of the main feedback (on FEEDBACK A):

3-25

Port Pin Signal Function Pin Position

B1 1 INDEX Auxiliary index high output B1 2 CHB Auxiliary Channel B high output B1 3 CHA Auxiliary Channel A high output

PWR 4 +5V Encoder supply voltage PWR 5 SUPRET Encoder supply voltage return

B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output

15 Pin D-Sub Socket

B2 8 INDEXO Buffered Index output B1 9 INDEX- Auxiliary Index low output B1 10 CHB- Auxiliary Channel B low output B1 11 CHA- Auxiliary Channel A low output

PWR 12 SUPRET Supply return

B2 13 CHAO- Buffered Channel A complement output B2 14 CHBO- Buffered Channel B complement output

Port B1 Power

Port B2

15 Pin D-sub Plug

on Tuba

B2 15 INDEXO- Buffered Index complement output

Table 3-5: Main Encoder Buffered Outputs or Emulated Encoder Outputs on FEEDBACK B -

Pin Assignments

FEEDBACK B, on the front of the Tuba, has a 15-pin D-sub plug. Connect the Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 15-pin D-Sub socket with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section

3.4.4 (Feedback and Control Cable Assemblies).

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba

3-26

Tuba

Figure 3-22: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B -

Connection Diagram

COR016

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.7.2 Differential Auxiliary Encoder Input Option on FEEDBACK B (YA[4]=2)

The Tuba can be used as a slave by receiving the position of the master encoder data (on Port B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in follower or ECAM mode.

Below are the signals on the Auxiliary Feedback port when set up to run as a differential auxiliary encoder input:

Port Pin Signal Function Pin Position

B1 1 INDEX Auxiliary Index high input B1 2 CHB Auxiliary Channel B high input

B1 3 CHA Auxiliary Channel A high input PWR 4 +5V Encoder supply voltage PWR 5 SUPRET Encoder Supply return

B2 6 CHAO Buffered Channel A output

B2 7 CHBO Buffered Channel B output

B2 8 INDEXO Buffered Index output

B1 9 INDEX- Auxiliary Index low input

B1 10 CHB- Auxiliary Channel B low input

B1 11 CHA- Auxiliary Channel A low input PWR 12 SUPRET Supply return

B2 13 CHAO- Buffered Channel A complement output

B2 14 CHBO- Buffered Channel B complement output

B2 15 INDEXO- Buffered Index complement output

15 Pin D-Sub Socket

Port B1 Power

15 Pin D-Sub Plug

Port B2

on Tuba

3-27

Table 3-6: Differential A uxiliary Encoder Input Option on FEEDBA CK B

Pin Assignments

FEEDBACK B on the front of the Tuba has a 15-pin D-sub plug. Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin D-Sub socket with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section

3.4.4 (Feedback and Control Cable Assemblies).

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba

3-28

Tuba

Figure 3-23: Differential Auxiliary Encoder Input Option on FEEDBACK B -

Connection Diagram

COR016

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.7.3 Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2)

The Tuba can be used as a slave by receiving the position data of the mast er encoder (on Port B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in Follower or ECAM mode.

Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended auxiliary encoder input:

Port Pin Signal Function Pin Position

B1 1 INDEX Auxiliary Index input B1 2 CHB Auxiliary Channel B input B1 3 CHA Auxiliary Channel A input

PWR 4 +5V Encoder Supply Voltage PWR 5 SUPRET Encoder Supply return

B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output B2 8 INDEXO Buffered Index output

- 9 - Do not connect this pin

- 10 - Do not connect this pin

- 11 - Do not connect this pin

PWR 12 SUPRET Supply return

B2 13 CHAO- Buffered Channel A c o m p l e m e nt output B2 14 CHBO- Buffered Chann el B complement output B2 15 INDEXO- Buffered Index complement output

15 Pin D-Sub Socket

Port B1 Port B2

15 Pin D-Sub Plug

on Tuba

Power N.C.

3-29

Table 3-7: Single-ended Auxiliary Encoder Option on FEEDBACK B - Pin A ssignments

3.4.4 (Feedback and Control Cable Assemblies).

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba

3-30

Tuba

Figure 3-24: Single-ended Auxiliary Input Option on FEEDBACK B - Connection Diagram

COR016

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)

This mode is used for input of differential or single-ended pulse-and-direction position commands on Port B1. In this mode Port B2 provides differential buffered pulse-and- direction outputs for another axis.

Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended pulse-and-direction input:

Port Pin Signal Function Pin Position

- 1 N.C. B1 2 DIR/CHB B1 3 PULS/CHA

PWR 4 +5V PWR 5 SUPRET

B2 6 CHAO B2 7 CHBO

- 8 N.C.

- 9 N.C.

- 10 N.C.

- 11 N.C.

PWR 12 SUPRET

B2 13 CHAOB2 14 CHBO-

- 15 N.C.

do not connect this pin Direction/Auxiliary Channel B h igh input Pulse/Auxiliary Channe l A high input Encoder supply voltage Encoder supply return Buffered Channel A output Buffered Channel B output do not connect this pin do not connect this pin do not connect this pin do not connect this pin Supply Return Buffered Channel A complement output Buffered Channel B complement output do not connect this pin

15 Pin D-Sub Socket

15 Pin D-Sub Plug

Port B1 Port B2

3-31

Power N.C.

Table 3-8: Single-Ended Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B

Port Pin Signal Function Pin Position

1~9

B1 10 DIR-/CHB-

B1 11 PULS-/CHA-

12~15

same as table above Direction/Auxiliary Channel B low

input Pulse/Auxiliary Chann el A low input

same as table above

15 Pin D-Sub Plug

Port B1 Port B2

Power N.C.

Table 3-9: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B

FEEDBACK B on the front of the Tuba has a 15-pin D-sub plug. Connect the Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a 15-pin DSub socket with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section

3.4.4 (Feedback and Control Cable Assemblies).

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba

3-32

Figure

Tuba

3-25: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram

Figure

3-26: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.8 I/O Cables

The Tuba has three I/O ports (ANALOG INPUTS, DIGITAL INPUTS AND DIGITAL OUTPUTS) which can be used to connect 2 analog inputs, 10 separate digital inputs and 6

separate digital outputs:

3-33

LABEL I/O

ANALOG INPUTS GE NER AL I/O COMMITTED I/O Total

Analog Input 2 - - 2

Digital Input

Digital Output

- 10 - 10

- - 6 6

3.4.8.1 Analog Inputs

The Tuba servo drive is equipped with two differential, freely-programmabl e analog i nputs.

ANALOG INPUTS port has a 9-pin D-sub socket. When assembling an I/O cable for

The analog input follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 9-pin D-sub plug with a metal case. The pins are described below.

Pin # Signal Function Pin Positions

1 ANLIN1+ Analog input 1 - positive 2 ANLIN1- Analog input 1 - negative 3 SUPRET Supply return 4 ANLIN2+ Analog input 2 - positive 5 ANLIN2- Analog input 2 - negative 6 ANLRET Analog return 7 — —

CEL0040A-DWG

8 — — 9 ANLRET Analog return

COR016A

Table 3-10: Analog Input Pin Assignments

Tuba -

Figure 3-27: Analog Inputs Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.8.2 Digital Inputs (on GENERAL I/O Port)

The Tuba servo drive is equipped with a 25-pin D-sub plug for digital inputs. When assembling an I/O cable for digital input follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 25-pin D-sub socket with a metal case. The pins are described below.

Pin Signal Function Pin Position

3-34

1 N.C. Not Connected 2 IN10 Programmable input 10 3 IN9 Programmable input 9 4 IN8 Programmable input 8 5 IN7 Programmable input 7 6 N.C. Not Connected 7 IN6 Programmable input 6 8 N.C. Not Connected

IN5 Programmable input 5 IN4 Programmable input 4

11 IN3 Programmable input 3

12 IN2 Programmable input 2 13 IN1 Programmable input 1 14 INRET10 Programmable inputs return 10 15 INRET9 Programmable inputs return 9 16 INRET8 Programmable inputs return 8 17 INRET7 Programmable inputs return 7 18 N.C. Not Connected 19 INRET6 Programmable inputs return 6

20 N.C. Not Connected 21 INRET5 Programmable inputs return 5 22 INRET4 Programmable inputs return 4 23 INRET3 Programmable inputs return 3 24 INRET2 Programmable inputs return2 25 INRET1 Programmable inputs return 1

Table 3-11: Digital Inputs (on Committed I/O port) Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-35

Figure 3-28: Digital Inputs (on General I/O port) Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.8.3 Digital Outputs (on COMMITTED I/O Port)

The Tuba servo drive is equipped with a 15-pin, high-density, D-sub socket for digital outputs. When assembling an I/O cable for digital outputs follow the instructions in Section

3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high density D-sub plug with a metal case. The pins are described below.

Pin S ignal Function Pin Position

3-36

1 OUT1 Programmable output 1 2 OUT2 Programmable output 2 3 OUT3 Programmable output 3 4 OUT4 Programmable output 4

5 OUT5 Programmable output 5 6 OUTRET1 Programmable output return 1 7 OUTRET2 Programmable output return 2 8 OUTRET3 Programmable output return 3

9 OUTRET4 Programmable output return 4 10 OUTRET5 Programmable output return 5 11 OUT6 Programmable output 6 12 OUTRET6 Programmable output return 6 13 - 14 - 15 - -

Table 3-12: Digital Outputs (on Committed I/O port) Cable - Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Tuba Digital Outputs

3-37

Figure 3-29: Digital Outputs (on COMMITTED I/O port) Connection Diagram

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.4.9 Communication Cables

The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen ports on the front of the Tuba.

The communication interface may differ according to the user’s hardware. The Tuba can communicate using the following options:

a. RS-232, full duplex b. CANopen

RS-232 communication requires a standard, commercial 3-core null-modem cable connected from the Tuba to a serial interface on the PC. The interface is selected and set up in the Composer software.

In order to benefit from CANopen communication, the user must have an understanding of the basic programming and timing issues of a CANopen network. The interface is electrically isolated by optocouplers.

For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used simultaneously.

3-38

3.4.9.1 RS-232 Communication (on the COMM.1 Port)

Notes for connecting the RS-232 communication cable:

 Use a 26 or 28 AWG twisted pair shielded cable. The shield should have aluminum

foil covered by copper braid with a drain wire.

 Connect the shield to the ground of the host (PC). Usually, this connection is

soldered internally inside the connector at the PC end. You can use the drai n wire to facilitate connection.

 The male RJ plug must have a shield cover.  Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain

wire can be used to facilitate the connection.

RS-232 (L)

1 1 — — 2 2 — — 3 3 Tx RS-232 transmit 4 4 — — 5 5 COMRET Communication return

RS-232 (R)

Signal

Function

Pin Location

6 6 Rx RS-232 receive 7 7 — — 8 8 — —

Table 3-13: RS-232 Cable - Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

Only one RS-232 port can be

used at a time.

3-39

Figure 3-30: RS-232 Connection Diagram

3.4.9.2 CANopen Communication (on the COMM.2 Ports)

Notes for connecting the CANopen communication cable:

 Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should

have aluminum foil and covered by copper braid with a drain wire

 Connect the shield to the ground of the host (PC). Usually, this connection is

soldered internally inside the connector at the PC end. You can use the drai n wire to facilitate connection.

 The male RJ plug must have a shield cover.  Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain

wire can be used to facilitate the connection.

 Connect a termination 120-ohm resistor at each of the two ends of the network cable.

Pin Signal Function Pin Position

1 CAN_H CAN_H busline (dominant hi gh) 2 CAN_L CAN_L busline (dominant low) 3 CAN_GND CAN ground

4, 5, 8 — —

6 CAN_SHLD Shield, connected to the RJ plug cover 7 CAN_GND CAN Ground

Table 3-14: CANopen Cable - Pin Assignments

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3-40

Tuba 1

CAN - Interface

CAN_H

CAN_L

Tuba 2

CAN - Interface

CAN_H

CAN_L

CAN_GND

Shield of RJ connector

Drain

Wire

CAN_GND

Drain

Wire

CAN_GND

Drain

Wire

CAN - Controller6

120Ω

Shield of RJ connector

Drain

Wire

CAN_GND

Tuba n

CAN - Interface

CAN_H

CAN_L

Drain

Wire

CAN_GND

Shield of RJ connector

Drain

Wire

120Ω

Figure 3-31: CANopen Connection Diagram

Caution:

When installing CANopen communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang.

Tuba Installation Guide Installation

MAN-TUBIG (Ver. 1.3)

3.5 Powering Up

After the Tuba has been mounted, check that the cables are intact. The Tuba servo driv e is then ready to be powered up.

Caution:

Before applying power, ensure that the AC supply is within the range specified for your specific type of Tuba.

3.6 Initializing the System

After the Tuba has been connected and mounted, the system must be set up and initialized. This is accomplished using the Composer, Elmo’s Windows-based software application. Install the application and then perform setup and initialization according to the directions in the Composer Software Manual.

3-41

Tuba Installation Guide

MAN-TUBIG (Ver. 1.3)

Appendix: Technical Specifications

A.1 Features

A.1.1 Motion Control Modes

• Current/Torque - up to 14 kHz sampling rate

• Velocity - up to 7 kHz sampling rate

• Position - up to 3.5 kHz sampling rate

A.1.2 Advanced Positioning Motion Control Modes

• PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop

• Fast event capturing inputs

• Fast output compare (OC)

A.1.3 Advanced Filters and Gain Scheduling

A-1

• “On-the-Fly” gain scheduling of current and velocity

• Velocity and position with “1-2-4” PIP controllers

• Automatic commutation alignment

• Automatic motor phase sequencing

A.1.4 Fully Programmable

• Third generation programming structure with motion commands

• Event capturing interrupts

• Event triggered programming

A.1.5 Feedback Options

• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second

• Digital Halls – up to 2 kHz

• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-

Counts per second for encoder

• Absolute Encoder

• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)

 Internal Interpolation - up to x4096  Automatic Correction of amplitude mismatch, phase mismatch, signals offset  Encoder outputs, buffered, differential.

• Resolver

 Programmable 10~15 bit resolution  Up to 512 revolutions per second (RPS)  Encoder outputs, buffered, differential

• Tachometer (inputs for ±20 V max. voltage and for ±20 V max. voltage)

• Potentiometer (0 ~ 5 V input voltage provided by the Tuba)

• Elmo drives provide supply voltage for all the feedback options

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.1.6 Input/Output

• Analog Inputs – up to 14-bit resolution

• Programmable digital inputs, optically isolated

 Inhibit \ Enable motion

 Software and analog reference stop

 Motion limit switches

 Begin on input

 Abort motion

 General-purpose

 Homing

• Fast event capture inputs, optically isolated

• Programmable digital outputs

 Brake Control

 Amplifier fault indication

 General-purpose

 Servo enable indication

A-2

• Buffered and differential outputs of the main encoder with up to 5 MHz pulses

• Buffered and differential outputs of the auxiliary encoder

• Emulated output of the resolver, interpolated analog encoder, Tachometer or

Potentiometer

• Fast output compare (OC), optically isolated

A.1.7 Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Status reporting

• Protection against

 Shorts between motor power outputs

 Shorts between motor power output and power input/return

 Failure of internal power supplies

 Overheating

 Over/Under voltage

 Loss of feedback

 Following error

 Current limits

• Protection against regenerated over-voltage (when using external DC Link)

• DC-Linkage extends the limits of the built-in shunt and provides over voltage

protection.

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.2 Tuba Dimensions

A-3

Rear View Front View

Side View

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.3 Mounting Dimensions

A-4

Rear View

A.4 Mechanical Specifications

Feature Details

Mounting Method

Overall Dimensions 247 x 190 x 92 mm (9.7" x 7.5" x 3.6")

Weight 2.7 kg (5.9 lbs)

 Wall Mount ("Bookshelf")

 DIN Rail

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.5 Power Ratings

Feature Units 12/230 15/230 20/230 12/460 15/460 20/460

Minimum supply voltage VAC 60 140

Nominal supply voltage VAC 1 x 115, 1 x 230, 3 x 230 3 x 400, 3 x 460

Maximum supply voltage VAC 1 x 270 or 3 x 270 3 x 505

A-5

Maximum continuous power output

Efficiency at rated power (at nominal conditions)

Auxiliary supply voltage VDC

Auxiliary power supply VA

Amplitude sinusoidal/DC continuous current

Sinusoidal continuous RMS current limit (Ic)

W 3600 4500 6000 6800 8500 11300

% > 93

24 ± 15%

A 12 15 20 12 15 20

A 8.5 10.6 14.1 8.5 10.6 14.1

Peak current limit A 2 x Ic

Built-in shunt (peak power) kW 6 11

Weight

Dimensions

Digital in/Digital out/Analog in

(lbs)

(in)

247 x 190 x 92 (9.7" x 7.5" x 3.6")

2.7 kg (5.9 lbs)

10/6/2

Mounting method Wall mount (“Bookshelf”) or DIN rail

A.6 Environmental Conditions

Feature Details

Ambient operating temperature 0 °C – 40 °C (32 °F – 104 °F)

Storage temperature -20° ~ +85° C ( -4° ~ +185° F)

Maximum humidity 90% non-condensing

Protection level IP20

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.7 Tuba Connections

The following connectors are used for wiring the Tuba.

A-6

Pins

Type Maker & Part No. Port

Motor M1, M2, M3

2 Ground PE, PE

10 pole 8 mm pitch Molex terminal block

3 Power AC1, AC2, AC3

2 DC Link

B1, B2

2 Auxiliary Power 2 pole 0.325” (8 mm) pitch Molex terminal strip +, - (24V)

Connector Location

Auxiliary Powe

Motor

Ground

Power Ext. DC Link

Table A-1: Connectors on the Bottom of the Tuba

Pins Type Port Connector Location

8 RJ-45 x 2 COMM. 1

9 D-Sub Socket ANALOG INPUTS

8 RJ-45 x 2

D-Sub Socket

High Density

25 D-Sub Plug GENERAL I/O

15 D-Sub Socket FEEDBACK A

COMM. 2

COMMITTED I/O

ANALOG

INPUTS

DIGITAL

OUTPUTS

DIGITAL

INPUTS

15 D-Sub Plug FEEDBACK B

FEEDBACK A

FEEDBACK B

RS-232

CANopen

Table A-2: Connectors on the Tuba

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.7.1 Auxiliary Supply

Feature Details

Auxiliary power supply DC source only

Auxiliary supply input voltage 24 V +15%

Auxiliary supply input power 20 W

The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply

A-7

Be sure to maintain power within the 24 V +

15% range as higher voltages will

damage the fan.

A.8 Control Specifications

A.8.1 Current Loop

Feature Details

Controller type Vector, digital

Compensation for bus voltage variations

Motor types

Current control

“On-the-fly” gain scheduling

 AC brushless (sinusoidal)

 DC brushless (trapezoidal)

 DC brush

 Linear motors

 Moving coils

 Fully digital

 Sinusoidal with vector control

 Programmable PI control filter based on a

pair of PI controls of AC current signals and constant power at high speed

Current loop bandwidth < 2.5 kHz

Current sampling time Programmable 70 - 100 µsec

Current sampling rate Up to 16 kHz; default 11 kHz

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.8.2 Velocity Loop

Feature Details

Controller type PI

A-8

Velocity control

 Fully digital

 Programmable PI and FFW control filters

 On-the-fly gain scheduling

 Automatic, manual and advanced manual tuning

Velocity and position feedback options

 Incremental Encoder

 Digital Halls

 Interpolated Analog (sin/cos) Encoder (optional)

 Resolver (optional)

 Tachometer and Potentiometer (optional)

Note: With all feedback options, 1/T with automatic

mode switching is activated (gap, frequency and derivative).

Velocity loop bandwidth < 350 Hz

Velocity sampling time 140 - 200 µsec (x2 current loop sample time)

Velocity sampling rate Up to 8 kHz; default 5.5 kHz

Velocity command options

 Analog

 Internally calculated by either jogging or step

Note: All software-calculated profiles support

on-the-fly changes.

A.8.3 Position Loop

Feature Details

Controller type “1-2-4” PIP

Position command options

 Software

 Pulse and Direction

Position loop bandwidth < 80 Hz

Position sampling time 280 - 400 µsec (x 4 current loop sample time)

Position sampling rate Up to 4 kHz; default 2.75 kHz

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A-9

A.9 Feedbacks

A.9.1 Feedback Supply Voltage

Feature Details

Main encoder supply voltage 5 V +5% @ 200 mA maximum

Auxiliary encoder supply voltage 5 V +5% @ 200 mA maximum

A.9.2 Incremental Encoder Input

Feature Details

Encoder format

 A, B and Index

 Differential

 Quadrature

Interface: RS-422

Input resistance Differential: 120 Ω

Maximum incremental encoder frequency Maximum: 5 MHz pulses

Minimum quadrature input period (PIN) 112 nsec

Minimum quadrature input high/low period (PHL) 56 nsec

Minimum quadrature phase period (PPH) 28 nsec

Maximum encoder input voltage range Common mode: ±7 V

Differential mode: ±7 V

Figure A-1: Encoder Phase Diagram

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.9.3 Digital Halls

Feature Details

A-10

Halls inputs

 H

, HB, HC.

 Single ended inputs

 Built in hysteresis for noise immunity.

Input voltage Nominal operating range: 0 V < V

In_Hall

Maximum absolute: -1 V < V High level input voltage: V Low level input voltage: V

InHigh

InLow

> 2.5 V

< 1 V

Input current Sink current (when input pulled to the

common): 3mA

Source current: 1.5 mA (designed to also support open collector Halls)

Maximum frequency f

MAX

: 2 kHz

A.9.4 Interpolated Analog Encoder (Sine/Cosine)

Feature Details

Analog encoder format

Sine and Cosine signals

In_Hall

< 5 V

< 15 V

Analog input signal level

 Offset voltage: 2.2 V – 2.8 V

 Differential, 1 V peak to peak

Input resistance Differential 120 Ω

Maximum analog signal frequency f

: 250 kHz

MAX

Interpolation multipliers Programmable: x4 to x4096

Maximum “counts” frequency 80 mega-counts/sec “internally”

Automatic errors correction

Signal amplitudes mismatch

Signal phase shift

Signal offsets

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.9.5 Resolver

Feature Details

A-11

Resolver format

 Sine/Cosine  Differential

Input resistance Differential 2.49 kΩ

Resolution Programmable: 10 ~ 15 bits

Maximum electrical frequency

512 revolutions/sec

(RPS)

Resolver transfer ratio 0.5

Reference frequency 1/Ts (Ts = sample time in seconds)

Reference voltage Supplied by the Tuba

Reference current Up to ±50 mA

A.9.6 Tachometer*

Feature Details

Tachometer format

Maximum operating differential voltage for TAC1+, TAC1-

Differential

±20 V

Maximum absolute differential

±25 V

input voltage for TAC1+, TAC1-

Maximum operating differential

±50 V

voltage for TAC2+, TAC2-

Maximum absolute differential

±60 V

input voltage for TAC2+, TAC2-

Input resistance for TAC1+, TAC1- 46 kΩ

Input resistance for TAC2+, TAC2- 100 kΩ

Resolution 14 bit

* Only one Tachometer port can be used at a time (either TAC1+/TAC1- or TAC2+/TAC2-).

TAC1+/TAC1- is used in applications with having a Tachometer of less than 20V. TAC2+/TAC2- is used in applications with having a Tachometer of between 20V and 50V.

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.9.7 Potentiometer

Feature Details

A-12

Potentiometer Format

Single-ended

Operating Voltage Range 0 ~ 5 V supplied by the Tuba

Potentiometer Resistance 100 Ω ~ 1 kΩ … above this range, linearity may

be affected detrimentally

Input Resistance 100 kΩ

Resolution 14 Bit

A.9.8 Encoder Outputs

Feature Details

Encoder output format

Interface RS-422

Port B1 output current capability  Driving differential loads of 200 Ω on

 A, B, Index

 Differential outputs

 Quadrature

INDEX/INDEX-, CHB/CHB- and CHA/CHA- pairs

Port B2 output current capability

Available as options

INDEXO/INDEXO-, CHBO/CHBO- and



CHAO/CHAO-

pairs are not loaded

 Two simultaneous buffered outputs of main-

incremental encoder input

 Two simultaneous emulated encoder outputs

of the analog encoder input

 Two simultaneous emulated encoder outputs

of the resolver input

 Two simultaneous emulated encoder outputs

of the Tachometer Input

 Two simultaneous emulated encoder outputs

of the Potentiometer Input

 Buffered output of auxiliary input

Maximum frequency f

: 5 MHz pulses/output

MAX

Index (marker) Length of pulse is one quadrature (one quarter

of an encoder cycle) and synchronized to A&B

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A-13

A.10 I/Os

The Tuba has: 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs

A.10.1 Di gi tal In put Inter faces ( on GENERAL I/ O port)

Feature Details Connector Location

Type of input

Input current

Input current for high speed inputs 5 & 6

High-level input voltage

Low-level input voltage

Minimum pulse width

Execution time (all inputs): the time from application of voltage on input until execution is complete

 Optically isolated  Single ended  PLC level

−

5.6 VVin

Iin

2500

Ω

* Iin = 2.2 mA @ Vin = 12 V

−

5.6 VVin

Iin

1250

Ω

* Iin = 4.4 mA @ Vin = 12 V

12 V < Vin < 30 V, 24 V typical

0 V < Vin < 6.5 V

> 4 x TS, where TS is sampling time

If input is set to one of the built-in functions — Home, Inhibit, Hard Stop, Soft Stop, Hard and Soft Stop, Forward Limit, Reverse Limit or Begin — execution is immediate upon detection: 0 < T < 4 x TS

If input is set to General input, execution depends on program. Typical execution time: ≅ 0.5 msec.

DIGITAL INPUTS

DIGINPUT

High-speed inputs 5 & 6 minimum pulse width, in highspeed mode

T < 5 µsec

Notes:

 Home mode is high-speed mode and can be

used for fast capture and precise homing.

 High speed input has a digital filter set to

same value as digital filter (EF) of main encoder.

 Highest speed is achieved when turning on

optocouplers.

2.5K

R e

n (

)

Digital Input Schematic

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A-14

A.10.2 Di gi tal Output I nterface ( on COMM ITTED I/ O port)

Feature Details Connector Location

Type of output

 Optically isolated  Open collector and open

emitter

DIGITAL OUTPUTS

Maximum supply output

30 V

(Vcc)

Max. output current

Iout (max) ≤ 15 mA

Iout (max) (Vout = Low)

VOL at maximum output voltage (low level)

Vout (on) ≤ 0.3 V + 0.02 * Iout (mA)

RL External resistor RL must be

selected to limit output current to no more than 15 mA.

−

VOLVcc

(max)Io

Executable time If output is set to one of the built-

in functions — Home flag, Brake or AOK — execution is immediate upon detection: 0 < T < 4 x TS

COR0061A

If output is set to General output and is executed from a program, the typical time is approximately

0.5 msec.

Digital Output Schematic

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.10.3 Analog Input

Feature Details

A-15

Maximum operating differential voltage

Maximum absolute differential input voltage

Differential input resistance

Analog input command resolution

± 10 V

± 16 V

3 kΩ

14-bit

nalog Input

A.11 Communications

Specification Details Connector Location RS-232

(Only one RS-232 Port can be used at a time)

CANopen

Signals:

 RxD , TxD , Gnd

 Full duplex, serial communication for setup

and control.

 Baud Rate of 9,600 ~ 57,600 bit/sec.

CANbus Signals:

 CAN_H, CAN_L, CAN_GND  Maximum Baud Rate of 1 Mbit/sec.

Version:

 DS 301 V4.01

Device Profile (drive and motion control):

 DS 402

CANopen

ports

RS-232

ports

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.12 Pulse Width Modulation (PWM)

Feature Details

PWM resolution 12-bit

PWM switching frequency on the load 2/Ts (factory default 22 kHz on the motor)

A.13 Single-phase Operation

When operating with a single-phase supply (TUB-x/230 only), the voltage drop must be considered. Voltage drop can be calculated using the following equation:

Vout (Max Phase to phase) = 0.85*[ Vsupply (AC) - Vdrop]

Vdrop AC RMS

80 70

60 50

40 30 20

12345678910

Motor Phase Current RMS

A-16

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.14 Standards Compliance

A.14.1 Quality Assurance

Specification Details

A-17

ISO 9001:2000

Quality Management

A.14.2 Design

Specification Details

Reliability prediction of electronic equipment

MIL-HDBK- 217F

 IPC-D-275  IPC-SM-782  IPC-CM-770

(rating, de-rating, stress, etc.)

Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.)

 UL508c  UL840

In compliance with VDE0160-7 (IEC68) Type testing

A.14.3 Safety

Specification Details

Recognized UL508c Power conversion equipment In compliance with UL840 Insulation coordination, including clearance

and creepage distances of electrical equipment

In compliance with UL60950 Safety of information technology equipment,

including electrical business equipment

In compliance with EN60204-1 Low voltage directive, 72/23/EEC

A.14.4 EMC

Specification Details

In compliance with EN55011 and

EN61000

Limits and methods of measurement of radio disturbance characteristics of industrial, scientific and medical (ISM) radio frequency equipment. Electromagnetic compatibility (EMC)

A.14.5 Workmanship

Specification Details In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies

Tuba Installation Guide Technical Specifications

MAN-TUBIG (Ver. 1.3)

A.14.6 PCB

Specification Details In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards

A.14.7 Packing

Specification Details In compliance with EN100015 Protection of electrostatic sensitive devices

A.14.8 Environmental

Specification Details

In compliance with WEEE 2002/96/EC Waste electrical and electronic equipment

regulations*

A-18

In compliance with RoHS 2002/95/EC

(effective July 2006)

Restrictions on application of hazardous substances in electric and electronic equipment

* Please send out-of-service Elmo devices to the nearest Elmo sales office for proper disposal.

Tuba Installation Guide

MAN-TUBIG (Ver. 1.3)

Index

CANopen · 3-38, 3-39

24v Auxiliary Power Connector · 3-8

AC Motor Power Connection Diagram · 3-

11 Advanced position control · 2-2 Advanced Positioning Motion Control

Modes · A-1 Ambient operating temperature · 3-1

ANALOG I/O · 3-8

ANALOG I/O port · 3-3 Analog input

Specifications · A-15

nalog Input · 3-8

Analog inputs cable · 3-33 Auxiliary

Feedback cable · 3-23 Power cable · 3-13 Power supply · A-7

Auxiliary feedback · 3-25

Auxiliary Feedback · 3-8 Auxiliary Power Supply · 3-8

Auxiliary Supply (24v) Connection

Diagram · 3-13

Built-In Protection · A-2

Cables

Auxiliary feedback · 3-23 Auxiliary power · 3-13 Communication · 3-38 I/O · 3-33 Main Power · 3-12 Motor · 3-10, 3-11 Power · 3-10

CANopen · 3-8

COMM. 1 · 3-8

COMM. 1 port · 3-2

COMM. 2 · 3-8

COMM. 2 port · 3-2 COMM.1 Port · 3-38 COMM.2 Ports · 3-39 COMMITTED I/O port · 3-3

COMMITTED I/O · 3-8

COMMITTED I/O Port · 3-36 Communication · 2-2 Communication cables · 3-38 Compliance standards · 1-3, A-17 Composer · 2-1, 3-41 Conformance · 1-3, A-17 Connecting

Auxiliary power cable · 3-13 Control cables · 3-14 Feedback cables · 3-14 Main power cable · 3-12 Motor cables · 3-11 Power cables · 3-10

Regeneration Cable · 3-12 Connection diagram · 3-9 Connectors

Analog Input · 3-8

Auxiliary Feedback · 3-8

Auxiliary Power Supply · 3- 8

CANopen · 3-8

Digital Inputs · 3-8

Digital Outputs · 3-8

Main Feedback · 3-8

Mains, Motor Power & External

Regeneration

· 3-8

Connectors · 3-8

RS-232 · 3-8

Control specifications · A-7, A-8 Current control · 2-1

Differential auxiliary input · 3-27, 3-29, 3-

Digital Inputs · 3-8, 3-34

Digital output interface · A-14

I-1

Tuba Installation Guide Index

MAN-TUBIG (Ver. 1.3)

I-2

Digital Outputs · 3-8

Digital Outputs · 3-36 Dimensions · A-3 DIN rail mounting · 3-6

Documentation Hierarchy · 2-4

Environmental conditions · A-5 External Resistor (BR1) Regeneration

Option · 3-12

Fault protection · 2-3 Feedback

Connector · 3-14 Options · 2-2, A-8 Supply voltage · A-9

Feedback A · 3-15

FEEDBACK A · 3-8

FEEDBACK A port · 3-3 Feedback and Control Cable Assemblies ·

3-14

Feedback B

Single-ended Auxiliary Input Option · 3-29

Feedback B · 3-25

Differential Auxiliary Encoder Input

Option · 3-27 Emulated Encoder Outputs · 3-25 Main Encoder Buffered Outputs · 3-25 Pulse-and-Direction Input Option · 3-31

FEEDBACK B · 3-8

FEEDBACK B port · 3-3 Feedback options · A-9, A-10, A-12, A-13 Feedback Options · A-1

GENERAL I/O · 3-8

GENERAL I/O port · 3-3 GENERAL I/O Port · 3-34 Grounding · 1-1

Auxiliary power cable · 3-13 CANopen cables · 3-39 Main feedback cables · 3-14 Motor cables · 3-11

RS-232 cable · 3-38

Hardware requirements · 3-1

I/O cables · 3-33 I/O Cables

Analog inputs cable · 3-33

Incremental Encoder · 3-15, 3-17 Initializing the Tuba · 3-41 Input/Output · A-2 Installation · 3-1 Interpolated Analog Encoder · 3-15, 3-18

Main Feedback · 3-8

Main feedback cable · 3-15 Main Feedback Cable · 3-15 Main Feedback Cable Pin Assignments · 3-

15, 3-16 Main power cable · 3-12 Main Power Supply Connection Diagram ·

3-12

Mains, Motor Power & External Regeneration

3-8

Maximum

Relative humidity · 3-1 Mechanical Specifications · A-4 Mini-Saxophone

Connectors · 3-8 Motion Control Modes · A-1 Motor cables · 3-11 Mounting Dimensions · A-4 Mounting the Tuba · 3-5

Directly on wall · 3-5

On DIN rail · 3- 6

Ports

ANALOG I/O · 3-8

COMM. 1 · 3-8

COMM. 2 · 3-8

Tuba Installation Guide Index

MAN-TUBIG (Ver. 1.3)

I-3

COMMITTED I/O · 3-8 FEEDBACK A · 3-8 FEEDBACK B · 3-8 GENERAL I/O · 3-8

Position control · 2-2 Potentiometer · 3-15, 3-20 Power cables · 3-10 Power Ratings · A-5 Powering up the Tuba · 3-41 Pulse-and-Direction Input Option · 3-31

Regeneration Cable · 3-12 Regeneration Option

External Resistor · 3-12

Relative humidity · 3-1 Resolver · 3-15, 3-18

RS-232 · 3-8, 3-38

Safety · 1-1

Cautions · 1-2 Compliance standards · A-17 Standards · 1-3

Warnings · 1-2 Single-phase operation · A-16 Site requirements · 3-1 Specifications

Analog input · A-15

Auxiliary power supply · A-7

Control · A-7, A-8

Digital output interface · A-14

Dimensions · A-3

Environment · A-5

Feedback options · A-8, A-9, A-10, A-12,

A-13 Feedback supply vol tage · A-9 Mechanical · A-4 Power Ratings · A-5 Single-phase operation · A-16

Standards · 1-3

System architecture · 2-3

Tachometer · 3-15 Tachometer Feedback · 3-19 Technical specifications · A-1 Temperature · 3-1

Terminal Block · 3-8 Terminal Strip · 3-8

Tuba

Cables · 3-14 Connectors · 3-8 Dimensions · A-3 Initializing · 3-41 Installation · 3-1

Mounting Directly on wall · 3-5 On DIN rail · 3-6

Powering up · 3-41

Technical specifications · A-1

Type designation number · 3-4

Unpacking · 3-4

Wiring · 3-7

Tubat

Connection diagram · 3-9

Type designation number · 3-4

Unpacking · 3-4

Velocity control · 2-1

Warranty · 1-4 Wire cross-sections · 3-1, 3-2, 3-3 Wiring the Tuba · 3-7

Elmo Server 1.3, Server Tuba Digital Servo User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1.3 Directives and Standards

1.4 CE Mark Conformance

2.4 How to Use this Guide

3.1 Before You Begin

3.2 Unpacking the Drive Components

3.3 Mounting the Tuba

3.3.1 Mounting Directly onto Wall

3.3.2 Mounting on a DIN Rail

3.4 Connecting the Cables

3.4.1 Wiring the Tuba

3.4.2 Connecting the Power Cables

3.4.3 Connecting the Auxiliary Supply Cable (24v)

3.4.4 Feedback and Control Cable Assemblies

3.4.5 Main Feedback Cable (Feedback A)

3.4.6 Main and Auxiliary Feedback Combinations

3.4.7 Auxiliary Feedback (FEEDBACK B)

3.4.9 Communication Cables

3.6 Initializing the System

Appendix: Technical Specifications

A.1.1 Motion Control Modes

A.1.2 Advanced Positioning Motion Control Modes

A.1.3 Advanced Filters and Gain Scheduling

A.7.1 Auxiliary Supply

A.9.2 Incremental Encoder Input

A.9.3 Digital Halls

A.9.4 Interpolated Analog Encoder (Sine/Cosine)

A.10.1 Di gi tal In put Inter faces ( on GENERAL I/ O port)

A.10.2 Di gi tal Output I nterface ( on COMM ITTED I/ O port)

Index