ElmoMC ExtrIQ Digital Servo Drives-Hawk User Manual
Hawk
Digital Servo Drive
Installation Guide
July 2014 (Ver. 1.401)
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 Hawk 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-HAWIG (Ver. 1.401)
Copyright 2014
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Related Products
Evaluation Board
Evaluation Board User Manual
Catalog Number: EVA-WHI/GUI/BEL
MAN-EVLBRD-WHI-BEL-GUI.pdf (available on our web site)
Revision History
Version Date Details
1.0 May 2008 Initial release
1.1 June 2009 MTCR 05-009-53: Updated Section 3.8.3; added Sections
3.15 and 3.16
1.2 July 2010 MTCR 03-010-02: Updated Section 3.4, Figure 22 and Section
4.1.8
1.3 September 2012 Formatted according to the new template
“Metronome” was replaced by the “Composer” software.
1.301 February 2013 Added a caution and recommendation on the type of
cleaning solution to use for the Elmo unit.
1.400 June 2013 Addition of 50/100, 20/200, R75/60, and R75/48 models
Elmo Worldwide
Head Office
Elmo Motion Control Ltd.
60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel
Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
Asia Pacific
Elmo Motion Control APAC Ltd.
B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)
Tel: +82-31-698-2010 • Fax: +82-31-801-8078 • info-asia@elmomc.com
MAN-HAWIG (Ver. 1.401)
Table of Contents
Hawk 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: Introduction ................................................................................................. 12
2.1. ExtrIQ Product Family ................................................................................................... 12
2.1.1. Drive Description ........................................................................................... 13
2.2. Product Features .......................................................................................................... 14
2.2.1. Current Control .............................................................................................. 14
2.2.2. Velocity Control ............................................................................................. 14
2.2.3. Position Control ............................................................................................. 14
2.2.4. Communication Options ................................................................................ 14
2.2.5. Feedback Options .......................................................................................... 15
2.2.6. Fault Protection ............................................................................................. 15
2.3. System Architecture ..................................................................................................... 16
2.4. How to Use this Guide .................................................................................................. 16
5
Chapter 3: Installation ................................................................................................... 18
3.1. Site Requirements ........................................................................................................ 18
3.2. Unpacking the Drive Components ................................................................................ 18
3.3. Pinouts .......................................................................................................................... 19
3.3.1. Connector Types ............................................................................................ 19
3.3.2. Connector J1 .................................................................................................. 20
3.3.3. Connector J2 .................................................................................................. 21
3.4. Mounting the Hawk ...................................................................................................... 22
3.5. Integrating the Hawk on a PCB ..................................................................................... 23
3.5.1. Traces ............................................................................................................. 23
3.5.2. Grounds and Returns ..................................................................................... 23
3.6. The Hawk Connection Diagram .................................................................................... 25
3.7. Main Power and Motor Power ..................................................................................... 26
3.7.1. Connecting Motor Power .............................................................................. 26
3.7.2. Connecting Main Power ................................................................................ 27
3.8. Auxiliary Supply (for drive logic) ................................................................................... 27
3.8.1. Single Supply .................................................................................................. 28
3.8.2. Separate Auxiliary Supply .............................................................................. 28
3.8.3. Shared Supply ................................................................................................ 29
3.9. Main Feedback .............................................................................................................
30
3.10. Auxiliary Feedback ........................................................................................................ 39
MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Table of Contents
3.10.1. Main and Auxiliary Feedback Combinations ................................................. 40
3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) ................. 41
3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 43
3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 45
3.11. I/Os ............................................................................................................................... 47
3.11.1. Digital Input ................................................................................................... 48
3.11.2. Digital Output ................................................................................................ 50
3.11.3. Analog Input .................................................................................................. 52
3.12. Communications ........................................................................................................... 53
3.12.1. RS-232 Communication ................................................................................. 53
3.12.2. CAN Communication ..................................................................................... 54
3.13. Powering Up ................................................................................................................. 56
3.14. Initializing the System ................................................................................................... 56
3.15. Heat Dissipation............................................................................................................ 56
3.15.1. Hawk Thermal Data ....................................................................................... 56
3.15.2. Heat Dissipation Data .................................................................................... 57
3.15.3. How to Use the Charts ................................................................................... 59
3.16. Evaluation Board and Cable Kit .................................................................................... 60
6
Chapter 4: Technical Specifications ................................................................................ 61
4.1. Features ........................................................................................................................ 61
4.1.1. Motion Control Modes .................................................................................. 61
4.1.2. Advanced Positioning Control Modes ........................................................... 61
4.1.3. Advanced Filters and Gain Scheduling........................................................... 61
4.1.4. Fully Programmable ....................................................................................... 61
4.1.5. Feedback Options .......................................................................................... 62
4.1.6. Input/Output ................................................................................................. 62
4.1.7. Built-In Protection ......................................................................................... 63
4.1.8. Accessories .................................................................................................... 63
4.1.9. Status Indication ............................................................................................ 63
4.1.10. Automatic Procedures ................................................................................... 63
4.2. Hawk Dimensions ......................................................................................................... 64
4.3. Power Ratings for up to 100 V models ......................................................................... 65
4.4. Power Ratings for 200 V models .................................................................................. 66
4.5. Auxiliary Supply ............................................................................................................ 66
4.6. Environmental Conditions ............................................................................................ 67
4.7. Control Specifications ................................................................................................... 68
4.7.1. Current Loop .................................................................................................. 68
4.7.2. Velocity Loop ................................................................................................. 69
4.7.3. Position Loop
................................................................................................. 69
4.8. Feedbacks ..................................................................................................................... 70
4.8.1. Feedback Supply Voltage ............................................................................... 70
4.8.2. Main Feedback Options ................................................................................. 70
4.8.2.1. Incremental Encoder Input ........................................................... 70
4.8.2.2. Digital Halls ................................................................................... 71
MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Table of Contents
4.8.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 71
4.8.2.4. Resolver ........................................................................................ 72
4.8.2.5. Tachometer ................................................................................... 72
4.8.2.6. Potentiometer .............................................................................. 73
4.8.3. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 74
4.8.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 75
4.9. I/Os ............................................................................................................................... 76
4.9.1. Digital Input Interfaces .................................................................................. 76
4.9.2. Digital Output Interface ................................................................................. 77
4.9.3. Analog Input .................................................................................................. 77
4.10. Communications ........................................................................................................... 78
4.11. Pulse-Width Modulation (PWM) .................................................................................. 78
4.12. Compliance with Standards .......................................................................................... 79
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MAN-HAWIG (Ver. 1.401)
Chapter 1: Safety Information
Warning:
Caution:
Hawk Installation Guide
In order to operate the Hawk 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 Hawk and accompanying equipment.
Please read this chapter carefully before you begin the installation process.
Before you start, ensure that all system components are connected to earth ground. Electrical
safety is provided through a low-resistance earth connection.
Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified
person has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating motors.
The Hawk 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-HAWIG (Ver. 1.401)
Hawk Installation Guide Safety Information
1.1. Warnings
• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Hawk from all voltage sources before it is opened for servicing.
• The Hawk 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). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.
1.2. Cautions
• The Hawk 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 the Hawk to an approved 12 to 195 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 Hawk, 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 Hawk 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-HAWIG (Ver. 1.401)
Hawk Installation Guide Safety Information
1.3. Directives and Standards
The Hawk conforms to the following industry safety standards:
Safety Standard Item
Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems
Recognized UL 508C Power Conversion Equipment
In compliance with UL 840 Insulation Coordination Including Clearances and
Creepage Distances for Electrical Equipment
10
In compliance with UL 60950-1
(formerly UL 1950)
Safety of Information Technology Equipment
Including Electrical Business Equipment
In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
The Hawk 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 Hawk 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-HAWIG (Ver. 1.401)
Hawk Installation Guide Safety Information
1.4. CE Marking Conformance
The Hawk 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
Hawk 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-HAWIG (Ver. 1.401)
Chapter 2: Introduction
ExtrIQ
Hawk Installation Guide
This installation guide describes the Hawk servo drive and the steps for its wiring, installation
and power-up. Following these guidelines ensures maximum functionality of the drive and the
system to which it is connected.
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2.1.
Elmo Motion Control’s ExtrIQ product family is a set of durable motion control products for
applications operating under extreme environmental conditions. The products are capable of
withstanding the following extreme conditions:
Feature Operation Conditions Range
Ambient
Temperature
Range
Temperature
Shock
Altitude
Maximum
Humidity
Product Family
Non-operating Conditions -50 °C to +100 °C (-58 °F to 212 °F)
Operating conditions -40 °C to +70 °C (-40 °F to 160 °F)
Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F) within 3
min
Non-operating conditions Unlimited
Operating conditions -400 m to 12,000 m (-1312 to 39370 feet)
Non-operating conditions Up to 95% non-condensing humidity at
35 °C (95 °F)
Operating conditions Up to 95% non-condensing humidity at
25 °C (77 °F), up to 90% non-condensing
humidity at 42 °C (108 °F)
Vibration
Mechanical
Shock
ExtrIQ products have a high power density in the range of 50 W to 65,000 W and current
carrying capacity of up to 140 A (280 A peak). ExtrIQ has been tested using methods and
procedures specified in a variety of extended environmental conditions (EEC) standards
including:
• MIL-STD-704- Aircraft, Electric Power Characteristics
• MIL-STD-810- Environmental Engineering Considerations and Laboratory Tests
• MIL-STD-1275- Characteristics of 28 Volt DC Electrical Systems in Military Vehicles
• MIL-STD-461- Requirements for the Control of Electromagnetic Interference Characteristics
of Subsystems and Equipment
• MIL-HDBK-217- Reliability Prediction of Electronic Equipment
• ISO-9001:2008
Operating conditions 20 Hz to 2000 Hz, 14.6g
Non-operating conditions ±40g; Half sine, 11 msec
Operating conditions ±20g; Half sine, 11 msec
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Introduction
Based on Elmo Motion Control’s innovative ExtrIQ core technology, they support a wide range
of motor feedback options, programming capabilities and communication protocols.
2.1.1. Drive Description
The Hawk series of digital servo drives is designed to deliver “the highest density of power and
intelligence”. The Hawk delivers up to 4.8 kW of continuous power or 8.0 kW of peak power in
a 119. 6 cc (6.95 in³) package (80 x 24.5 x 61 mm or 3.15" x 0.965" x 2.4").
The Hawk is designed for OEMs. It operates 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. It is designed for use with any
type of sinusoidal and trapezoidal commutation, with vector control. The Hawk can operate as
a stand-alone device or as part of a multi-axis system in a distributed configuration on a realtime network.
The Hawk drive is 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 Hawk, as part of the
Elmo Composer motion control language.
ExtrIQ product line, is fully programmable with
13
Power to the Hawk is provided by a 12 to 195 VDC isolated DC power source (not included with
the Hawk). A “smart” control-supply algorithm enables the Hawk to operate with only one
power supply with no need for an auxiliary power supply for the logic.
If backup functionality is required for storing control parameters in case of power-loss, an
external 12 to 195 VDC isolated supply should be connected (via the +VL terminal on the Hawk)
providing maximum flexibility and backup functionality when needed.
Note: This backup power supply can operate from any voltage source within the 12 to 195
VDC range. This is much more flexible than a standard 24 VDC power supply requirement.
If backup power is not needed, two terminals (VP and VL) are shorted so that the main power
supply will also power the control/logic supply. In this way there is no need for a separate
control/logic supply.
The Hawk is a PCB mounted device which enables efficient and economic implementation.
The Hawk is available in two models:
• The Standard Hawk is a basic servo drive which operates in current, velocity and position
modes including Follower and PT & PVT. It operates simultaneously via RS-232 and CAN DS
301, DS 305, DS 402 communications and features a third-generation programming
environment.
• The Advanced Hawk includes all the motion capabilities and communication options
included in the Standard model, as well as advanced positioning capabilities: ECAM, Dual
Loop and increased program size.
Both versions operate with RS-232 and CAN communication.
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Introduction
2.2. Product Features
2.2.1. Current Control
• Fully digital
• Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
• 12-bit current loop resolution
• Automatic gain scheduling, to compensate for variations in the DC bus power supply
2.2.2. Velocity Control
• Fully digital
• Programmable PI and FFW (feed forward) control filters
• Sample rate two times current loop sample time
• “On-the-fly” gain scheduling
14
• Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins
2.2.3. Position Control
• Programmable PIP control filter
• Programmable notch and low-pass filters
• Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
• Pulse-and-direction inputs
• Sample time: four times that of the current loop
• Fast event capturing inputs
• PT and PVT motion modes
• Fast output compare (OC)
• Position-based and time-based ECAM mode that supports a non-linear follower mode, in
which the motor tracks the master motion using an ECAM table stored in flash memory
• Dual (position/velocity) loop
2.2.4. Communication Options
Depending on the application, Hawk 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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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Introduction
2.2.5. Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts per
second for encoder
• Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz (analog signal)
Internal interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signals offset
Auxiliary emulated, unbuffered, single-ended, encoder output
• Resolver
Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer
15
• Elmo drives provide supply voltage for all the feedback options
2.2.6. Fault Protection
The Hawk 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-HAWIG (Ver. 1.401)
Hawk Installation Guide Introduction
2.3. System Architecture
16
Figure 1: Hawk System Block Diagram
2.4. How to Use this Guide
In order to install and operate your Elmo Hawk 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 Hawk.
• Chapter 4, Technical Specifications, lists all the drive ratings and specifications.
Upon completing the instructions in this guide, your Hawk servo drive should be successfully
mounted and installed. From this stage, you need to consult higher-level Elmo documentation
in order to set up and fine-tune the system for optimal operation. The following figure
describes the accompanying documentation that you will require.
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Introduction
17
Figure 2: Elmo Digital Servo Drive Documentation Hierarchy
As depicted in the previous figure, this installation guide is an integral part of the Hawk
documentation set, comprising:
• The SimplIQ Software Manual, which describes the comprehensive software used with the
Hawk
• The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the Hawk motion controller
• The Composer Software Manual, which includes explanations of all the software tools that
are part of Elmo’s Composer software environment
• The Whistle, Bell & Guitar Evaluation Board User Guide contains information about how to
use the Evaluation Board and Cable Kit
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MAN-HAWIG (Ver. 1.401)
Chapter 3: Installation
Hawk Installation Guide
The Hawk must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.
3.1. Site Requirements
You can guarantee the safe operation of the Hawk 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)
Maximum non-condensing humidity 95%
Operating area atmosphere No flammable gases or vapors permitted in area
18
Models for extended environmental conditions are available.
Caution:
The Hawk dissipates its heat by convection. The maximum operating ambient
temperature of 0 °C to 40 °C (32 °F to 104 °F) must not be exceeded.
3.2. Unpacking the Drive Components
Before you begin working with the Hawk, verify that you have all of its components, as follows:
• The Hawk servo drive
• The Composer software and software manual
The Hawk is shipped in a cardboard box with Styrofoam protection.
To unpack the Hawk:
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.
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
3. To ensure that the Hawk you have unpacked is the appropriate type for your requirements,
locate the part number sticker on the side of the Hawk. It looks like this:
The part number at the top gives the type designation as follows:
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4. Verify that the Hawk type is the one that you ordered, and ensure that the voltage meets
your specific requirements.
3.3. Pinouts
The Hawk has nine connectors.
3.3.1. Connector Types
Pins Type Port Function Connector Location
2x16
15 J2 Main Feedback, Analog
6 VL Auxiliary power input
6 VP+ Positive power input
6 PR Power input return
2 mm pitch
0.51 mm sq
J1 I/O, COMM,
Auxiliary Feedback
Input, LED
4 PE Protective earth
6 M1 Motor power output 1
6 M2 Motor power output 2
2 M3 Motor power output 3
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
3.3.2. Connector J1
Connector J1: Main Feedback and Analog Input functions
Pin (J1) Signal Function
1 RS232_RX RS232 receive
2 RS232_TX RS232 Transmit
3 RS232_COMRET Communication return
4 AUX PORT CHA Auxiliary port CHA (bidirectional)
5 AUX PORT CHB Auxiliary port CHB (bidirectional)
6 SUPRET Supply return
7 OUT1 Programmable digital output 1
8 OUT2 Programmable digital output 2
9 OUT3 Programmable digital output 3
20
10 OUT4 Programmable digital output 4
11 IN1 Programmable digital input 1
12 IN2 Programmable digital input 2
13 IN3 Programmable digital input 3
14 IN4 Programmable digital input 4
15 IN5 Programmable digital input 5
16 IN6 Programmable digital input 6
17 INRET6 Programmable digital input 6 return
18 INRET5 Programmable digital input 5 return
19 INRET4 Programmable digital input 4 return
20 INRET3 Programmable digital input 3 return
21 INRET2 Programmable digital input 2 return
22 INRET1 Programmable digital input 1 return
23 OUTRET4 Programmable digital output 4 return
24 OUTRET3 Programmable digital output 3 return
25 OUTRET2 Programmable digital output 2 return
26 OUTRET1 Programmable digital output 1 return
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
Pin (J1) Signal Function
27 +5 V Encoder +5 V supply voltage.
Maximum output current: 200 mA.
28 COMRET Common return
29 AUX PORT INDEX Auxiliary port index (bidirectional)
30 CAN_COMRET CAN communication return
31 CAN_L CAN_L busline (dominant low)
32 CAN_H CAN_H busline (dominant high)
3.3.3. Connector J2
Connector J2: Communications, Auxiliary Feedback and I/O functions
Pin (J2) Signal Function
21
1 +5V Encoder/Hall +5V supply voltage
Maximum output current: 200 mA
2 SUPRET Supply return
3 ANALIN1+ Analog input 1+
4 ANALIN1- Analog input 1-
5 CHA Channel A input
6 CHA- Channel A input complement
7 CHB Channel B input
8 CHB- Channel B input complement
9 INDEX+ Index input
10 INDEX- Index input complement
11 HA Hall sensor A input
12 HB Hall sensor B input
13 HC Hall sensor C input
14 LED_2_OUT Bi-color indication output 2 (Cathode)
15 LED_1_OUT Bi-color indication output 1 (Anode)
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
3.4. Mounting the Hawk
The Hawk was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm
square pins. When integrating the Hawk into a device, be sure to leave about 1 cm (0.4")
outward from the heatsink to enable free air convection around the drive. We recommend that
the Hawk be soldered directly to the board. Alternatively, though this is not recommended, the
Hawk can be attached to socket connectors mounted on the PCB. If the PCB is enclosed in a
metal chassis, we recommend that the Hawk be screw-mounted to it as well to help with heat
dissipation. The Hawk has screw-mount holes on each corner of the heatsink for this purpose –
see below.
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Figure 3: The Hawk Footprint
When the Hawk is not connected to a metal chassis, the application’s thermal profile may
require a solution for heat dissipation due to insufficient air convection. In this case, we
recommend that you connect an external heatsink.
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
3.5. Integrating the Hawk on a PCB
The Hawk is designed to be mounted on a PCB, either by soldering its pins directly to the PCB
or by using suitable socket connectors. In both cases the rules in the following sub-sections
apply.
3.5.1. Traces
1. The size of the traces on the PCB (thickness and width) is determined by the current
carrying capacity required by the application.
The rated continuous current limit (Ic) of the Hawk is the current used for sizing the
motor traces (M1, M2, M3 and PE) and power traces (VP+, PR and PE).
For control, feedbacks and Inputs/outputs conductors the actual current is very small
but “generous” thickness and width of the conductors will contribute to a better
performance and lower interferences.
2. The traces should be as short as possible to minimize EMI and to minimize the heat
generated by the conductors.
3. The spacing between the high voltage conductors (VP+, PR, M1, M2, M3, VL) must be at
least:
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Surface layer: 1.5 mm
Internal layer: 0.5 mm
Complying with the rules above will help satisfy UL safety standards, MIL-STD-275 and the IPCD-275 standard for non-coated conductors, operating at voltages lower than 200 VDC.
3.5.2. Grounds and Returns
The “Returns” of the Hawk are structured internally in a star configuration. The returns in each
functional block are listed below:
Functional Block Return Pin
Power PR (Power Return)
Internal Switch Mode P.S. PR (Power Return)
RS232 Communications RS232_COMRET (J1/3)
CAN Communications CAN_COMRET (J1/30)
Control section COMRET (J1/28)
Main Feedback SUPRET (J2/2)
Aux. Feedback SUPRET (J1/6)
Analog input ANLRET (J2/2)
The returns above are all shorted within the Hawk in a topology that results in optimum
performance.
1. When wiring the traces of the above functions, on the Integration Board, the Returns of
each function must be wired separately to its designated terminal on the Hawk. DO NOT
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MAN-HAWIG (Ver. 1.401)
Hawk Installation Guide Installation
USE A COMMON GROUND PLANE. Shorting the commons on the Integration Board may
cause performance degradation (ground loops, etc.).
2. Inputs: The 6 inputs are optically isolated from the other parts of the Hawk. Each input has
a separate floating return (INRET1 for input 1 and INRET2 for input 2, etc.). To retain
isolation, the Input Return pins, as well as other conductors on the input circuit, must be
laid out separately.
3. Outputs: The 4 outputs are optically isolated from the other parts of the Hawk. Each
output has a separate floating return (OUTRET1 for output 1 and OUTRET2 for output 2,
etc.) To retain isolation, the Output Return pins, as well as other conductors on the output
circuit, must be laid out separately.
4. Return Traces: The return traces should be as large as possible, but without shorting each
other, and with minimal cross-overs.
5. Main Power Supply and Motor Traces: The power traces must be kept as far away as
possible from the feedback, control and communication traces.
6. PE Terminal: The PE terminal is connected directly to the Hawk’s heat-sink. The heat-sink
serves as an EMI common plane. The PE terminal should be connected to the system's
Protective Earth. Any other metallic parts (such as the chassis) of the assembly should be
connected to the Protective Earth as well.
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7. Under normal operating conditions, the PE trace carries no current. The only time these
traces carry current is under abnormal conditions (such as when the device has become a
potential shock or fire hazard while conducting external EMI interferences directly to
ground). When connected properly the PE trace prevents these hazards from affecting the
drive.
Caution:
Follow these instructions to ensure safe and proper implementation. Failure to
meet any of the above-mentioned requirements can result in
drive/controller/host failure.
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