ElmoMC ExtrIQ Digital Servo Drives-Eagle HV User Manual

Eagle HV (High Voltage)

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.502)

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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

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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

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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.

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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

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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.

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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

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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

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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.

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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

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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

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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.

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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

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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)

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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.

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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.

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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.

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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

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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.

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• 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).

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MAN-EAG-HVIG (V er. 1.502)

Eagle HV Installation Guide Installation

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

(an S Type Drive)

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

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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

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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.

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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.

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