ElmoMC ExtrIQ Digital Servo Drives-Eagle HV User Manual

Eagle HV (High Voltage)

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.502)

www.elmomc.com

Notice

This guide is delivered subject to the following conditions and restrictions:

• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such

information is supplied solely for the purpose of assisting users of the Eagle HV servo drive
in its installation.

• The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change without
notice.

• Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion

Control Ltd.

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

Document no. MAN-EAG-HVIG (Ver. 1.502)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Revision History

Version Details

1.0 Initial release

1.1 Updated catalog number

1.2 Added section on High Voltage Thermal data. Sections 4.3 and 4.3.1: Auxiliary

Supply Voltage range: 18 V to 30 V.

Formatted according to the new template.

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

1.300 Added a caution and recommendation on the type of cleaning solution to use

for the Elmo unit.

Updated Figure 3, Figure 4 and Figure 26.

Updated Section 3.5.9, Section 4.10.1, and Section 4.10.2.

1.301 Section 3.5.10: Communication Cables – updated

Section 3.5.10.1: RS-232 Communication – updated

Section 3.5.10.2: CAN Communication – updated

1.400 Added 800 V version

1.500 Changes to connection instructions regarding motor power and main power.

1.501 Updated Section 3.5.3.3: Direct-to-Mains Power Source (Non-Isolated

Rectifier)

1.502 General format update

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-EAG-HVIG (V er. 1.502)

Table of Contents

Eagle HV 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 ................................................................................................... 17

3.1. Before You Begin .......................................................................................................... 17

3.1.1. Site Requirements ......................................................................................... 17

3.1.2. Hardware Requirements ............................................................................... 17

3.2. Unpacking the Drive Components ................................................................................ 19

3.3. Connectors.................................................................................................................... 20

3.3.1. Connector Types ............................................................................................ 20

3.4. Mounting the Eagle HV ................................................................................................. 22

3.5. Connecting the Cables .................................................................................................. 23

3.5.1. Wiring the Eagle HV ....................................................................................... 23

3.5.2. Connection Diagrams..................................................................................... 23

3.5.3. Connecting the Power Cables ........................................................................ 26

3.5.3.1. Connecting the Motor Cable ........................................................ 29

3.5.3.2. Connecting the DC Power ............................................................. 30

3.5.3.3. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 30

3.5.3.4. Battery Supply............................................................................... 34

3.5.4. Connecting the Control and Backup Supply (24 V) ........................................ 34

3.5.5. Feedback and Control Cable Assemblies ....................................................... 35

3.5.6. Main Feedback Cable (Feedback A) ............................................................... 36

3.5.7. Main and Auxiliary Feedback Combinations ................................................. 45

3.5.8. Auxiliary Feedback (Feedback B) ................................................................

... 47

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Table of Contents

3.5.8.1. Main Encoder Buffered Outputs or Emulated Encoder Outputs

Option on FEEDBACK B (YA[4]=4) ................................................. 47

3.5.8.2. Differential Auxiliary Encoder Input Option on Feedback B

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

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

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

3.5.9. I/O Port .......................................................................................................... 58

3.5.10. Communication Cables .................................................................................. 61

3.5.10.1. RS-232 Communication ................................................................ 61

3.5.10.2. CAN Communication..................................................................... 62

3.6. Powering Up ................................................................................................................. 64

3.7. Heat Dissipation............................................................................................................ 64

3.7.1. Eagle HV Thermal Data .................................................................................. 64

3.7.2. Heat Dissipation Data .................................................................................... 65

3.7.3. How to Use the Charts ................................................................................... 66

3.8. Initializing the System ................................................................................................... 66

Chapter 4: Technical Specifications ................................................................................ 67

6

4.1. Features ........................................................................................................................ 67

4.1.1. Motion Control Modes .................................................................................. 67

4.1.2. Advanced Positioning Control Modes ........................................................... 67

4.1.3. Advanced Filters and Gain Scheduling........................................................... 67

4.1.4. Fully Programmable ....................................................................................... 67

4.1.5. Feedback Options .......................................................................................... 68

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

4.1.7. Built-In Protection ......................................................................................... 69

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

4.1.9. Status Indication ............................................................................................ 70

4.1.10. Automatic Procedures ................................................................................... 70

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

4.3. Power Ratings for 400 V Models .................................................................................. 72

4.4. Power Ratings for 700 V Models .................................................................................. 73

4.5. Power Ratings for 800 V Models .................................................................................. 74

4.6. Auxiliary Supply (Only for S type drive) ........................................................................ 75

4.7. Environmental Conditions ............................................................................................ 75

4.8. Control Specifications ................................................................................................... 76

4.8.1. Current Loop .................................................................................................. 76

4.8.2. Velocity Loop ................................................................................................. 77

4.8.3. Position Loop ................................................................................................. 77

4.9. Feedbacks ..................................................................................................................... 78

4.9.1. Feedback Supply Voltage ............................................................................... 78

4.9.2. Main

Feedback Options ................................................................................. 78

4.9.2.1. Incremental Encoder Input ........................................................... 78

4.9.2.2. Digital Halls ................................................................................... 79

4.9.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 79

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Table of Contents

4.9.2.4. Resolver ........................................................................................ 80

4.9.2.5. Tachometer ................................................................................... 80

4.9.2.6. Potentiometer .............................................................................. 81

4.9.3. Main Encoder Buffered Output ..................................................................... 81

4.9.4. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 82

4.9.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 83

4.10. I/Os ............................................................................................................................... 84

4.10.1. Digital Input Interfaces .................................................................................. 84

4.10.2. Digital Output Interface ................................................................................. 85

4.10.3. Analog Input .................................................................................................. 86

4.11. Communications ........................................................................................................... 86

4.12. Pulse-Width Modulation (PWM) .................................................................................. 86

4.13. Compliance with Standards .......................................................................................... 87

7

MAN-EAG-HVIG (V er. 1.502)

Chapter 1: Safety Information

Warning:

Caution:

Eagle HV Installation Guide

In order to operate the Eagle HV servo drive safely, 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 HV and accompanying equipment.

Please read this chapter carefully, before you begin the installation process.

Before you start, make sure 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 HV servo drive contains 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.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV 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.

• Disconnect the Eagle HV from all voltage sources before it is opened for servicing.

• The Eagle HV servo drive contains grounding conduits for electric current protection. Any

disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at

least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). It is recommended to
measure the electrical contact points with a meter before touching the equipment.

1.2. Cautions

• The Eagle HV servo drive contains 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 to Eagle HV to an approved isolated 24 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 HV, 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 HV 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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Safety Information

1.3. Directives and Standards

The Eagle HV conforms to the following industry safety standards:

Safety Standard Item

10

In compliance with

Adjustable speed electrical power drive systems

IEC/EN 61800-5-1, Safety

In compliance with UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

In compliance with UL 60950-1
(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 HV 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 HV servo drive has been developed, produced, tested and documented in
accordance with the relevant standards. Elmo Motion Control is not responsible for any
deviation from the configuration and installation described in this documentation.
Furthermore, Elmo is not responsible for the performance of new measurements or ensuring
that regulatory requirements are met.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Safety Information

1.4. CE Marking Conformance

The Eagle HV servo drive is intended for incorporation in a machine or end product. The actual
end product must comply with all safety aspects of the relevant requirements of the European
Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent
versions of standards EN 60204-1 and EN 292-2 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 HV meets 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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Chapter 2: Product Description

Eagle HV Installation Guide

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

2.1. ExtrIQ Product Family

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

Feature Operation Conditions Range

12

Ambient
Temperature
Range

Temperature
Shock

Altitude

Humidity

Vibration

Mechanical
Shock

Non-operating

-50 °C to +100 °C (-58 °F to 212 °F)

conditions

Operating conditions -40 °C to +71 °C (-40 °F to 160 °F)

Non-operating
conditions

Non-operating

-40 °C to +71 °C (-40 °F to 160 °F) within 3
min

Unlimited

conditions

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 t 42 °C (108 °F)

Operating conditions 20 Hz to 2000 Hz, 14.6 g

Non-operating

±40g; Half sine, 11 msec

conditions

Operating conditions ±20g; Half sine, 11 msec

All ExtrIQ products have 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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Product Description

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

• ISO-9001:2008

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 HV series of digital servo drives are highly resilient and designed to deliver the
highest density of power and intelligence. The Eagle HV delivers up to 65 kW of continuous
power in a compact package.

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 HV can operate as a stand-alone device or as part
of a multi-axis system in a distributed configuration on a real-time 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 HV, as part of the ExtrIQ product line, is fully programmable with
Elmo’s Composer motion control language.

13

Power to the drives is provided by a DC power source (not included with the Eagle HV).

Since the power stage is fully isolated from the control stage, the DC rectifier can be fed directly
from the mains, without the need for a bulky and expensive transformer.

If backup functionality is required to store control parameters in the event of a mains power
outage, then an S-model Eagle HV should be used, with an external 24 VDC isolated supply
connected to it.

Note: The backup functionality can operate from an isolated voltage source within the range

from 18 to 30 VDC.

Whenever backup functionality is not required, Eagle HV models that do not have the S suffix in
the catalog number (only for the 400 V model -see page 19) can be used, i.e., they do not have
a 24 V control supply. In these models, a smart control-supply algorithm enables the Eagle HV
to operate with only the main power supply VP+ and VN-, with no need for a 24 VDC auxiliary
power supply for the logic.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV 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 the current loop

• Fast event capturing inputs

• PT and PVT motion modes

• Fast output compare (OC)

2.3.4. Communication Options

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

• RS-232 serial communication

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Product Description

2.3.5. Feedback Options

• Incremental Encoder – up to 20 Megacounts (5 Megapulses) per second

• Digital Halls – up to 2 kHz

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

• Elmo drives provide supply voltage for all the feedback options

2.3.6. Fault Protection

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

• Software error handling

• Status reporting for a large number of possible fault conditions

• Protection against conditions such as excessive temperature, under/over voltage, loss of

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

• Recovery from loss of commutation signals and from communication errors

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Motor

PWM

Controller

Communication

RS-232 and CANopen

Isolated Power Stage

Protection

I/Os

Resolver

Tachometer

Analog

Encoder

or

Main

DC Power

Supply

Potentiometer

or

or

or

Auxilliary

Encoder

24V Logic

Supply

(Optional)

Isolation

Boundary

Isolation

Boundary

Current

Feedback

Incremental

Encoder

Main Feedback

Buffered

Output

Eagle HV Installation Guide Product Description

2.4. System Architecture

16

Figure 1: Eagle HV System Block Diagram

2.5. How to Use this Guide

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

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

connecting and powering up the Eagle HV.

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

Upon completing the instructions in this guide, the Eagle HV servo drive should be successfully
mounted and installed. From this stage, you need to consult higher level Elmo documentation
in order to set up and fine-tune the system for optimal operation:

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

Eagle HV.

• The SimplIQ Command Reference Manual, which describes, in detail, each software

command used to manipulate the Eagle HV motion controller.

• The Composer Software Manual, which includes explanations of all the software tools that

are part of Elmo’s Composer software environment.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Chapter 3: Installation

Eagle HV Installation Guide

The Eagle HV 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 HV 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)

17

Maximum non-condensing humidity 95%

Operating area atmosphere No flammable gases or vapors permitted in area

Caution:

The Eagle HV dissipates its heat by natural convection. The maximum ambient

operating temperature of 0 °C to 40 °C (32 °F to 104° F) must not be
exceeded.

3.1.2. Hardware Requirements

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

Component Connector Section

Main Power Cable VP+ N VN- 3.5.3

Motor Cable M3 M2 M1 PE 3.5.3

Drawing

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

18

Component Connector Section

Main Feedback Cable Main Feedback

3.5.6

(Feedback A)

Connects to Port A

Auxiliary Feedback
Cable
(if needed)

Digital I/O Cable
(if needed)

Aux. Feedback

(Feedback B)

Connects to Port B

General I/O

Connects to the

3.5.8

3.5.9

I/O Port

Drawing

RS232 Communication
Cable

CAN Communication
cable(s) (if needed)

RS-232 3.5.10.1

CAN (in)

3.5.10.2

CAN (out)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.2. Unpacking the Drive Components

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

• The Eagle HV servo drive

• The Composer software and software manual

The Eagle HV is shipped in a cardboard box with Styrofoam protection.

To unpack the Eagle HV:

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 HV you have unpacked is the appropriate type for your

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

19

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

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

meets your specific requirements.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.3. Connectors

The Eagle HV has nine connectors.

3.3.1. Connector Types

The Eagle HV has the following types of connectors:

Type Function Port Connector Location

N/A N/A N

20

Barrel Connector +

Power VP+, VN­M6 Spring Washer
+ M6 Nut

Barrel Connector +

Motor M1, M2, M3

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

Table 1: Power Connectors on the Eagle HV

Type Function Port Connector Location

15-Pin High­Density Female

Aux.
Feedback

FEEDBACK B
(Port B)

D-Sub Connector

15-Pin Female
High-Density

Main
Feedback

FEEDBACK A
(Port A)

D-Sub Connector

26-Pin Male
High-Density
D-Sub Connector

Analog
Input and
General I/O

I/O

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

Note: Throughout this manual FEEDBACK A and FEEDBACK B refer to the connectors labeled

Port A and Port B on the Eagle HV and the cables connected to them.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

Type Function Port Connector Location

21

9-Pin D-Sub male CAN & Optional

CAN

Backup Supply

9-Pin D-Sub female RS-232 RS-232

Table 3: Communication and Backup Connectors on the Eagle HV

Note: The Eagle HV has two CAN connectors. These connectors are functionally identical, and

either of them can be used for input or output and for connecting the optional backup supply.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.4. Mounting the Eagle HV

The Eagle HV has been designed for two standard mounting options:

• Wall Mount along the back (can also be mounted horizontally on a metal surface)

• Book Shelf along the side

M4 round head screws, one through each opening in the heat sink, are used to mount the
Eagle HV (see the diagram below).

22

Figure 2: Mounting the Eagle HV

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5. Connecting the Cables

The Eagle HV has nine connectors.

3.5.1. Wiring the Eagle HV

Once the Eagle HV 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 HV.

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.

• 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.

23

• 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.

3.5.2. Connection Diagrams

The various Eagle HV models connection diagrams differ from one another.

The following diagrams depict the two different possibilities for power supply connections:

• 400 V, 700 V, and 800 V S-models that feature power supply backup functionality, needing

an Aux. 24 V backup supply (The drive will not be operative, without having the external 24
VDC supply).

• 400 V model without power supply backup functionality (The drive’s internal DC/DC

converter is fed from the VP+ and VN- , of the internal drive's bus line).

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

24

Figure 3: Eagle HV Connection Diagram – with Power Supply Backup Functionality

(an S Type Drive)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

25

Figure 4: Eagle HV Connection Diagram – 400 V without Power Supply Backup Functionality

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.3. Connecting the Power Cables

The power connectors of the Eagle HV are located as follows:

For S type drives:

Pin Function Cable Pin Positions

VP+ Pos. Power input DC Power

VN- Neg. Power input DC Power

N N/A N/A

PE Protective earth DC Power

26

AC 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

Auxiliary 24 VDC Backup Supply

(CAN connector)

VL- Neg. Aux. input Backup Power

VL+ Pos. Aux. input Backup Power

Table 4: Connectors for Main DC Power, Backup Supply and Motor Cable –S Type Drives

Note: When connecting several motors, all the motor phases must be connected in an

identical sequence.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

For non-S 400 VDC type drives:

Pin Function Cable Pin Positions

VP+ Pos. Power input DC Power

VN- Neg. Power input DC Power

N N/A N/A

PE Protective earth DC Power

27

AC 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

Auxiliary 24 VDC Backup Supply

(CAN connector)

VL- N.C.

VL+ N.C.

Table 5: Connectors for Main DC Power and Motor Cable – in Non-S 400 VDC Type Drives

Note: When connecting several motors, all the motor phases must be connected in an

identical sequence.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

M6 screw
M6 spring washer

M6 flat washer

Barrel connector

M6 nut (available with

M6 spring washer

Barrel connector

Eagle HV Installation Guide Installation

Step 1: PE Connection

28

Table 6: Connecting the PE Cables

Step 2: Power and Motor Connection

the drive)

Table 7: Connecting the Main Power and Motor Cables

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.3.1. Connecting the Motor Cable

Connect the motor power cable to the M3, M2, M1 and the PE (motor chassis) terminals of the
motor connector (see diagram below). The phase connection order is arbitrary because the
Composer will establish the proper commutation automatically during setup. However, if you
are willing to avoid from tuning each drive separately, and you plan to copy this setup file to
other drives – then, the motor-phase order, on all copy drives, must be kept the same as in the
first drive.

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 in the drive’s motor-connector.

• 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.

29

• To close the PE wire into the drive, use the barrel connector, M6 flat washer, M6 spring

washer and M6 screw to the heat sink. The required torque is 3 to 4 Nm.

Figure 5: AC Motor Power Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.3.2. Connecting the DC Power

The DC power to the Eagle HV is delivered from a separated rectifying-unit (supplied by the
user). The following sections contain topology recommendations for implementing three-phase
and a single-phase supply chains.

The Power-stage of the Eagle HV is fully isolated from other sections of the Eagle HV, such as
the control-stage and the heat sink. This isolation allows the user to connect the common of
the control-section to the PE, a connection which significantly contributes to proper
functionality, safety and EMI immunity, leading to better performance of the Eagle HV.

In addition, this isolation simplifies the requirements of the DC power supply that is used to
power the DC bus of the Eagle HV, by allowing the operation with a non-isolated DC power
source, a direct-to-mains connection, eliminating the need for a bulky and expensive isolation
transformer.

However, the Eagle HV can operate from a non-isolated/direct-to-mains DC power supply, from
an isolated DC power supply, or from batteries.

When rectifying the AC voltage source, the AC voltage-level must be limited as follows:

30

Drive Model (V) AC voltage-level limit (VAC) DC Maximum (VDC)

400 270 390

700 477 680

800 528 747

3.5.3.3. Direct-to-Mains Power Source (Non-Isolated Rectifier)

This paragraph represents power supply and drive, which are directly connected to the mains.

Notes for connecting the 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 PE connections.

• Tie one end to the power supply’s PE terminal, and tie the other end either to one of the

four mounting screws of the drive’s heat sink-PE.

• 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 to 4 Nm.

• To close the PE wire into the drive, use the barrel connector, M6 flat washer, M6 spring

washer and M6 screw to the heat sink. The required torque is
3 to 4 Nm.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.3.3.a Three-Phase Direct-to-Mains Connection Topology

Figure 6: Non-Isolated Three-Phase Connection Topology

31

Caution:

• Do not connect VN- to PE. In a direct-to-mains connection the VN- must

not be connected to the PE. Connecting the VN- to the PE will cause
irreparable damage to the system.

• Be careful and note that in a direct-to-mains connection the Neutral point

is not the most negative voltage level. It is the mid-point level of the
rectified DC bus.

3.5.3.3.b Single-Phase Direct-to-Mains Connection Topology

Figure 7: Non-Isolated Single-Phase Connection Topology

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

The power supply is connected directly to the mains AC line.

32

Caution:

• Do not connect VN- to PE. In a direct-to-mains connection the VN- must

not be connected to the PE. Connecting the VN- to the PE will cause
irreparable damage to the system.

• Be careful and note that in a direct-to-mains connection the Neutral point is

not the most negative voltage level. It is the mid-point level of the rectified
DC bus.

3.5.3.3.c Multiple Connections Topology

In a multi-axis application it is likely that a single power supply can feed several drives in
parallel.

This topology is efficient and cost saving, by reducing the number of power supplies and the
amount of wiring. Most importantly it utilizes an energy sharing environment among all the
drives that share the same DC bus network.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

33

Figure 8: Non-Isolated Three-Phase Multiple Connection Topology

The Power Supply is connected directly to the mains AC line and it feeds more than one drive.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.3.4. Battery Supply

Caution:

When using batteries, it is recommended to connect the negative pole to the
PE.

When doing so, the charger of the battery
an isolation transformer.

34

Figure 9: Battery Connection Topology

must be isolated from the mains by

3.5.4. Connecting the Control and Backup Supply (24 V)

In a non-S type Eagle HV drive (a drive without having the suffix S in its part number), a “smart”
control-supply algorithm enables the Eagle HV to operate with the main power supply only,
with no need for an auxiliary supply voltage for supplying the drive's logic section.

Note that in such model - there is no backup ability at all.

If backup functionality is required to store control parameters in the event of a mains power
outage, then an S-model Eagle HV should be used, with an external 24 VDC isolated supply
connected to it.

Note that the S type Eagle HV always requires an external 24 VDC power supply, regardless if
backup functionality in required or not.

Connect the Aux. 24 VDC power supply as described below.

Notes for 24 VDC backup supply connections:

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

• The source of the 24 VDC backup supply must be isolated, by using an isolation

transformer.

• For safety and EMI reasons, connect the return of the 24 VDC backup supply, to the closest

ground (PE).

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

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

Figure 10: Aux. 24 VDC Backup Supply Connection Diagram

Pin Signal Function Pin Positions

9 VL+ VDC+ backup supply

8 VL- Return (common) of

the backup supply

35

Note: The backup cable can be connected to

either CAN connector.

Table 8: Backup Cable Plug

3.5.5. Feedback and Control Cable Assemblies

The Eagle HV 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.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Make sure that the

housing

Connector

Drain wire

housing

Eagle HV Installation Guide Installation

body

36

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 HV, should be assembled in this way.

3.5.6. Main Feedback Cable (Feedback A)

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

The Eagle HV can accept any one the following devices 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 (option)

• Potentiometer (option)

• Absolute Encoder

FEEDBACK A of the Eagle HV has a high density 15-pin D-Sub socket. Connect the Main
Feedback cable from the motor to FEEDBACK A using a 15-pin, D-Sub plug with a metal
housing. When assembling the Main Feedback cable, follow the instructions in Section 3.5.5
(Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Incremental

Interpolated

Resolver

Tachometer and

Encoder/Hall +5V

Encoder/Hall +5V

Eagle HV Installation Guide Installation

37

Encoder

Analog Encoder

Potentiometer

EAG-XXXX/YYY_ EAG-XXXX/YYYI EAG-XXXX/YYYR EAG-XXXX/YYYT

Pin Signal Function Signal Function Signal Function Signal Function

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

(20 V max)

2 CHA- Channel A

complement

3 CHB Channel B B+ Cosine B S2 Cosine B Tac 2+ Tacho Input 2 Pos.

4 CHB- Channel B

complement

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

6 CLK+ CLOCK CLK+ CLOCK CLK+ CLOCK CLK+ CLOCK

7 CLK- CLOCK

complement

8 +5V Encoder/Hall

+5V supply

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

A- Sine A

complement

B- Cosine B

complement

CLK- CLOCK

complement

+5V

supply

S3 Sine A

complement

S4 Cosine B

complement

50 mA Max.

CLK- CLOCK

complement

+5V

supply

Tac 1- Tacho Input 1

Neg. (20 V max)

(50 V max)

Tac 2- Tacho Input 2

Neg. (50 V max)

POT Potentiometer

Input

CLK- CLOCK

complement

+5V Encoder/Hall +5V

supply

10 INDEX- Index

complement

11 DATA+ DATA DATA+ DATA DATA+ DATA DATA+ DATA

12 DATA- Data

complement

13 HC Hall sensor C

input

14 HB Hall sensor B

input

15 HA Hall sensor A

input

R- Reference

complement

DATA- Data

complement

HC Hall sensor C

input

HB Hall sensor B

input

HA Hall sensor A

input

R2 Vref complement

f= 1/TS, 50 mA
Maximum

DATA- Data

complement

NC - HC Hall sensor C input

NC - HB Hall sensor B input

NC - HA Hall sensor A

NC -

DATA- Data complement

input

Table 9: Main Feedback Cable Pin Assignments (Part A)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

EAG-XXX/YYYQ

Eagle HV Installation Guide Installation

Absolute Encoders

Pin Signal Heidenhain Stegmann

1 A+ Sine A Sine A complement

2 A- Sine A complement Sine A

3 B+ Cosine B Cosine B

4 B- Cosine B complement Cosine B complement

5 INDEX – –

6 CLK+ CLOCK –

7 CLK- CLOCK complement –

8 +5V Encoder/Hall +5V supply Halls supply +5V

9 SUPRET Supply return Supply return

10 INDEX- – –

11 DATA+ DATA DATA

12 DATA- Data complement Data complement

38

13 HC Hall C Hall C

14 HB Hall B Hall B

15 HA Hall A Hall A

Table 10: Main Feedback Cable Pin Assignments (Part B)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

39

Figure 12: Main Feedback- Incremental Encoder Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

40

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

Figure 14: Main Feedback – Resolver Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

41

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

42

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

43

Figure 19: Main Feedback – Stegmann Absolute Encoder Feedback Connection Diagram (NRZ

types, e.g., Panasonic/ Mitutoyo/etc.)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

44

Figure 20: Main Feedback – Heidenhain Feedback Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Feedback B

Feedback A input

Port

Port

Eagle HV Installation Guide Installation

3.5.7. Main and Auxiliary Feedback Combinations

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

45

Feedback A Feedback B Ports B1 and B2

Software

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

setting

Incremental

Encoder Input

Interpolated

Analog

(Sin/Cosine)

Encoder Input

Resolver

Input

 Feedback A input:

Incremental Encoder

Port B1 output: Differential and

Buffered Main Encoder Signal

Port B2 output: Same as B1

 Feedback A input: Analog

Encoder

Port B1 output: Analog Encoder

Position Data Emulated in

Incremental Encoder Format

(signals are quadrature,

differential and buffered)

Port B2 output: Same as B1

 Feedback A input: Resolver

Port B1 output: Resolver Position Data

Emulated in Incremental Encoder

Format (signals are quadrature,

differential and buffered)

Port B2 output: Same as B1

Feedback A input: Incremental

Encoder or Analog Encoder or

Resolver or Tachometer or

Potentiometer

Port B1 output: Differential or

Single-Ended Auxiliary Encoder

Port B2 output: Differential

and Buffered Auxiliary Encoder

Signal

Feedback A input: Analog

Encoder

Port B1 output: Differential or

Single-Ended Auxiliary

Incremental Encoder

Port B2 output: Differential and

Buffered Auxiliary Encoder

Signal

Tachometer

Input

Feedback A input: Tachometer

Port B1 output: Tachometer Position

Data Emulated in Incremental Encoder

Format (signals are quadrature,

differential and buffered)

Port B2 output: Differential and

Buffered Auxiliary Encoder Signal

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

Feedback A Feedback B Ports B1 and B2

46

Software
Setting

Potentio­meter
Input

Typical
Applications

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

Feedback A input:

Potentiometer

Port B1 output: Potentiometer
Position Data Emulated in
Incremental Encoder Format
(signals are quadrature,
differential and buffered)

Port B2 output: Same as B1

 Any application where the

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

 Analog Encoder applications

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

 Resolver applications where

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

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

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

Feedback A input: Incremental
Encoder or Analog Encoder or
Resolver or Tachometer or
Potentiometer

Port B1 output: Differential or
Single-Ended Auxiliary Encoder

Port B2 output: Differential
Buffered Auxiliary Encoder
Signal

Any application where two
feedbacks are used by the drive.

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

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

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

Feedback A input:
Incremental Encoder or
Analog Encoder or Resolver or
Tachometer or Potentiometer

Port B1 output: Differential or
Single-Ended Pulse and
Direction Commands

Port B2 output: Differential
Buffered Pulse and Direction
Signal

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.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.8. Auxiliary Feedback (Feedback B)

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

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

FEEDBACK B (YA[4]=4)

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

when:

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

controller.

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

• The Eagle HV 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):

47

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

CHA

5

15

10

1

11

6

Port B1
Port B2
Power

Eagle HV Installation Guide Installation

Port Pin Signal Function Pin Positions

48

B1 1

Auxiliary channel A high output

B1 2 CHA- Auxiliary channel A low output

B1 3 CHB Auxiliary channel B high output

B1 4 CHB- Auxiliary channel B low output

B1 5 INDEX Auxiliary Index high output

B2 6 CHAO Buffered channel A output

B2 7 CHAO- Buffered channel A complement output

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

B1 10 INDEX- Auxiliary Index low output

B2 11 CHBO Buffered channel B output

B2 12 CHBO- Buffered channel B complement output

B2 13 INDEXO Buffered Index output

B2 14 INDEXO- Buffered Index complement output

15-Pin High Density

D-Sub Plug

15-Pin High Density

D-Sub Socket

PWR 15 SUPRET Supply return

Table 11: Main Encoder Buffered Outputs or Emulated Encoder Outputs on FEEDBACK B - Pin

Assignments

AUX. FEEDBACK on the Eagle HV has a 15-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable, from the controller or other device, to AUX. FEEDBACK using a 15-pin, high
density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow
the instructions in Section 3.5.5 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

49

Figure 21: Main Encoder Buffered Output or Emulated Encoder Output on Aux. Feedback -

Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

input

input

B1

4

CHB-

Auxiliary channel B low input

input

PWR

9

SUPRET

Encoder supply voltage return

5

15

10

1

11

6

Port B1
Port B2
Power

input

B2

11

CHBO

Buffered channel B output

B2

13

INDEXO

Buffered Index output

Eagle HV Installation Guide Installation

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

The Eagle HV 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

B1 1 CHA Auxiliary channel A high input

50

B1 2 CHA- Auxiliary channel A low

B1 3 CHB Auxiliary channel B high

B1 5 INDEX Auxiliary Index high

B2 6 CHAO Buffered channel A output

B2 7 CHAO- Buffered channel A complement output

PWR 8 +5V Encoder supply voltage

B1 10 INDEX- Auxiliary Index low

B2 12 CHBO- Buffered channel B complement output

B2 14 INDEXO- Buffered Index complement output

PWR 15 SUPRET Supply return

15-Pin High Density D-

Sub Plug

15-Pin High Density

D-Sub Socket

AUX. FEEDBACK on the Eagle HV has a 15-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the feedback device to AUX. FEEDBACK using a 15-pin, high density D-Sub
plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.5.5 (Feedback and Control Cable Assemblies).

Table 12: Differential Auxiliary Encoder Input Option on Aux. Feedback

Pin Assignments

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

51

Figure 22: Differential Auxiliary Encoder Input Option on Aux. Feedback -

Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

4

NC

Do not connect this pin

B1

5

INDEX

Auxiliary Index high input

B2

7

CHAO-

Channel A complement output

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

10

NC

Do not connect this pin

B2

12

CHBO-

Channel B complement output

Eagle HV Installation Guide Installation

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

The Eagle HV 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

B1 1 CHA Auxiliary channel A high input

2 NC Do not connect this pin

B1 3 CHB Auxiliary channel B high input

52

B2 6 CHAO Channel A output

15-Pin High Density D-Sub

PWR 8 +5V Encoder supply voltage

Plug

PWR 9 SUPRET Encoder supply voltage return

B2 11 CHBO Channel B output

B2 13 INDEXO Index output

B2 14 INDEXO- Index complement output

PWR 15 SUPRET Supply return

15-Pin High Density D-Sub

Socket

Table 13: Single-Ended Auxiliary Encoder Option on Feedback B - Pin Assignments

AUX. FEEDBACK on the Eagle HV has a 15-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the feedback device to Aux. Feedback using a 15-pin, high density D-Sub
plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.5.5 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

53

Figure 23: Single-Ended Auxiliary Input Option on Aux. Feedback - Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

Eagle HV Installation Guide Installation

3.5.8.4. 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 they are set up to run as a single­ended pulse-and-direction input:

Port Pin Signal Function Pin Positions

B1 1 PULS/CHA Pulse/Auxiliary channel A high input

2 NC Do not connect this pin

B1 3 DIR/CHB Direction/Auxiliary channel B high input

4 NC Do not connect this pin

5 NC Do not connect this pin

B2 6 CHAO Channel A output

15-Pin D-Sub Plug

B2 7 CHAO- Channel A complement output

54

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

10 NC Do not connect this pin

B2 11 CHBO Channel B output.

B2 12 CHBO- Channel B complement output

13 NC Do not connect this pin

14 NC Do not connect this pin

15-Pin D-Sub Socket

PWR 15 SUPRET Supply return

Table 14: Pulse-and-Direction Auxiliary Encoder Pin Assignment on Aux. Feedback

Aux. Feedback on the Eagle HV has a 15-pin high density D-Sub socket. Connect the Auxiliary
Feedback cable from the Pulse and Direction Controller to Aux. Feedback using a 15-pin, high
density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow
the instructions in Section 3.5.5 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

55

Figure 24: Pulse-and-Direction Input Option on Aux. Feedback - Connection Diagram

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

Eagle HV Installation Guide Installation

Port Pin Signal Function Pin Positions

B1 1 PULS/CHA Pulse/Auxiliary channel A high input

B1 2 PULS-/CHA- Pulse-/Auxiliary channel A low input

B1 3 DIR/CHB Direction/Auxiliary channel B high input

B1 4 DIR-/CHB- Direction-/Auxiliary channel B low input

5 NC Do not connect this pin

B2 6 CHAO Channel A output

15-Pin D-Sub Plug

B2 7 CHAO- Channel A complement output

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

10 NC Do not connect this pin

B2 11 CHBO Channel B output.

56

B2 12 CHBO- Channel B complement output

13 NC Do not connect this pin

14 NC Do not connect this pin

15-Pin D-Sub Socket

PWR 15 SUPRET Supply return

Table 15: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on Aux. Feedback

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

57

Figure 25: Differential Pulse-and-Direction Input Option on Aux. Feedback - Connection

Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.9. I/O Port

The Eagle HV has a general I/O port which can be used to connect 6 digital inputs, 4 digital
outputs, 1 analog input and 1 fast differential output with a response time of less than 0.5
µsec. The fast differential output is active in parallel to the OUT1.

I/O P1 Port Total

Digital Input 6 6

Digital Output 4 4

Analog Input 1 1

General I/O port has a 26-pin high density D-Sub plug. When assembling this I/O cable, follow
the instructions in Section 3.5.5 (Feedback and Control Cable Assemblies) using a 26-pin high
density metal case D-Sub female connector (socket).

58

Pin Signal Function

1 VDDIN External 24 VDC supply pos. input

2 VDDIN External 24 VDC supply pos. input

3 OUT4 Programmable output 4

4 OUT3 Programmable output 3

5 OUT2 Programmable output 2

6 OUT1 Programmable output 1

7 VDDRET Supply return for out 1-4

8 VDDRET Supply return for out 1-4

9 ANARET Analog ground

10–13 N/A

14 OUT1_fast+ Differential output 1+

15 OUT1_fast- Differential output 1-

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

Pin Signal Function

16 N.C.

17 ANALOG1- Analog input 1-

18 ANALOG1+ Analog input 1+

19 IN1 Programmable input 1

20 IN2 Programmable input 2

21 IN3 Programmable input 3

22 IN4 Programmable input 4

23 IN5 Programmable input 5

24 IN6 Programmable input 6

25 INRET1-6 Programmable input 1-6 return

26 INRET1-6 Programmable input 1-6 return

59

Table 16: General I/O Connector - Pin Assignments

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

60

Figure 26: General I/O - Connection Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.5.10. Communication Cables

The communication cables use a 9-pin D-sub plug that connects to the RS-232 and a 9-pin
D-sub socket that connects to the CAN ports of the Eagle HV.

The communication interface may differ according to the user’s hardware. The Eagle HV 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 HV 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 CAN interface is not isolated.

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

61

3.5.10.1. RS-232 Communication

Notes for connecting the RS-232 communication cable:

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

covered by copper braid with a drain wire.

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

internally inside the connector at the PC end. You can use the drain wire to facilitate
connection.

• The D-sub plug must have a shield cover.

• Ensure that the shield of the cable is connected to the shield of the D-sub plug. The drain

wire can be used to facilitate the connection.

Pin Signal Function Connector

1 N/A

2 RS232_Tx RS-232 transmit

3 RS232_Rx RS-232 receive

4 N/A

5 COMRET Communication return

6, 7, 8, 9 N/A

Table 17: RS-232 Cable - Pin Assignments

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

Figure 27: RS-232 Connection Diagram

3.5.10.2. CAN Communication

Notes for connecting the CAN communication cable:

62

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

aluminum foil and covered by copper braid with a drain wire

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

internally inside the connector at the PC end. You can use the drain wire to facilitate
connection.

• The D-sub socket must have a shield cover.

• Ensure that the shield of the cable is connected to the shield of the D-sub socket. The drain

wire can be used to facilitate the connection.

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

Pin Signal Function Connector

1 — —

2 CAN_L CAN_L bus line (dominant low)

3 CAN_RET CAN Return

4 — —

5 CAN_SHLD Shield, connected to the metal housing of

the D-type

6 CAN_RET CAN Return

7 CAN_H CAN_H bus line (dominant high)

8 VL- Aux. supply – see Section 3.5.4.

9 VL+ Aux. supply + see Section 3.5.4.

Table 18: CAN Cable - Pin Assignments

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

63

Figure 28: CAN - Connection Diagram

Caution:

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.6. Powering Up

After the Eagle HV has been mounted, check that the cables are intact.

The Eagle HV 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 HV and that the proper plus-minus connections
are in order.

3.7. Heat Dissipation

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

heatsink) 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 HV's heat sink and any other assembly.

64

3.7.1. Eagle HV Thermal Data

• Free air convection thermal resistance (θ): Approximately 7 to 8°C/W.

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

means that the Eagle HV will reach 2/3 of its final temperature after 4 minutes).

• Self-heat dissipation capability (no external heat sink): 20 W for 40°C/W temperature rise.

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

• The thermal resistance when connecting to an external heat sink using a thermal

conductive compound/foil. By proper smearing of the surface a significant improvement of

the thermal resistance is achieved: 0.06°C/W.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

3.7.2. Heat Dissipation Data

Heat Dissipation is shown graphically below:

65

Figure 29: Dissipation versus Current Graph for 560 and 680 VDC

Figure 30: Dissipation versus Current Graph for 330 VDC

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

DC Bus Voltage (VDC)

Rectified Voltage (VAC)

Eagle HV Installation Guide Installation

3.7.3. How to Use the Charts

The power dissipation in the chart includes the losses of the rectifying bridge.
Regarding Figure 29 and Figure 30, the following should be noted:

560 3X400

680 3X480

330 3X230

The charts above are based upon theoretical worst-case conditions. Actual test results show
30% to 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 HV as

≤ 40 °C.

66

3. Calculate the allowable temperature increase according to the following example: For an

ambient temperature of 40 °C, ΔT = 80 to 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.

3.8. Initializing the System

After the Eagle HV 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.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Chapter 4: Technical Specifications

Eagle HV Installation Guide

This chapter provides detailed technical information regarding the Eagle HV. 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 HV'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

67

4.1.2. Advanced Positioning Control Modes

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

• 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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.1.5. Feedback Options

• Incremental Encoder – up to 20 Megacounts (5 Megapulses) per second

• Digital Halls – up to 2 kHz

• Incremental Encoder with Digital Halls for commutation – up to 20 Megacounts 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
 Emulated encoder outputs, differential, buffered of the Analog encoder

• Absolute Encoder

• Analog Hall Sensor

• Resolver

 Programmable 10 to 15 bit resolution
 Up to 512 revolutions per second (RPS)
 Emulated encoder outputs, differential, buffered of the Resolver.

68

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

• Tachometer & Potentiometer

• The Eagle HV can provide power (5 V, 2x200 mA max) for Encoders, Resolver or Halls.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.1.6. Input/Output

• 1 Analog Input – up to 14-bit resolution

• 6 programmable Digital Inputs, optically isolated (two of which are fast event capture

inputs).

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

• 4 programmable Digital Outputs:

 Brake Control with output-current of 0.25 A
 Amplifier fault indication
 General-purpose
 Servo enable indication

69

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

• Buffered and differential outputs of the auxiliary encoder

• Emulated Buffered and differential outputs of resolver or analog encoder

• Pulse and Direction inputs (Differential)

• PWM current command output for torque and velocity

4.1.7. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Status reporting

• Protection against:

 Shorts between motor power outputs
 Shorts between motor power outputs and power input/return
 Failure of internal power supplies
 Over-heating

• Continuous temperature measurement. Temperature can be read on the fly; a

warning can be initiated x degrees before temperature disable is activated.

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.1.8. Accessories

• Heatsinks (TBD)

4.1.9. Status Indication

• Bi-color LED

4.1.10. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

70

• Velocity gain scheduling

• Position gain tuning

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.2. Dimensions

71

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.3. Power Ratings for 400 V Models

Feature Units 50/400 R100/400

Minimum supply voltage VDC For S type*: 50

For non-S type: 100

Nominal supply voltage VDC 325

Maximum supply voltage VDC 400

Maximum continuous power output kW 16 33

72

Efficiency at rated power (at nominal

% > 98

conditions)

Auxiliary supply option, for S drives VDC 18 to 30

Auxiliary power supply (external option)

Continuous current limit (Ic) amplitude

VA 7

A 50 100

of sinusoidal/DC trapezoidal
commutation

Sinusoidal continuous RMS current limit

A 35 71

(Ic)

Peak current limit A 100 No peak

Weight kg (oz) 1.623 kg (57.25 oz)

Dimensions mm (in) 180 x 142 x 75.2 (7.08" x 5.59" x 2.96")

Digital in/Digital out/ Analog in 6/4/1

Mounting method Panel / Wall Mounted

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.4. Power Ratings for 700 V Models

Note: This model will not be used in new designs of the drive.

Feature Units 35/700 R70/700 R100/700

Minimum supply voltage VDC For S type*: 100

Nominal supply voltage VDC 560 for 400 VAC

680 for 480 VAC

Maximum supply voltage VDC 700

Maximum continuous power output kW 20 40 57

73

Efficiency at rated power (at nominal

% > 98

conditions)

Auxiliary supply option, for S drives VDC 18 to 30

Auxiliary power supply (external

VA 7

option)

Continuous current limit (Ic) amplitude

A 35 70 100
of sinusoidal/DC trapezoidal
commutation

Sinusoidal continuous RMS current

A 25 50 71
limit (Ic)

Peak current limit A 70 No peak No peak

Weight kg (oz) 1.623 kg (57.25 oz)

Dimensions mm (in) 180 x 142 x 75.2 (7.08" x 5.59" x 2.96")

Digital in/Digital out/ Analog in 6/4/1

Mounting method Panel / Wall Mounted

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.5. Power Ratings for 800 V Models

Feature Units 35/800 R70/800 R100/800

Minimum supply voltage VDC For S type*: 100

Nominal supply voltage VDC 560 for 400 VAC

680 for 480 VAC

Maximum supply voltage VDC 780

Maximum continuous power output kW 22 45 65

74

Efficiency at rated power (at nominal

% > 98

conditions)

Auxiliary supply option, for S drives VDC 18 to 30

Auxiliary power supply (external

VA 7

option)

Continuous current limit (Ic) amplitude

A 35 70 100
of sinusoidal/DC trapezoidal
commutation

Sinusoidal continuous RMS current

A 25 50 71
limit (Ic)

Peak current limit A 70 No peak No peak

Weight kg (oz) 1.623 kg (57.25 oz)

Dimensions mm (in) 180 x 142 x 75.2 (7.08" x 5.59" x 2.96")

Digital in/Digital out/ Analog in 6/4/1

Mounting method Panel / Wall Mounted

The following notes apply to all the above Power Rating models 400, 700, and 800 V.

*See page 19 for details on the part number. The S suffix appears in models where there is a
24 V control supply. If there is no S suffix, the control power supply operates from the main
power.

Note on current ratings: The current ratings of the Eagle HV are given in units of DC

amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS
(sinusoidal commutation) value is the DC value divided by 1.41.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.6. Auxiliary Supply (Only for S type drive)

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 18 VDC to 30 VDC

Auxiliary supply input power 7 VA

Note: An S type drive can only operate if it has an auxiliary supply.

4.7. Environmental Conditions

Feature Operation Conditions Range

75

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 +71 °C (-40 °F to 160 °F)

Non-operating conditions -40 °C to +71 °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, 14.6 g

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

Operating conditions ±20g; Half sine, 11 msec

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Current control

Programmable 100 to 200 µsec

Default 10 kHz

Eagle HV Installation Guide Technical Specifications

4.8. Control Specifications

4.8.1. Current Loop

Feature Details

Controller type Vector, digital

76

Compensation for bus voltage

“On-the-fly” automatic gain scheduling

variations

Motor types

• AC brushless (sinusoidal)

• DC brushless (trapezoidal)

• DC brush

• Linear motors

• “Voice” coils

• Fully digital

• Sinusoidal with vector control

• Programmable PI control filter based on a pair of

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

Current loop bandwidth < 2.5 kHz

Current sampling time

Current sampling rate

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.8.2. Velocity Loop

Feature Details

Controller type PI

77

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 (optional)

• Digital Halls

• Interpolated Analog (Sin/Cosine) Encoder (optional)

• Resolver (optional)

• Tachometer and Potentiometer (optional)

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

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

Velocity loop bandwidth < 350 Hz

Velocity sampling time

140 to 200 µsec (2x 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.

4.8.3. 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 (4x current loop sample time)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9. Feedbacks

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

4.9.1. Feedback Supply Voltage

The DC-Eagle HV has two feedback ports (Main and Auxiliary). The DC-Eagle HV supplies
voltage only to the main feedback device and to the auxiliary feedback device if needed.

Feature Details

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

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

4.9.2. Main Feedback Options

4.9.2.1. Incremental Encoder Input

Feature Details

78

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 nsec

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

Minimum quadrature phase period (PPH) 28 nsec

Maximum encoder input voltage range

Common mode: ±7 V

Differential mode: ±7 V

Figure 31: Main Feedback - Encoder Phase Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9.2.2. Digital Halls

Feature Details

79

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): 5

mA

Maximum frequency f

MAX

: 2 kHz

4.9.2.3. 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 Megacounts/sec “internally”

Automatic errors correction Signal amplitudes mismatch

Signal phase shift

Signal offsets

Encoder outputs

See Auxiliary Encoder Outputs specifications ( 4.9.3)

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9.2.4. Resolver

Feature Details

80

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 HV

Reference current up to ±50 mA

Encoder outputs

See Auxiliary Encoder Output specifications ( 4.9.3)

4.9.2.5. Tachometer *

Feature Details

Tachometer format Differential

Maximum operating differential

±20 V

voltage for TAC1+, TAC1-

Maximum absolute differential input

±25 V

voltage for TAC1+, TAC1-

Maximum operating differential

±50 V

voltage for TAC2+, TAC2-

Maximum absolute differential input

±60 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.

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9.2.6. Potentiometer

Feature Details

Potentiometer Format Single-ended

Operating Voltage Range 0 to 5 V supplied by the Eagle HV

Potentiometer Resistance 100 Ω to 1 kΩ Above this range, linearity is affected

detrimentally

Input Resistance 100 kΩ

Resolution 14 bit

4.9.3. Main Encoder Buffered Output

Feature Details

81

Main encoder buffered output

• A, B, Index

• Differential outputs

• Quadrature

Interface RS-422

Output current capability

Driving differential loads of 200 Ω on INDEX/
INDEX-, CHB/CHB- and CHA/CHA- pairs

Available as options Simultaneous buffered outputs of main -

incremental encoder 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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9.4. Auxiliary Feedback Port (output mode YA[4]= 4)

Feature Details

82

Emulated output

• A, B, Index

• Differential outputs

Output current capability Maximum output current: IOH (max) = 2 mA

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder outputs of analog encoder

> 3.0 V

OH

= 2 mA

OL

< 0.4 V

OL

• Emulated encoder outputs of the resolver

• Emulated encoder outputs of the tachometer

• Emulated encoder outputs of the potentiometer

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.9.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)

Feature Details

83

Encoder input,
pulse and direction input

• A, B, Index

• Differential

Input voltage VIn Low: 0 V < VIL < 0.8 V

V

High: 2 V < VIH < 5 V

In

Maximum absolute voltage: 0 < V

< 5.5 V

In

Input current: ±1 µA

Available as options

• Differential Buffered Encoder inputs

• Differential Buffered Pulse and Direction inputs

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 33: Auxiliary Feedback - Encoder Phase Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

• Optically isolated

Eagle HV Installation Guide Technical Specifications

4.10. I/Os

The Eagle HV has:

• 6 Digital Inputs

• 4 Digital Outputs

• 1 Analog Input

4.10.1. Digital Input Interfaces

Feature Details

Type of input

• PLC level as default or TTL option upon request

84

Input current
for all inputs

Rin=3.43K, Iin = 1.2 mA @ Vin = 5 V

Rin=3.43K, Iin = 6.7 mA @ Vin = 24 V

High-level input voltage 5 V < Vin < 24 V

Low-level input voltage 0 V < Vin < 1 V

Minimum pulse width > 4 x TS, where TS is sampling time

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

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.

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.

Figure 34: Digital Input Schematic

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

I

out

Eagle HV Installation Guide Technical Specifications

4.10.2. Digital Output Interface

Feature Details

85

Type of output

• Optically isolated

• Powerful Source capability

Maximum external supply (VDD) 30 V

Max. allowable output current draw
I

(max) (V

out

= Low)

out

VOH maximum output voltage

(Source mode)

• I

• I

(max) ≤ 250 mA for output 1 to 3

out

(max) ≤ 500 mA for output 4

out

VDD ≥ VOH ≥ (VDD – 1.25)

*1.25 V is the typical internal V

@ 250 mA

Drop

RL (inductive or resistive) The external load RL must be selected to limit the

output current to no more than 250 mA.

VDD – 1.25
RL = ------------------

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.

Schematic Diagram

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.10.3. 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

4.11. Communications

Specification Details

RS-232 Signals:

• RxD , TxD , Gnd

• Full duplex, serial communication for setup and

control.

86

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

CAN CAN bus Signals:

• CAN_H, CAN_L, CAN_GND

• Maximum Baud Rate of 1 Mbit/sec.

Version:

• DS 301 V4.01

Layer Setting Service and Protocol Support:

• DS 305

Device Profile (drive and motion control):

• DS 402

4.12. Pulse-Width Modulation (PWM)

Feature Details

PWM resolution 12-bit

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

4.13. Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

87

In compliance with 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.)

• 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

In compliance with 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

In compliance with IEC/EN 61800-5-1,
Safety

Adjustable speed electrical power drive
systems

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

www.elmomc.com

MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Technical Specifications

EMC

In compliance with IEC/EN 61800-3, EMC Adjustable speed electrical power drive

systems

88

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)

www.elmomc.com