ElmoMC ExtrIQ Digital Servo Drives-Eagle User Manual

Eagle

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.902)

www.elmomc.com

P = Panasonic Absolute Encoder

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 Eagle 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 registered trademarks of

Elmo Motion Control Ltd.

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

Document no. MAN-EAGIG (Ver. 1.902)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Revision History

Version Date Details

1.0 June 2007 Initial release

1.1 April 2008 Updated Power Ratings Table in Chapter 4 (Appendix)

1.2 May 2008 Following sections added: 3.4.2.2 Connecting the DC

Power; 3.5 DC Power Supply; 3.6 Heat Dissipation

1.3 December

2008

1.4 May 2009 MTCR 05-009-54: Section 3.4.2.2.a: Expanded the XX/400

1.5 October 2010 MTCR 10-01-10: Correction in Table 16

1.6 July 2011 Applied new template

1.7 September

2012

1.701 January 2013 Added a caution and recommendation on the type of

1.800 May 2013 Addition of options: 100/60 and 100/100

1.900 Nov 2013 Correction to Safety Connection VN- on page 31

1.901 January 2014 Updated Section 3.4.2.2.a : Operation with an Isolated DC

MTCR 00-100-30: Auxiliary power supply is mandatory for
Eagle XX/400 drives

note; Section 4.3: Added auxiliary power data for EAG
18/400.

PR changed to VN-

Formatted according to the new template

“Metronome” was replaced by the “Composer” software.

cleaning solution to use for the Elmo unit.

Power Supply, Section 3.4.2.2.b: Operation with an Isolated
Battery Power Supply and Section 3.4.2.2.d: Operation with
a Non-Isolated DC Power Supply by Auto Transformer

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel

Tel: [phone] • Fax: [phone] • [e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

Tel: [phone] • Fax: [phone] • [e-mail]

Europe

Elmo Motion Control GmbH

Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany

Tel: [phone] • Fax: [phone] • [e-mail]

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China

Tel: [phone] • Fax: [phone] • [e-mail]

Asia Pacific

Elmo Motion Control APAC Ltd.

B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)

Tel: [phone] • Fax: [phone] • [e-mail]

MAN-EAGIG (Ver . 1.902)

Table of Contents

Eagle Installation Guide

Chapter 1: Safety Information .......................................................................................... 8

1.1. Warnings ......................................................................................................................... 9

1.2. Cautions .......................................................................................................................... 9

1.3. Directives and Standards .............................................................................................. 10

1.4. CE Marking Conformance ............................................................................................. 11

1.5. Warranty Information .................................................................................................. 11

Chapter 2: Product Description ...................................................................................... 12

2.1. ExtrIQ Product Family ................................................................................................... 12

2.2. Drive Description .......................................................................................................... 13

2.3. Product Features .......................................................................................................... 14

2.3.1. Current Control .............................................................................................. 14

2.3.2. Velocity Control ............................................................................................. 14

2.3.3. Position Control ............................................................................................. 14

2.3.4. Communication Options ................................................................................ 14

2.3.5. Feedback Options .......................................................................................... 15

2.3.6. Fault Protection ............................................................................................. 15

2.4. System Architecture ..................................................................................................... 16

2.5. How to Use this Guide .................................................................................................. 16

5

Chapter 3: Installation ................................................................................................... 18

3.1. Before You Begin .......................................................................................................... 18

3.1.1. Site Requirements ......................................................................................... 18

3.1.2. Hardware Requirements ............................................................................... 18

3.2. Unpacking the Drive Components ................................................................................ 20

3.3. Mounting the Eagle ...................................................................................................... 21

3.4. Connecting the Cables .................................................................................................. 22

3.4.1. Wiring the Eagle ............................................................................................. 22

3.4.2. Connecting the Power Cables ........................................................................ 25

3.4.2.1. Connecting the Motor Cable ........................................................ 27

3.4.2.2. Connecting the DC Power ............................................................. 28

3.4.2.3. Connecting the Optional Backup Supply Cable ............................ 31

3.4.3. Feedback Control and Communication Cable Assemblies ............................ 33

3.4.4. Main Feedback Cable (Feedback A) ............................................................... 33

3.4.5. Main and Auxiliary Feedback Combinations ................................................. 46

3.4.6. Auxiliary Feedback (Feedback B) ................................................................... 47

3.4.6.1. Main Encoder Buffered Outputs or Emulated Encoder Outputs

Option on Feedback B (YA[4]=4)................................................... 48

3.4.6.2. Differential Auxiliary Encoder Input Option on Feedback B

(YA[4]=2) ....................................................................................... 50

3.4.6.3. Single-Ended Auxiliary Input Option on Feedback B (YA[4]=2) .... 52

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Eagle Installation Guide Table of Contents

3.4.6.4. Pulse-and-Direction Input Option on Feedback B (YA[4]=0) ........ 54

3.4.7. I/O Cables ...................................................................................................... 58

3.4.7.1. General I/O Port (J3) ..................................................................... 58

3.4.8. Communication Cables .................................................................................. 60

3.4.8.1. RS-232 Communication ................................................................ 60

3.4.8.2. CAN Communication..................................................................... 61

3.5. DC Power Supply .......................................................................................................... 63

3.5.1. Powering Up .................................................................................................. 63

3.5.2. Initializing the System .................................................................................... 63

3.6. Heat Dissipation............................................................................................................ 64

3.6.1. Eagle Thermal Data ........................................................................................ 64

3.6.2. Heat Dissipation Data .................................................................................... 65

3.6.3. How to Use the Charts ................................................................................... 67

Chapter 4: Technical Specifications ................................................................................ 68

4.1. Features ........................................................................................................................ 68

4.1.1. Motion Control Modes .................................................................................. 68

4.1.2. Advanced Positioning Control Modes ........................................................... 68

4.1.3. Advanced Filters and Gain Scheduling........................................................... 68

4.1.4. Fully Programmable ....................................................................................... 68

4.1.5. Feedback Options .......................................................................................... 69

4.1.6. Input/Output ................................................................................................. 69

4.1.7. Built-In Protection ......................................................................................... 70

4.1.8. Accessories .................................................................................................... 70

4.1.9. Automatic Procedures ................................................................................... 71

4.2. Dimensions ................................................................................................................... 71

4.3. Power Ratings up to 100 V ........................................................................................... 72

4.1. Power Ratings from 200 to 400 V ................................................................................. 73

4.1.1. Auxiliary Supply ............................................................................................. 73

4.2. Environmental Conditions ............................................................................................ 74

4.3. Control Specifications ................................................................................................... 75

4.3.1. Current Loop .................................................................................................. 75

4.3.2. Velocity Loop ................................................................................................. 76

4.3.3. Position Loop ................................................................................................. 76

4.4. Feedbacks ..................................................................................................................... 77

4.4.1. Feedback Supply Voltage ............................................................................... 77

4.4.2. Main Feedback Options ................................................................................. 77

4.4.2.1. Incremental Encoder Input ........................................................... 77

4.4.2.2. Digital Halls ................................................................................... 78

4.4.2.3. Interpolated Analog (Sine/Cosine) Encoder

................................. 78

4.4.2.4. Resolver ........................................................................................ 79

4.4.2.5. Tachometer ................................................................................... 79

4.4.2.6. Potentiometer .............................................................................. 80

4.4.2.7. Absolute Encoder .......................................................................... 80

4.4.2.8. Encoder Outputs ........................................................................... 81

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MAN-EAGIG (Ver. 1.902)

Eagle Installation Guide Table of Contents

4.4.3. Auxiliary Port ................................................................................................. 82

4.5. I/Os ............................................................................................................................... 83

4.5.1. Digital Input Interfaces .................................................................................. 83

4.5.2. Digital Output Interface ................................................................................. 84

4.5.3. Analog Input .................................................................................................. 84

4.6. Communications ........................................................................................................... 85

4.7. Pulse-Width Modulation (PWM) .................................................................................. 85

4.8. Compliance with Standards .......................................................................................... 86

7

MAN-EAGIG (Ver . 1.902)

Chapter 1: Safety Information

Warning:

Caution:

Eagle Installation Guide

In order to achieve the optimum, safe operation of the Eagle servo drives, 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 Eagle as well as
the 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 Eagle 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.

8

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:

This information is needed to avoid a safety hazard, which might cause bodily
injury.

This information is necessary for preventing damage to the product or to
other equipment.

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Safety Information

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

• The Eagle servo drives contain 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. Cautions

• The Eagle servo drives contain hot surfaces and electrically-charged components during

operation.

9

• The maximum DC power supply connected to the instrument must comply with the

parameters outlined in this guide.

• When connecting the Eagle to an approved 24 ± 20% 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 Eagle, verify that all safety precautions have been observed and

that the installation procedures in this manual have been followed.

• Do not clean any of the Eagle drive's soldering with solvent cleaning fluids of pH greater

than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual damage
to the drive's PCBs.

Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).

For further technical information on this recommended cleaning fluid, select the link:

http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1­VIGON_EFM-US.pdf

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Safety Information

1.3. Directives and Standards

The Eagle conforms to the following industry safety standards:

Safety Standard Item

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

10

In compliance with UL 60950-1
(formerly UL 1950)

Safety of Information Technology Equipment
Including Electrical Business Equipment

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

The Eagle also conforms to the following military qualitative standards:

Military Qualitative Standard Item

In compliance with MIL-STD-704 Aircraft, Electric Power Characteristics

In compliance with MIL-STD-810 Environmental Engineering Considerations and

Laboratory Tests

In compliance with MIL-STD-1275 Characteristics of 28 Volt DC Electrical Systems in

Military Vehicles

In compliance with MIL-STD-461 Requirements for the Control of Electromagnetic

Interference Characteristics of Subsystems and
Equipment

In compliance with MIL-HDBK-217 Reliability Prediction of Electronic Equipment

In compliance with ISO-9001:2008 Quality Management

The Eagle 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
responsible for the performance of new measurements or ensuring that regulatory
requirements are met.

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Safety Information

1.4. CE Marking Conformance

The Eagle 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 designed for use within certain voltage limits, the
Eagle meet the provisions outlined in Council Directive 73/23/EEC. The party responsible for
ensuring that the equipment meets the 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.

11

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MAN-EAGIG (Ver . 1.902)

Chapter 2: Product Description

ExtrIQ

Eagle Installation Guide

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

12

2.1.

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

Feature Operation Conditions Range

Ambient
Temperature
Range

Temperature
Shock

Altitude

Humidity

Product Family

Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F)

Operating conditions -40 °C to +70 °C (-40 °F to 160 °F)

Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F) within 3 min

Non-operating conditions Unlimited

Operating conditions -400 m to 12,000 m (-1312 to 39370 feet)

Non-operating conditions Up to 95% non-condensing humidity at 35 °C

(95 °F)

Operating conditions Up to 95% non-condensing humidity at 25 °C

(77 °F), up to 90% non-condensing humidity at
42 °C (108 °F)

Vibration

Mechanical
Shock

ExtrIQ products have a high power density in the range of 10 W – 65 kW and current carrying
capacity of up to 100 A (200 A peak). ExtrIQ has been tested using methods and procedures
specified in a variety of extended environmental conditions (EEC) standards including:

• MIL-STD-704- Aircraft, Electric Power Characteristics

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

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

• MIL-STD-461- Requirements for the Control of Electromagnetic Interference Characteristics

of Subsystems and Equipment

• MIL-HDBK-217- Reliability Prediction of Electronic Equipment

• ISO-9001:2008

Operating conditions 20 Hz to 2000 Hz, 14.6g

Non-operating conditions ±40g; Half sine, 11 msec

Operating conditions ±20g; Half sine, 11 msec

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Product Description

Based on Elmo Motion Control's innovative ExtrIQ core technology, they support a wide range
of motor feedback options, programming capabilities and communication protocols.

2.2. Drive Description

The Eagle series are highly resilient digital servo drives designed to deliver the highest density
of power and intelligence. The Eagle delivers up to 9.6 kW of continuous power or 15.8 kW of
peak power in a compact package.

Designed for OEMs, the Eagle is part of the Elmo’s ExtrIQ product line designed to endure
extended environmental operating conditions. The digital drives are based on Elmo's advanced
ExtrIQ motion control technology. They operate from a DC power source in current, velocity,
position and advanced position modes, in conjunction with a permanent-magnet synchronous
brushless motor, DC brush motor, linear motor or voice coil. They are designed for use with any
type of sinusoidal and trapezoidal commutation, with vector control. The Eagle can operate as
a stand-alone device or as part of a multi-axis system in a distributed configuration on a real­time network.

The drives are easily set up and tuned using Elmo’s Composer software tools. This Windows­based application enables users to quickly and simply configure the servo drive for optimal use
with their motor. The Eagle, as part of the ExtrIQ product line, are fully programmable with
Elmo Composer motion control language.

13

The Eagle operates from a DC power source in the range from 12 to 390 VDC.

The Power stage of the Eagle is fully isolated from other sections of the Eagle, such as the
control stage and the heat-sink. This contributes very significantly to the safety and the EMI
immunity of the Eagle. In addition it simplifies the requirements of the DC power supply used
to power the DC bus of the Eagle and allows also the operation with a non-isolated DC power
source.

With the exception of the Eagle XX/400 model, a “smart” control-supply algorithm enables the
Eagle to operate with only one power supply with no need for an auxiliary power supply for the
logic.

Note: All Eagle XX/400 models require a 24 ± 20% VDC auxiliary supply voltage. The use of

an auxiliary power supply is mandatory for the XX/400 devices.

If backup functionality is required for storing control parameters in case of power-loss, an
external 24 ± 20% VDC isolated supply should be connected (via the CAN connector on the
Eagle) providing maximum flexibility and backup functionality when needed.

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Product Description

2.3. Product Features

2.3.1. 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

2.3.2. 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

14

• Automatic, manual and advanced manual tuning and determination of optimal gain and

phase margins

2.3.3. 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

• PT and PVT motion modes

• 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

• Dual (position/velocity) loop

• Fast output compare (OC)

2.3.4. Communication Options

Eagle users can use two communication options:

• RS-232 serial communication

• CAN for fast communication in a multi-axis distributed environment

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Product Description

2.3.5. 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

• 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
 Auxiliary emulated, unbuffered, single-ended, encoder output

• Resolver

 Programmable 10 to 15 bit resolution
 Up to 512 revolutions per second (RPS)
 Auxiliary emulated, unbuffered, single-ended, encoder output

• Tachometer, Potentiometer

15

• Absolute Encoder

 Heidenhain 2.1
 Stegmann
 Panasonic

• Elmo drives provide supply voltage for all the feedback options

2.3.6. Fault Protection

The Eagle 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, undervoltage/overvoltage,

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

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MAN-EAGIG (Ver . 1.902)

Main

24 VDC

Eagle Installation Guide Product Description

2.4. System Architecture

12 to 390 VDC

Power Supply

16

Figure 1: Eagle System Block Diagram

2.5. How to Use this Guide

In order to install and operate your Elmo Eagle servo drives, 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 Eagle.

• Chapter 4, Technical Specifications, lists all the drive ratings and specifications.

Upon completing the instructions in this guide, your Eagle servo drives 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.

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Eagle Installation Guide Product Description

17

Figure 2: Elmo Digital Servo Drive Documentation Hierarchy

As depicted in the previous figure, this installation guide is an integral part of the Eagle
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 Eagle motion controller.

• The SimplIQ Software Manual, which describes the comprehensive software used with the

Eagle.

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MAN-EAGIG (Ver . 1.902)

Chapter 3: Installation

Eagle Installation Guide

The Eagle must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.

3.1. Before You Begin

3.1.1. Site Requirements

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

Feature Value

Ambient operating temperature -40 °C to +70 °C (-40 °F to 160 °F)

Maximum operating altitude 12,000 m (39370 feet)

18

Maximum non-condensing humidity 95%

Operating area atmosphere No flammable gases or vapors permitted in area

3.1.2. Hardware Requirements

The components that you will need to install your Eagle are:

Component Connector Described

in Section

Main Power Cable VP+ VN- 3.4.2.2

Motor Cable M1 M2 M3 3.4.2.1

Diagram

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MAN-EAGIG (Ver . 1.902)

Eagle Installation Guide Installation

19

Component Connector Described

in Section

Main and Auxiliary
Feedbacks Cable

Digital I/O and
Analog Input Cable

Feedback A and
Feedback B

GENERAL I/O
J1

3.4.4

3.4.7.1

(if needed)

RS232

RS232

3.4.8.1

Communication
Cable

Diagram

CAN Communication
cable(s)
(if needed)

PC for drive setup
and tuning

Motor data sheet or
manual

CAN (in),

3.4.8.2

CAN (out) and
Backup Option

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MAN-EAGIG (Ver . 1.902)

P = Panasonic Absolute Encoder

Eagle Installation Guide Installation

3.2. Unpacking the Drive Components

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

• The Eagle servo drive

• The Composer software and software manual

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

To unpack the Eagle:

1. Carefully remove the servo drive from the box and the Styrofoam.

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 Eagle you have unpacked is the appropriate type for your requirements,

locate the part number sticker on the side of the Eagle. It looks like this:

20

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

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

specific requirements.

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Eagle Installation Guide Installation

3.3. Mounting the Eagle

The Eagle has been designed for mounting on a flat surface.

M5 round head screws, one through each opening in the heat sink, are used to mount the Eagle
(see the diagram below).

21

Figure 3: Mounting the Eagle

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Eagle Installation Guide Installation

3.4. Connecting the Cables

The Eagle has five power screw connectors, four holes for ground connections, and four D-Sub type
connectors.

3.4.1. Wiring the Eagle

Once the Eagle 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 Eagle.

Caution:
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.

22

• 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.

• 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 following connectors are used for wiring the Eagle.

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MAN-EAGIG (Ver . 1.902)

Spring Washer +

J3 Male: I/O

J4 Female: Feedbacks A & B

J1 Male: CAN & Optional
Backup Supply

J2 Female: RS-232

PE

PE

Eagle Installation Guide Installation

Type Function Port Connector Location

23

Barrel
Connector + M6

Power VP+, VN-

Motor M1, M2, M3

M6 Nut

Barrel

Ground PE, PE, PE, PE
Connector + M5
Flat Washer +
M5 Spring
Washer + M5
screw

Table 1: Power Connectors on the Eagle

Type Function Port Connector Location

26-Pin high
density D-Sub

Feedbacks
A & B

J4

female

15-Pin high
density D-Sub
male

Analog Input
and
General I/O

J3

Table 2: Feedback and I/O Connectors on the Eagle

Type Function Port Connector Location

9-Pin D-Sub
male

CAN &
Optional

J1

Backup Supply

9-Pin D-Sub

RS-232 J2

female

Table 3: Communication and Backup Connectors on the Eagle

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Eagle Installation Guide Installation

24

Figure 4: Eagle Detailed Connection Diagram

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MAN-EAGIG (Ver . 1.902)

PE

PE

PE

PE

Eagle Installation Guide Installation

3.4.2. Connecting the Power Cables

The V bus and motor power screws are located in the lower part of the Eagle and include the
following:

Pin Function Cable Pin Positions

VP+ Pos. Power input Power

VN- Neg. Power input Power

PE Protective earth Power

25

3-Phase

Motor

Cable

DC

Motor

Cable

PE Protective earth Motor Motor

M1 Motor phase Motor N/C

M2 Motor phase Motor Motor

M3 Motor phase Motor Motor

Table 4: Connector for Main Power and Motor Cables

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

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Step 1: PE Connection

M5
M5 spring

washer

M5 flat washer

M6 nut (available with

M6 spring

Barrel

Barrel connector

M5 screw

M5 spring washer

M5 flat washer

Barrel connector

Eagle Installation Guide Installation

the drive)

washer

connector

26

screw

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MAN-EAGIG (Ver . 1.902)

Step 2: Power and Motor Connection

M6 nut (available with

M6 spring

Barrel

Eagle Installation Guide Installation

the drive)

washer

connector

Table 5: Connecting the Main Power and Motor Cables

3.4.2.1. Connecting the Motor Cable

27

Connect the motor power cable to the M1, M2, and M3 terminals of the main power connector
and the fourth wire to the PE (Protective Earth) on the heat sink (see diagram above). The phase
connection order is arbitrary because the Composer will establish the proper commutation
automatically during setup.

Notes for connecting the motor cables:

• For best 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.

• 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 Eagle.

• Be sure that the motor chassis is properly grounded.

• To close the motor cable into the drive, use the barrel connector, M6 spring washer and M6

nut (in the drive). The required torque is 3 to 4 Nm.

• To close the PE wire into the drive, use the barrel connector, M5 flat washer, M5 spring washer

and M5 screw to the heat sink. The required torque is 3 to 4 Nm.

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Figure 5: AC Motor Power Connection Diagram

3.4.2.2. Connecting the DC Power

The Power stage of the Eagle is fully isolated from other sections of the Eagle, such as the control
stage and the heat sink. This contributes very significantly to the safety and the EMI immunity of
the Eagle. In addition it simplifies the requirements of the DC power supply used to power the DC
bus of the Eagle and allows also the operation with a non-isolated DC power source.

28

3.4.2.2.a Operation with an Isolated DC Power Supply

Figure 6: Isolated DC Power Supply

In this case, the isolation is achieved by the isolation transformer. It is highly recommended to
connect the network PE to the Return (negative terminal) of the Power Supply.

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3.4.2.2.b Operation with an Isolated Battery Power Supply

Figure 7: Isolated Battery Power Supply

Caution: When using batteries, it is recommended to connect the negative pole

to the PE.
When doing so, the charger of the battery must be isolated from the mains by
an isolation transformer.

29

3.4.2.2.c Operation with a Non-Isolated DC Power Supply

The PE (Protective Ground of the AC network) must not be connected to the Negative Power Input
(the VN- terminal) of the Eagle.

Figure 8: Non-Isolated DC Power Supply

The Power Supply is directly connected to the AC line (The AC must be limited to 135 VAC not to
exceed the max 190 VDC in case of 200 VDC drive).

The network PE must not be connected to the Return of the Power Supply.

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3.4.2.2.d Operation with a Non-Isolated DC Power Supply by Auto Transformer

Figure 9: Non-Isolated DC Power Supply by Auto Transformer

The Power Supply is directly connected to the AC line through an Autotransformer.

The network PE must not be connected to the Return of the Power Supply.

30

Warning:

Connecting the PE to the VN- with a non- isolated power supply will cause
damage to the system (any component that is connected to the system might
be damaged).

Notes for connecting the DC power supply:

• Be aware: The Drum can operate from either an:

 isolated DC power supply

or

 non-isolated DC power supply

• For best immunity, it is highly recommended to use twisted cables for the DC power supply

cable. A 3-wire shielded cable should be used. The gauge is determined by the actual current
consumption of the motor.

• Connect both ends of the cable shield to the closest ground connection, one end near the

power supply and the other end to the PE terminal on the Drum’s heat sink.

• To close the power supply cable into the drive, use the barrel connector, M6 spring washer and

M6 nut (in the drive). The required torque is 3 to4 Nm.

• To close the PE wire into the drive, use the barrel connector, M5 flat washer, M5 spring washer

and M5 screw to the heat sink. The required torque is 3 to 4 Nm.

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J1
Male

Eagle Installation Guide Installation

3.4.2.3. Connecting the Optional Backup Supply Cable

Power to the Eagle is provided by a 12 to 195 VDC source (depending on the model type).

With the exception of the Eagle XX/400 model, a “smart” control-supply algorithm enables the
Eagle to operate with only one power supply with no need for an auxiliary supply voltage.

Note: In the 400 V product line (EAG XX/400), there is no internal connection to enable the main

input to power the internal SMPS for low logic voltages. Therefore, a 24 VDC auxiliary power
supply must be connected in order to activate the 400 V drive’s internal SMPS.

If backup functionality is required for storing control parameters in case of power-outs, an external
12 to 195 VDC power supply can be connected, providing maximum flexibility and optional backup
functionality when needed. For the XX/400 model, the 24 VDC auxiliary power supply (see the note
above) can carry out this function.

To connect the backup supply to the Auxiliary port, use the Eagle's J1 connector (CAN
communication connector). Remember, you are working with DC power so be sure to exercise
caution.

Notes for backup supply connections:

31

• Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.

• The source of the backup supply must be isolated.

• For safety reasons, connect the return of the backup supply source to the closest ground.

• Connect the cable shield to the closest ground near the power source.

• Before applying power, first verify the polarity of the connection.

Pin Signal Function Pin Position

J1-9

+VDC Backup

+VDC backup supply

Supply

J1-8

RET Backup
Supply

Return (common) of the
backup supply

Table 6: Backup Cable Plug

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Figure 10: Backup Supply Connection Diagram

The Eagle provides the following smart control supply options:

• Internal DC-to-DC converter that allows operation from DC power (no need for auxiliary

external supply for normal operation)

• 12 to 195 VDC supply for backing up the control parameters if DC power is shut off

32

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Make sure that the

housing

Connector

Drain wire

housing

Eagle Installation Guide Installation

3.4.3. Feedback Control and Communication Cable Assemblies

The Eagle features easy-to-use D-Sub type connections for all Control and Feedback cables.
Instructions and diagrams describing how to assemble those cables are presented below.

1. 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.

2. Use only a D-Sub connector with a metal housing.

3. Ideally, solder the drain wire to the connector body as shown in Figure 11.

However, the shield may also be attached without soldering, as long as the braid shield is in
tight contact with the metal housing of the D-type connector.

4. On the motor side connections, ground the shield to the motor chassis.

5. On controller side connections, follow the controller manufacturer’s recommendations

concerning the shield.

body

33

soldered to
the metal

braid shield is in tight
contact with the metal

Figure 11: Feedback and Control Cable Assemblies

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

3.4.4. Main Feedback Cable (Feedback A)

The main feedback cable is used to transfer feedback data from the motor to the drive.

The Eagle 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 & Potentiometer

• Absolute Encoder

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Incremental

Interpolated

Resolver

Tachometer and

Aux.

J4 Female

Eagle Installation Guide Installation

Feedback A on the “front” of the Eagle has a 26-pin high density D-Sub socket. Connect the Main
Feedback cable from the motor to Feedback A using a 26-pin, high density D-Sub plug with a metal
housing. When assembling the Main Feedback cable, follow the instructions in Section 3.4.3
(Feedback Control and Communication Cable Assemblies).

Note: The Feedback connector also supports Feedbacks A and B.

34

Encoder

Analog Encoder

Potentiometer

EAG-XX/YYY_ EAG-XX/YYYI EAG-XX/YYYR EAG-XX/YYYT

Pin Port Signal Function Signal Function Signal Function Signal Function

1 A– Main

Input

2 A– Main

Input

3 A– Main

Input

4 A– Main

Input

5 A– Main

Input

6 A– Main

Input

7 Hall A HA Hall sensor A

8 Hall B HB Hall sensor B

CHA Channel A A+ Sine A S1 Sine A Tac1+ Tacho Input 1 Pos.

(20 V max)

CHA- Channel A

Complement

CHB Channel B B+ Cosine B S2 Cosine B Tac2+ Tacho Input 2 Pos.

CHB- Channel B

Complement

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

INDEX- Index

Complement

input

input

A- Sine A

Complement

B- Cosine B

Complement

R- Reference

Complement

HA Hall sensor A

input

HB Hall sensor B

input

S3 Sine A

Complement

S4 Cosine B

Complement

50 mA Max.

R2 Vref

complement
f = 1/TS,
50 mA Max.

HA Hall sensor A

input

HB Hall sensor B

input

Tac1- Tacho Input 1 Neg.

(20 V max)

(50 V max)

Tac2- Tacho Input 2 Neg.

(50 V max)

POT Potentiometer

Input

NC -

HA Hall sensor A input

HB Hall sensor B input

9 Hall C HC Hall sensor C

input

10 B2 –

Output

CHAO Aux./Main

channel A high
output

HC Hall sensor C

input

CHAO Aux./ Emulated

channel A high
output

HC Hall sensor C

input

CHAO Aux./

Emulated
channel A high

HC Hall sensor C input

CHAO Aux./ Emulated

channel A high
output

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Incremental

Interpolated

Resolver

Tachometer and

output

x.

Aux.

Incremental

Interpolated

Resolver

Tachometer and

Eagle Installation Guide Installation

35

11 B2 – Au

Output

12 B2 –

Output

Encoder

CHAO- Aux./Main

channel A low
output

CHBO Aux./Main

channel B high
output

Analog Encoder

CHAO- Aux./ Emulated

channel A low
output

CHBO Aux./ Emulated

channel B high
output

CHAO- Aux./

Emulated
channel A low
output

CHBO Aux./

Emulated
channel B high
output

Potentiometer

CHAO- Aux./ Emulated

channel A low
output

CHBO Aux./ Emulated

channel B high
output

Encoder

Analog Encoder

Potentiometer

EAG-XX/YYY_ EAG-XX/YYYI EAG-XX/YYYR EAG-XX/YYYT

Pin Port Signal Function Signal Function Signal Function Signal Function

13 B2 – Aux.

Output

14 B2 – Aux.

Output

CHBO- Aux./Main

channel B low
output

INDEXO Aux./Main

INDEX high
output

CHBO- Aux./Emulate

d channel B
low output

INDEXO Aux. INDEX

high output

CHBO- Aux./

Emulated
channel B low
output

INDEXO Aux./

Emulated
INDEX high
output

CHBO- Aux./ Emulated

channel B low
output

INDEXO Aux. INDEX high

output

15 B2 – Aux.

Output

16 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

17 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

18 PWR SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

19 B1 – Aux.

Input/
Output

20 B1 – Aux.

Input/
Output

INDEXO- Aux./Main

INDEX low
output

CHA Main channel

A high output/

Auxiliary
channel A high
input

CHA- Main channel

A low output/

Auxiliary
channel A low
input

INDEXO- Aux. INDEX

low output

CHA Emulated

channel A high
output/

Auxiliary
channel A high
input

CHA- Emulated

channel A low
output/

Auxiliary
channel A low
input

INDEXO- Aux./

Emulated
INDEX low
output

CHA Emulated

channel A high
output/

Auxiliary
channel A high
input

CHA- Emulated

channel A low
output/

Auxiliary
channel A low
input

INDEXO- Aux. INDEX low

output

CHA Emulated channel

A high output/

Auxiliary channel A
high input

CHA- Emulated channel

A low output/

Auxiliary channel A
low input

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Incremental

Interpolated

Resolver

Tachometer and

Incremental

Interpolated

Resolver

Tachometer and

Eagle Installation Guide Installation

36

21 B1 – Aux.

Input/
Output

Encoder

CHB Main channel

B high output/

Auxiliary
channel B high
input

Analog Encoder

CHB Emulated

channel B high
output/

Auxiliary
channel B high
input

CHB Emulated

channel B high
output/

Auxiliary
channel B high
input

Potentiometer

CHB Emulated channel

B high output/

Auxiliary channel B
high input

Encoder

Analog Encoder

Potentiometer

EAG-XX/YYY_ EAG-XX/YYYI EAG-XX/YYYR EAG-XX/YYYT

Pin Port Signal Function Signal Function Signal Function Signal Function

22 B1 – Aux.

Input/
Output

23 B1 – Aux.

Input/
Output

CHB- Main channel

B low output/

Auxiliary
channel B low
input

INDEX Main INDEX

high output/

Auxiliary
INDEX high
input

CHB- Emulated

channel B low
output/

Auxiliary
channel B low
input

INDEX Auxiliary

INDEX high
input

CHB- Emulated

channel B low
output/

Auxiliary
channel B low
input

INDEX Emulated

INDEX high
output/

Auxiliary
INDEX high
input

CHB- Emulated channel

B low output/

Auxiliary channel B
low input

INDEX Auxiliary INDEX

high input

24 B1 – Aux.

Input/
Output

25 PWR +5V Encoder/

26 PWR

INDEX- Main INDEX

low output/

Auxiliary
INDEX low
input

Hall +5V
supply

Encoder/
Hall +5V
supply

Table 7: Feedback Cable Pin Assignments (Part A)

INDEX- Auxiliary

INDEX low
input

+5V Encoder/Hall

+5V supply

+5V Encoder/Hall

+5V supply

INDEX- Emulated

INDEX low
output/

Auxiliary
INDEX low
input

+5V Encoder/

Hall +5V
supply

+5V Encoder/

Hall +5V
supply

INDEX- Auxiliary INDEX

low input

+5V Encoder/Hall +5V

supply

+5V Encoder/Hall +5V

supply

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37

Absolute Encoders

EAG-XX/YYYQ

Pin Port Signal Heidenhain 2.1 Signal Stegmann

1 A– Main Input A+ Sine A A- Sine A Complement

2 A– Main Input A- Sine A Complement A+ Sine A

3 A– Main Input B+ Cosine B B+ Cosine B

4 A– Main Input B- Cosine B Complement B- Cosine B Complement

5 A– Main Input DATA+ Data DATA+ Data

6 A– Main Input DATA- Data Complement DATA- Data Complement

7 Hall A HA Hall sensor A

input

8 Hall B HB Hall sensor B

input

9 Hall C HC Hall sensor C

input

10 B2– Aux.

Output

11 B2– Aux.

Output

CHAO Aux. / Emulated channel A high

output

CHAO- Aux. / Emulated channel A low

output

HA Hall sensor A

input

HB Hall sensor B

input

HC Hall sensor C

input

CHAO Aux. channel A high output

/ Emulated channel A low output

CHAO- Aux. channel A low output / Emulated

channel A high output

12 B2– Aux.

Output

13 B2– Aux.

Output

14 B2– Aux.

Output

15 B2– Aux.

Output

16 CLK+ Clock N.A Do not connect

17 CLK- Clock Complement N.A Do not connect

18 PWR SUPRET Supply return SUPRET Supply return

19 B1– Aux.

Input/ Output

20 B1– Aux.

Input/Output

21 B1– Aux.

Input/Output

CHBO Aux. / Emulated channel B high

output

CHBO- Aux. / Emulated channel B low

output

INDEXO Aux. INDEX high output INDEXO Aux. INDEX high output

INDEXO- Aux. INDEX low output INDEXO- Aux. INDEX low output

CHA Emulated channel A high output/

Auxiliary channel A high input

CHA- Emulated channel A low output/

Auxiliary channel A low input

CHB Emulated channel B high output/

Auxiliary channel B high input

CHBO Aux. / Emulated channel B high

output

CHBO- Aux. / Emulated channel B low output

CHA Emulated channel A low output /

Auxiliary channel A high input

CHA- Emulated channel A high output /

Auxiliary channel A low input

CHB Emulated channel B high output/

Auxiliary channel B high input

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Absolute Encoders

EAG-XX/YYYQ

Pin Port Signal Heidenhain 2.1 Signal Stegmann

38

22 B1– Aux.

Input/ Output

23 B1– Aux.

Input/ Output

24 B1– Aux.

Input/ Output

25 PWR +5V Encoder/Hall +5V supply +5V +5V Hall

26 PWR +8V Do not connect +8V +8V Encoder supply

CHB- Emulated channel B low output/

Auxiliary channel B low input

INDEX Auxiliary INDEX high input INDEX Auxiliary INDEX high input

INDEX- Auxiliary INDEX low input INDEX- Auxiliary INDEX low input

CHB- Emulated channel B low output/

Auxiliary channel B low input

supply

Table 8: Feedback Cable Pin Assignments (Part B)

Figure 12: Main Feedback - Incremental Encoder Connection Diagram

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Eagle Installation Guide Installation

39

Figure 13: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram

Figure 14: Main Feedback – Resolver Connection Diagram

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Eagle Installation Guide Installation

40

Figure 15: Main Feedback – Tachometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure 16: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors

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Eagle Installation Guide Installation

41

Figure 17: Main Feedback – Potentiometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure 18: Main Feedback –

Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils

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42

Figure 19: Main Feedback – Heidenhain (EnDat 2.1) Feedback with Hall Sensor Connection

Diagram

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Eagle Installation Guide Installation

43

Figure 20: Main Feedback –

Heidenhain (EnDat 2.1) Feedback Connection Diagram

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44

Figure 21: Main Feedback – Stegmann (Hiperface) Feedback with Hall Sensor Connection

Diagram

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45

Figure 22: Main Feedback – Stegmann (Hiperface) Feedback Connection Diagram

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B1

- Output

B2

- output

same as B1

Differential
and
Buffered
Main
Encoder
Signal

Incremental

Encoder

A

- input

Differential
or
Single-ended
Auxiliary
Incremental
Encoder

B1- Input

B2-

Output

Differential
and
Buffered
Auxiliary
Encoder
Signal

Incremental

Encoder

or

Analog

Encoder

or

Resolver

or

Tachometer

or

Potentiome ter

or

Absolute

Encoder

Differential o r
Single-ended
Pulse &
Direction
Commands

Differential
and Buffered
Pulse &
Direction
Signals

B1-

Input

B2-

Output

Incremental

Encoder

or

Analog

Encoder

or

Resolver

or

Tachometer

or

Potentiome ter

or

Absolute

Encoder

A-input
Analog

Encoder

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

B1-

Output

B2-

Output

same as B1

A-input

Resolver

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

same as B1

B1-

Output

B2-

Output

A-input

Tachometer

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

B1-

Output

B2-

Output

same as B1

  

Eagle Installation Guide Installation

3.4.5. 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 Eagle, “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:

Feedback A Feedback B Ports B1 and B2

46

Software
Setting

Incremental

Encoder Input

Interpolated

Analog

(Sine/Cosine)

Encoder Input

Resolver

Input

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

Tachometer

Input

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A-input

Potentiomete r

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

B1-

Output

B2-

Output

same as B1

Differential
or
Single-ended
Auxiliary
Incremental
Encoder

B1- Input

B2-

Output
Differential
and
Buffered
Auxiliary
Encoder
Signal

Incremental

Encoder

or

Analog

Encoder

or

Resolver

or

Tachometer

or

Potentiome ter

or

Absolute

Encoder

Differential or
Single-ended
Pulse &
Direction
Commands

Differential
and Buffered
Pulse &
Direction
Signals

B1- Input

B2- Output

Incremental

Encoder

or

Analog

Encoder

or

Resolver

or

Tachometer

or

Potentiomete r

or

Absolute

Encoder

here position data is required

For applications such as Follower,

Eagle Installation Guide Installation

Feedback A Feedback B Ports B1 and B2

47

Software
Setting

Potentiometer

Input

Typical
Applications

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

 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

w
in the Encoder’s quadrature
format.

 Resolver applications where

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

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

Absolute Encoder 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 single-ended).

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

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.

3.4.6. 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 SimplIQ Command Reference Manual for
detailed information about Feedback B setup. When assembling the Main Feedback cable, follow
the instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).

Note: The Feedback connector also supports Feedbacks A and B.

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CHA

J4

Eagle Installation Guide Installation

3.4.6.1. Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on

Feedback B (YA[4]=4)

Through Feedback B (Ports B1 and B2) the Eagle can provide two simultaneous buffered main, or
emulated, encoder signals to other controllers or drives. This option can be used when:

• The Eagle is used as a current amplifier to provide position data to the position controller.

• The Eagle is used in velocity mode, to provide position data to the position controller.

• The Eagle 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 encoder (on Feedback A):

Port Pin Signal Function Pin Positions

B2 10 CHAO Buffered channel A output

B2 11 CHAO- Buffered channel A complement

output

48

B2 12 CHBO Buffered channel B output

B2 13 CHBO- Buffered channel B complement

output

B2 14 INDEXO Buffered Index output

B2 15 INDEXO- Buffered Index complement

output

PWR 18 SUPRET Encoder supply voltage

return/COMRET

B1 19

Auxiliary channel A high output

B1 20 CHA- Auxiliary channel A low output

B1 21 CHB Auxiliary channel B high output

B1 22 CHB- Auxiliary channel B low output

B1 23 INDEX Auxiliary Index high output

B1 24 INDEX- Auxiliary Index low output

Female

26 Pin high density

D-Sub Socket

PWR 25 +5V Encoder supply voltage

Table 9: Main Encoder Buffered Outputs or Emulated Encoder Outputs on Feedback B –

Pin Assignments

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Note: In models not containing absolute encoder support, it is possible to use terminals 16 and 17

for SUPRET connections.

Feedback B on the “top” of the Eagle has a 26-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable, from the controller or other device, to Feedback B using a 26-pin, high density D­Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.4.3 0(Feedback Control and Communication Cable Assemblies).

49

Figure 23: Main Encoder Buffered Output or Emulated Encoder Output on Feedback B -

Connection Diagram

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3.4.6.2. Differential Auxiliary Encoder Input Option on Feedback B (YA[4]=2)

The Eagle 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 Positions

50

B2 10 CHAO Buffered channel A output

B2 11 CHAO- Buffered channel A

complement output

B2 12 CHBO Buffered channel B output

B2 13 CHBO- Buffered channel B

complement output

B2 14 INDEXO Buffered Index output

B2 15 INDEXO- Buffered Index complement

output

PWR

18 SUPRET Encoder supply voltage

return/COMRET

B1 19 CHA Auxiliary channel A high input

B1 20 CHA- Auxiliary channel A low input

B1 21 CHB Auxiliary channel B high input

B1 22 CHB- Auxiliary channel B low input

B1 23 INDEX Auxiliary Index high input

Female

B1 24 INDEX- Auxiliary Index low input

PWR 25 +5V Encoder supply voltage

26-Pin High Density D-Sub Socket

Table 10: Differential Auxiliary Encoder Input Option on Feedback B

Pin Assignments

Note: In models not containing absolute encoder support, it is possible to use terminals 16 and 17

for SUPRET connections and use terminal 26 for +5V connection.

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Feedback B on the “top” of the Eagle has a 26-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the feedback device to Feedback B using a 26-pin, high density D-Sub plug
with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in
Section 3.4.3 (Feedback Control and Communication Cable Assemblies).

51

Figure 24: Differential Auxiliary Encoder Input Option on Feedback B -

Connection Diagram

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3.4.6.3. Single-Ended Auxiliary Input Option on Feedback B (YA[4]=2)

The Eagle can be used as a slave by receiving the position data (on Port B1) of the master encoder
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 input:

Port Pin Signal Function Pin Positions

B2 10 CHAO Channel A output

B2 11 CHAO- Channel A complement

output

B2 12 CHBO Channel B output

B2 13 CHBO- Channel B complement

output

B2 14 INDEXO Index output

B2 15 INDEXO- Index complement

output

26-Pin High Density D-Sub Plug

Female

52

PWR 18 SUPRET Encoder supply voltage

return/ COMRET

B1 19 CHA Auxiliary channel A high

input

20 NC Do not connect this pin

B1 21 CHB Auxiliary channel B high

input

22 NC Do not connect this pin

26-Pin High Density D-Sub Socket

B1 23 INDEX Auxiliary Index high input

24 NC Do not connect this pin

PWR 25 +5V Encoder supply voltage

Table 11: Single-Ended Auxiliary Encoder Option on Feedback B – Pin Assignments

Note: In models not containing absolute encoder support, it is possible to use terminals 16 and 17

for SUPRET connections and use terminal 26 for +5V connection.

Feedback B on the “top” of the Eagle has a 26-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the feedback device to Feedback B using a 26-pin, high density D-Sub plug

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with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in
Section 3.4.3 (Feedback Control and Communication Cable Assemblies).

53

Figure 25: Single-Ended Auxiliary Input Option on Feedback B – Connection Diagram

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3.4.6.4. 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 pulse­and-direction input:

Port Pin Signal Function Pin Positions

B2 10 CHAO Channel A output

B2 11 CHAO- Channel A complement output

B2 12 CHBO Channel B output.

B2 13 CHBO- Channel B complement output

54

14 NC Do not connect this pin

15 NC Do not connect this pin

PWR 18 SUPRET Encoder supply voltage return/

COMRET

26-Pin D-Sub

High Density Plug

B1 19 PULS/CHA Pulse/Auxiliary channel A high input

20 NC Do not connect this pin

B1 21 DIR/CHB Direction/Auxiliary channel B high input

22 NC Do not connect this pin

23 NC Do not connect this pin

24 NC Do not connect this pin

PWR 25 +5V Encoder supply voltage

26-Pin D-Sub Socket

Table 12: Single-Ended Pulse-and-Direction Auxiliary Encoder Pin Assignment on Feedback B

Female

Note: In models not containing absolute encoder support, it is possible to use terminals 16 and 17

for SUPRET connections.

Feedback B on the “top” of the Eagle has a 26-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the Pulse and Direction Controller to Feedback B using a 26-pin, high density
D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).

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55

Figure 26: Single-Ended Pulse-and-Direction Input Option on Feedback B – Connection Diagram

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Below are the signals on the Auxiliary Feedback ports when set up to run as a differential pulse­and-direction input:

Port Pin Signal Function Pin Positions

B2 10 CHAO Channel A output

B2 11 CHAO- Channel A complement output

B2 12 CHBO Channel B output.

B2 13 CHBO- Channel B complement output

14 NC Do not connect this pin

15 NC Do not connect this pin

Female

PWR 18 SUPRET Encoder supply voltage return/

COMRET

26-Pin D-Sub High Density

B1 19 PULS/CHA Pulse/Auxiliary channel A high input

Plug

B1 20 PULS-/CHA- Pulse/Auxiliary channel A

complement high input

56

B1 21 DIR/CHB Direction/Auxiliary channel B high

input

B1 22 DIR-/CHB- Direction/Auxiliary channel B

complement high input

23 NC Do not connect this pin

26-Pin D-Sub Socket

24 NC Do not connect this pin

PWR 25 +5V Encoder supply voltage

Table 13: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on Feedback B

Note: In models not containing absolute encoder support, it is possible to use terminals 16 and 17

for SUPRET connections.

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57

Figure 27: Differential Pulse-and-Direction Input Option on Feedback B - Connection Diagram

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J3

Eagle Installation Guide Installation

3.4.7. I/O Cables

The Eagle has one I/O port, J3. J3 is a general I/O, which can be used to connect 6 digital inputs, 2
digital outputs and 1 analog input.

I/O J3 Port

Digital Input 6

Digital Output 2

Analog Input 1

3.4.7.1. General I/O Port (J3)

Port J3 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the
instructions in Section 3.4.3 0(Feedback Control and Communication Cable Assemblies) using a 15-
pin high density metal case D-Sub female connector (socket).

Pin Signal Function Pin Positions

58

1 ANLIN+ Analog input +

2 ANLIN- Analog input -

3 ANLRET Analog return

4 OUTRET2 Programmable output return 2

5 OUT2 Programmable output 2

6 IN6 Programmable input 6

7 INRET General input return

8 INRET General input return

9 OUTRET 1 Programmable output return 1

10 OUT1 Programmable output 1

11 IN1 Programmable input 1

12 IN2 Programmable input 2

13 IN3 Programmable input 3

Male

14 IN4 Programmable input 4

15 IN5 Programmable input 5

Table 14: J3 I/O Cable – Pin Assignments

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59

Figure 28: General J1 I/O Connection Diagram

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J2

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3.4.8. Communication Cables

The communication cables use a 9-pin D-Sub plug that connect to the RS-232 and 9-pin D-Sub
socket that connects to the CAN ports on the Eagle. The communication interface may differ
according to the user’s hardware. The Eagle can communicate using the following options:

a. RS-232, full duplex

b. CAN

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

In order to benefit from CAN communication, the user must have an understanding of the basic
programming and timing issues of a CAN network. The interface is electrically isolated by
optocouplers. For ease of setup and diagnostics of CAN communication, RS-232 and CAN may be
used simultaneously.

3.4.8.1. RS-232 Communication

Notes for connecting the RS-232 communication cable:

60

• Use a 24, 26 or 28 AWG twisted pair shielded cable (24 AWG cable is recommended). 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 drain wire to facilitate
connection.

• Use only a D-Sub connector with a metal housing.

• Attach the braided shield tightly to the metal housing of the D-type connector.

• When assembling the Communication cable, follow the instructions in Section 3.4.3 (Feedback

Control and Communication Cable Assemblies).

Pin Signal Function Pin Locations

1 — —

2 Tx RS-232 transmit

3 Rx RS-232 receive

4 — —

5 COMRET Communication return

6, 7, 8 — —

Table 15: RS-232 Cable – Pin Assignments

Female

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1 — — 2

CAN_L

CAN_L busline (dominant low)

3

CAN_GND

CAN ground

4 — — 5 CAN_SHLD

Shield, attach to the metal housing of the D-type

6

CAN_GND

CAN Ground

7

CAN_H

CAN_H busline (dominant high)

8

—

9

—

J1

Eagle Installation Guide Installation

Figure 29: RS-232 Connection Diagram

3.4.8.2. CAN Communication

Notes for connecting the CAN communication cable:

61

• Use 24, 26 or 28 AWG twisted pair shielded cables (24 AWG cable is recommended). 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 drain wire to facilitate
connection.

• Use only a D-Sub connector with a metal housing.

• Attach the braid shield tightly to the metal housing of the D-type connector.

• Connect a termination 120-Ω resistor at each of the two ends of the network cable.

• When assembling the Communication cable, follow the instructions in Section 3.4.3 (Feedback

Control and Communication Cable Assemblies).

Pin Signal Function Pin Positions

Aux. supply – see Section 3.4.2.2.a.

Aux. supply – see Section 3.4.2.2.a.

Male

Table 16: CAN Cable – Pin Assignments

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the CAN network may

Eagle Installation Guide Installation

62

Figure 30: CAN Connection Diagram

Caution:

When installing CAN

communications,

ensure that each servo

drive is allocated a

unique ID. Otherwise,

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3.5. DC Power Supply

The DC power supply can be at any voltage in the range defined in the technical specifications (see
the Appendix of this manual). The supply source must comply with the safety aspects of the
relevant requirements, in accordance with the most recent version of the standard EN 60950 or
equivalent Low Voltage Directive Standard, all according to the applicable overvoltage category. If
the power source to the power supply is the AC line (through an isolated or a non-isolated
transformer), safety margins must be con in order to avoid activating the
undervoltage/overvoltage protection due to line variations and/or voltage drop under load.

In addition to the above, the transformer must comply with the safety aspects of the relevant
requirements in accordance with the most recent version of the standard EN 60742 (Isolating and
Safety Isolating Transformers). The nominal DC bus voltage should be in the following range:

63

1.2 V

< Vdc < 0.9 V

dcmin

dcmax

Where:

V

is the minimum DC bus

dcmin

V

is the maximum DC bus

dcmax

The transformer power should be calculated such that it will be able to deliver power to the
amplifier (including peak power) without significant voltage drops.

The power supply should be located as close as possible to the amplifier. While driving high-inertia
loads, the power supply must be equipped with a shunt regulator; otherwise, the amplifier will be
disabled whenever the capacitors are charged above the maximum voltage, during motor break
down.

3.5.1. Powering Up

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

Caution: Before applying power, ensure that the DC supply is within the range
specified for your specific type of Eagle and that the proper plus-minus
connections are in order.

3.5.2. Initializing the System

After the Eagle 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.

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3.6. Heat Dissipation

For full power output capability the Eagle is designed to be mounted on an external heat sink. It is
highly recommended that the “Wall” on which the Eagle is mounted will have heat dissipation
capabilities. The Eagle at “free air convection” (without an additional heat sink) can dissipate

around 12 W for 40 °C ambient temperature and not exceeding 80 °C on the heat sink.

When “Free Air Convection” is sufficient for the application it is recommended to leave
approximately 10 mm of space between the Eagle's heat sink and any other assembly.

3.6.1. Eagle Thermal Data

• Free air convection thermal resistance (θ): Approximately 3.6 – 4 °C/W.

• Thermal time constant: Approximately 40 minutes/2400 seconds (the thermal time constant

means that the Eagle will reach two thirds of its final temperature after 4 minutes).

• Self heat dissipation capability (no external heat sink): 12 W for 40 °C/W temperature rise.

• Shut-off temperature: 86 °C – 88 °C (measured on the heat sink).

64

• The thermal resistance when connecting to an external heat sink:

 The surface of the external heat sink is 50 μm: 0.18 °C/W.
 Thermal conductive compound. By proper Smearing of the surface a significant

improvement of the thermal resistance is achieved: 0.13 °C/W

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Power Dissipation 60V series

0

10

20

30

40

50

60

70

80

90

100

0 12 20 30 40 50 60 70 80 90

Motor's Current (Ampere)

Power Dissipation (W)

12VDC

20VDC

30VDC

40VDC

50VDC

56VDC

Eagle Installation Guide Installation

3.6.2. Heat Dissipation Data

Heat Dissipation is shown in graphically below:

65

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Power Dissipation 100V series

0

20

40

60

80

100

120

0 8.3 16.7 25.0 33.3 41.7 50.0 58.3 66.7 75.0

Motor's Current (Ampere)

Power Dissipation (W)

20VDC

40VDC

60VDC

80VDC

96VDC

Power Dissipation 200V series

0

50

100

150

200

250

0 6.7 13.3 20.0 26.7 33.3 40.0 46.7 53.3 60.0

Motor's Current (Ampere)

Power Dissipation (W)

40VDC

80VDC

120VDC

160VDC

196VDC

Eagle Installation Guide Installation

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3.6.3. How to Use the Charts

The charts above are based upon theoretical worst-case conditions. Actual test results show 30% ­50% better power dissipation.

To determine if your application needs a heat sink:

1. Allow maximum heat sink temperature to be 80°C or less (shunt down is 6 °C to 8 °C higher).

2. Determine the ambient operating temperature of the Eagle as ≤ 40 °C.

3. Calculate the allowable temperature increase as follows: For an ambient temperature of 40°C ,

ΔT= 80 °C – 40 °C = 40 °C

4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to the

desired output current and then find the dissipated power.

5. If the dissipated power is below 12 W the Eagle needs no additional cooling.

Note: The chart above shows that no heat sink is needed when the heat sink temperature is

80 °C, ambient temperature is 40 °C and heat dissipated is 4 W.

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Chapter 4: Technical Specifications

Eagle Installation Guide

This chapter provides detailed technical information regarding the Eagle. This includes its
dimensions, power ratings, the environmental conditions under which it can be used, the
standards to which it complies and other specifications.

4.1. Features

The Eagle's features determine how it controls motion, as well as how it processes host
commands, feedback and other input.

4.1.1. 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

68

4.1.2. Advanced Positioning Control Modes

• PTP, PT, PVT, ECAM, Follower, Dual Loop

• Fast event capturing inputs

• Fast output compare (OC)

• Motion Commands: Analog, Pulse-Width Modulation (PWM), digital (SW) and Pulse and

Direction

4.1.3. Advanced Filters and Gain Scheduling

• “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

4.1.4. Fully Programmable

• Third generation programming structure with motion commands- "Composer"

• Event capturing interrupts

• Event triggered programming

• 32 KB memory

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4.1.5. Feedback Options

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

• Digital Halls – up to 2 kHz

• Tachometer and potentiometer (optional)

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

second for encoder

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

 Internal Interpolation - up to x4096
 Automatic correction of amplitude mismatch, phase mismatch, signal offset
 Differential encoder buffered outputs

• Resolver (optional)

 Programmable 10 to 15 bit resolution
 Up to 512 revolutions per seconds (RPS)
 Encoder outputs
 A, B, Index
 Differential encoder buffered outputs
 Quadrate

69

• Absolute Encoder - Heidenhain 2.1 and Stegmann

 Sine/Cosine Encoder– up to 250 kHz
 Internal Interpolation - up to x4096
 Automatic correction of amplitude mismatch, phase mismatch, signal offset
 Differential encoder buffered outputs

• Auxiliary Encoder inputs (ECAM, follower, etc.)

 A, B, Index
 Differential encoder buffered outputs
 Quadrate

4.1.6. Input/Output

• Analog Input– up to 14-bit resolution

• Six programmable Digital Inputs, optically isolated, PLC level

 Inhibit/Enable motion
 Software and analog reference stop
 Motion limit switches
 Begin on input
 Abort motion
 Homing
 General-purpose

• Fast event capture inputs, optically isolated

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• Two programmable Digital Outputs, optically isolated (open, emitter and collector)

 Brake Control
 Amplifier fault indication
 General-purpose
 Servo enable indication

• Differential emulated outputs of the resolver, interpolated analog encoder, tachometer

and absolute encoder

• Fast output compare (OC), optically isolated

• Pulse and Direction inputs (single-ended and differential)

• PWM current command output

4.1.7. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

70

• Status reporting

• Protection against:

 Shorts between motor power outputs
 Shorts between motor power output sand power input/return
 Failure of internal power supplies
 Over temperature
 Cont. temperature measurement. Temperature can be read on the fly; a warning can

be initiated x degrees before temp disable is activated.

 Over/Under voltage
 Loss of feedback
 Following error
 Current limits
 Loss of commutation signals
 Communication error

4.1.8. Accessories

• Cable Kit

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4.1.9. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

• Velocity gain scheduling

• Position gain tuning

4.2. Dimensions

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4.3. Power Ratings up to 100 V

Feature Units 70/48 70/60 R90/60 100/60 50/100 R75/100 100/100

Minimum supply voltage VDC 11 14 23

Nominal supply voltage VDC 42 50 85

Maximum supply voltage VDC 48 59 95

72

Maximum continuous

W 2700 3400 4300 4900 4000 6000 7900

power output

Efficiency at rated power

% > 97

(at nominal conditions)

Maximum output voltage 97% of DC bus voltage at f=22 kHz

Amplitude sinusoidal/DC
continuous current (Ic)

Sinusoidal continuous

A 70 70 90 100 50 75 100

A 50 50 63 70.7 35 53 70.7

RMS current limit (Ic)

Peak current limit A 2 x Ic 2 x Ic No Peak 2 x Ic No Peak 2 x Ic

Weight g (oz) 700 g (24.7 oz)

Dimensions mm (in)

134 x 95 x 60 (5.3" x 3.7" x 2.4")

Digital in/Digital out/Analog in 6/2/1

Mounting method Panel mount

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Isolated DC source

Eagle Installation Guide Technical Specifications

4.1. Power Ratings from 200 to 400 V

Feature Units 35/200 R60/200 18/400

Minimum supply voltage VDC 46 92

Nominal supply voltage VDC 170 340

Maximum supply voltage VDC 195 390

Maximum continuous power output W 5600 9600 5600

73

Efficiency at rated power (at nominal
conditions)

Maximum output voltage 97% of DC bus voltage at f=22 kHz

Amplitude sinusoidal/DC continuous
current (Ic)

Sinusoidal continuous RMS current
limit (Ic)

Peak current limit A 2 x Ic No Peak 2 x Ic

Weight g (oz) 700 g (24.7 oz)

Dimensions mm (in) 134 x 95 x 60 (5.3" x 3.7" x 2.4")

Digital in/Digital out/Analog in 6/2/1

Mounting method Panel mount

Auxiliary power supply

Auxiliary supply input voltage VDC

Auxiliary supply input power VA 7

% > 97

A 35 60 18

A 25 42 12.7

only

24 ± 20%

4.1.1. Auxiliary Supply

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 12 VDC to 195 VDC

Auxiliary supply input power < 7 VA

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4.2. Environmental Conditions

Feature Operation Conditions Range

74

Ambient
Temperature
Range

Temperature
Shock

Altitude

Humidity

Vibration

Mechanical
Shock

Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F)

Operating conditions -40 °C to +70 °C (-40 °F to 160 °F)

Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F) within 3

min

Non-operating conditions Unlimited

Operating conditions -400 m to 12,000 m (-1312 to 39370 feet)

Non-operating conditions Up to 95% non-condensing humidity at 35 °C

(95 °F)

Operating conditions Up to 95% non-condensing humidity at 25 °C

(77 °F), up to 90% non-condensing humidity
at 42 °C (108 °F)

Operating conditions 20 Hz to 2000 Hz, 14.6g

Non-operating conditions ±40g; Half sine, 11 msec

Operating conditions ±20g; Half sine, 11 msec

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4.3. Control Specifications

4.3.1. Current Loop

Feature Details

Controller type Vector, digital

75

Compensation for bus voltage

“On-the-fly” automatic gain scheduling

variations

Motor types

• AC brushless (sinusoidal)

• DC brushless (trapezoidal)

• DC brush

• Linear motors

• Moving coils

Current control

• 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

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4.3.2. Velocity Loop

Feature Details

Controller type PI

76

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

• Absolute Encoder- Heidenhain and Stegmann

• Digital Halls

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

• Resolver (optional)

• Tachometer and Potentiometer (optional)

Velocity loop bandwidth < 350 Hz

Velocity sampling time

140 to 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.

4.3.3. Position Loop

Feature Details

Controller type “1-2-4” PIP

Position command options

Position loop bandwidth < 80 Hz

Position sampling time

Position sampling rate Up to 4 kHz; default 2.75 kHz

• Software

• Pulse and Direction

• Analog Potentiometer

280 to 400 µsec (x 4 current loop sample time)

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4.4. Feedbacks

The Eagle can receive and process feedback input from diverse types of devices.

4.4.1. Feedback Supply Voltage

The Eagle has two feedback ports (main and auxiliary). The drives supply voltage to the main
and auxiliary feedback devices (200 mA to the main feedback and 200 mA to the auxiliary
feedback).

Feature Details

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

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

4.4.2. Main Feedback Options

4.4.2.1. Incremental Encoder Input

Feature Details

77

Encoder format

• A, B and Index

• Differential

• Quadrature

Interface RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency Maximum absolute: 5 MHz pulses

Minimum quadrature input period (PIN) 112 ns

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

Minimum quadrature phase period (PPH) 28 ns

Maximum encoder input voltage range

Common mode: ±7 V
Differential mode: ±7 V

Figure 31: Main Feedback - Encoder Phase Diagram

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4.4.2.2. Digital Halls

Feature Details

78

Halls inputs

• H

, HB, HC.

A

• Single-ended inputs

• Built in hysteresis of 1 V for noise immunity

Input voltage Nominal operating range: 0 V < V

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

In_Hall

InHigh

InLow

< 1 V

In_Hall

< 15 V

> 2.5 V

< 5 V

Input current Sink current (when input pulled to the common):

3 mA

Maximum frequency f

MAX

: 2 kHz

4.4.2.3. Interpolated Analog (Sine/Cosine) Encoder

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Input resistance

Maximum analog signal frequency f

Differential 120 Ω

: 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

Encoder outputs See Auxiliary Encoder Outputs specifications

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4.4.2.4. Resolver

Feature Details

79

Resolver format

• Sine/Cosine

• Differential

Input resistance

Differential 2.49 kΩ

Resolution Programmable: 10 to 15 bits

Maximum electrical frequency (RPS) 512 revolutions/sec

Resolver transfer ratio 0.5

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

Reference voltage Supplied by the Eagle

Reference current

up to ±50 mA

Encoder outputs See Auxiliary Encoder Output specifications

( 4.4.2.7)

4.4.2.5. Tachometer*

Feature Details

Tachometer format Differential

Maximum operating differential voltage
for TAC1+, TAC1-

±20 V

Maximum absolute differential input

±25 V

voltage for TAC1+, TAC1-

Maximum operating differential voltage

±50 V

for TAC2+, TAC2-

Maximum absolute differential input

±50 V

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

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Encoder outputs

See Encoder Outputs specifications ( 4.4.2.8)

Eagle Installation Guide Technical Specifications

4.4.2.6. Potentiometer

Feature Details

Potentiometer Format Single-ended

Operating Voltage Range 0 to 5 V supplied by the Eagle

Potentiometer Resistance 100 Ω to 1 kΩ … above this range, linearity is

affected detrimentally

Input Resistance 100 kΩ

Resolution 14 bit

4.4.2.7. Absolute Encoder

Feature Details

Analog encoder format Sine and Cosine signals

80

Analog input signal level

• Offset voltage: 2.2 V – 2.8 V

• Differential, 1 V peak to peak

Input resistance

Maximum analog signal frequency f

Differential 120 Ω

: 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

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4.4.2.8. Encoder Outputs

Feature Details

81

Encoder output format

• A, B, Index (not available in analog and

absolute encoders)

• Differential outputs

• Quadrature

Interface RS-422

Port B1 output current capability

• Driving differential loads of 200 Ω on

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

Port B2 output current capability

• INDEXO/INDEXO-, CHBO/CHBO- and

CHAO/CHAO- pairs are not loaded

Available as options

• Two simultaneous buffered outputs of main-

incremental encoder input

• Two simultaneous emulated encoder outputs

of analog or absolute encoder input

• Two simultaneous emulated encoder outputs

of resolver 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

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4.4.3. Auxiliary Port

Feature Details

82

Encoder input, emulated output,
pulse and direction

• A, B, Index

• Differential or single-ended

• Quadrature

Output current capability

Available as options

120 Ω

• Emulated encoder outputs of analog encoder

• Emulated encoder outputs of the resolver

• Emulated encoder outputs of the potentiometer

• Emulated encoder outputs of the tachometer

• Main encoder buffered output

• P&D buffered output

• Emulated encoder outputs of the absolute

encoder

Maximum frequency f

: 5 MHz pulses/output

MAX

Edge separation between A & B Programmable number of clocks to allow adequate

noise filtering at remote receiver of emulated
encoder signals

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

encoder cycle) and synchronized to A&B

Figure 32: Auxiliary Feedback - Encoder Phase Diagram

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DIGINPUT

2.5K

Eagle Installation Guide Technical Specifications

4.5. I/Os

The Eagle has:

• 6 Digital Inputs

• 2 Digital Outputs

• 1 Analog Input

4.5.1. Digital Input Interfaces

Feature Details Connector Location

83

Type of input

• Optically isolated

• Single-ended

• PLC level

Input current

* I

= 2.2 mA for Vin = 12 V

in

Input current for
high speed
inputs

High-level input

= 4.4 mA for Vin = 12 V

* I

in

12 V < Vin < 30 V, 24 V typical

voltage

Low-level input

0 V < Vin < 6.5 V

voltage

Minimum pulse

> 4 x TS, where TS is sampling time

width

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

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<4xTS

If input is set to General input, execution depends

on program. Typical execution time: ≅ 0.5 msec.

complete

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

Digital Input Schematic

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4.5.2. Digital Output Interface

Feature Details Connector Location

84

Type of output

• Optically isolated

• Open collector and open emitter

Maximum supply output

30 V

(VCC)

Max. output current
I

(max) (V

out

= Low)

out

VOL at maximum output

(max) ≤ 15 mA

I

out

V

(on) ≤ 0.3 V + 0.02 * I

out

out

(mA)

voltage (low level)

RL The external resistor RL must be

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

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

If output is set to General output
and is executed from a program, the
typical time is approximately 0.5
msec.

Digital Output Schematic

4.5.3. Analog Input

Feature Details

Maximum operating differential voltage ± 10 V

Maximum absolute differential input voltage ± 16 V

Differential input resistance 3.74 kΩ

Analog input command resolution 14-bit

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Signals:

Eagle Installation Guide Technical Specifications

4.6. Communications

Specification Details

RS-232

• RxD , TxD , GND

• Full duplex, serial communication for setup and control

• Baud Rate of 9,600 to 57,600 bit/sec

85

CAN

CAN bus 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

4.7. 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)

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4.8. Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment

(clearance, creepage, spacing, conductors
sizing, etc.)

MIL-HDBK- 217F Reliability prediction of electronic equipment

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

86

• UL 60950

• IPC-D-275

• IPC-SM-782

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

• IPC-CM-770

• UL 508C

• UL 840

In compliance with VDE0160-7 (IEC 68) Type testing

Safety

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances

and Creepage Distances for Electrical
Equipment

In compliance with UL 60950 Safety of Information Technology Equipment

Including Electrical Business Equipment

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive

systems

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

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Specification Details

EMC

Approved IEC/EN 61800-3, EMC Adjustable speed electrical power drive

systems

87

In compliance with EN 55011 Class A with

Electromagnetic compatibility (EMC)

EN 61000-6-2: Immunity for industrial
environment, according to:

IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C

Workmanship

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

PCB

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

Packing

In compliance with EN 100015 Protection of electrostatic sensitive devices

Environmental

In compliance with 2002/96/EC Waste Electrical and Electronic Equipment

regulations (WEEE)

Note: Out-of-service Elmo drives should be

sent to the nearest Elmo sales office.

In compliance with 2002/95/EC
(effective July 2006)

Restrictions on Application of Hazardous
Substances in Electric and Electronic
Equipment (RoHS)

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