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: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
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: +82-31-698-2010 • Fax: +82-31-801-8078 • info-asia@elmomc.com
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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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
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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.
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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.
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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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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:
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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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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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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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MAN-EAGIG (Ver . 1.902)
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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MAN-EAGIG (Ver . 1.902)
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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