ElmoMC SimplIQ Digital Servo Drives-Cello Installation Guide

Cello

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.602)

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 Cello 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-CELIG (Ver. 1.602)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Cable Kits

Catalog Numbers:

 CBL-CELKIT01 (can be ordered separately)

 CBL-CELKIT02 (can be ordered separately)

For further details, see the documentation for these cable kits (MAN-CBLKIT-CEL.pdf) .

Revision History

Version Date Details

1.0 Initial release

1.3 Apr 2008 Updated Power Ratings table in 4

1.4 Aug 2008 Added Section 3.4.7.4: Differential Pulse-and-Direction Input

1.5 Mar 2010 MTCR 07-009-56: added note to Section 3.4.8.2

1.6 July 2012 Formatted according to new template, updated Catalog Number

1.601 Feb 2013 Added a caution and recommendation on the type of cleaning

solution to use for the Elmo unit.

1.602 July 2014 General format update

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., POB 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-CELIG (Ve r. 1.602)

Table of Contents

Cello Installation Guide

1 Safety Information .......................................................................................... 7

1.1 Warnings .....................................................................................................................8

1.2 Cautions ......................................................................................................................8

1.3 Directives and Standards ............................................................................................9

1.4 CE Marking Conformance ...........................................................................................9

1.5 Warranty Information ................................................................................................9

2 Introduction ................................................................................................. 10

2.1 Drive Description ..................................................................................................... 10

2.2 Product Features ..................................................................................................... 10

2.2.1 Current Control ......................................................................................... 10

2.2.2 Velocity Control ........................................................................................ 11

2.2.3 Position Control ........................................................................................ 11

2.2.4 Advanced Position Control (Advanced model only) ................................. 11

2.2.5 Communication Options ........................................................................... 11

2.2.6 Feedback Options ..................................................................................... 12

2.2.7 Fault Protection ........................................................................................ 12

2.3 System Architecture ................................................................................................ 13

2.4 How to Use this Guide ............................................................................................. 13

5

3 Installation ................................................................................................... 15

3.1 Before You Begin ..................................................................................................... 15

3.1.1 Site Requirements .................................................................................... 15

3.1.2 Hardware Requirements .......................................................................... 15

3.2 Unpacking the Drive Components ........................................................................... 17

3.3 Mounting the Cello .................................................................................................. 18

3.4 Connecting the Cables ............................................................................................. 19

3.4.1 Wiring the Cello ........................................................................................ 19

3.4.2 Connecting the Power Cables ................................................................... 22

3.4.2.1 Connecting the Motor Cable ................................................... 22

3.4.2.2 Connecting the Main Power Cable .......................................... 23

3.4.3 Connecting the Optional Backup Supply Cable (24 V) .............................. 24

3.4.4 Feedback and Control Cable Assemblies .................................................. 25

3.4.5 Main Feedback Cable (FEEDBACK A) ........................................................ 25

3.4.6 Main and Auxiliary Feedback Combinations ............................................ 34

3.4.7 Auxiliary Feedback (FEEDBACK B) ............................................................. 35

3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs

Option on FEEDBACK B (YA[4]=4) ............................................ 35

3.4.7.2 Differential Auxiliary Encoder Input Option on FEEDBACK B

(YA[4]=2) .................................................................................. 38

3.4.7.3 Single-Ended Auxiliary Input Option on FEEDBACK B (YA[4]=2)40

3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) .. 42

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Table of Contents

3.4.8 I/O Cables ................................................................................................. 46

3.4.8.1 General I/O Port (J1) ................................................................ 46

3.4.8.2 General Input Port (J2) ............................................................ 48

3.4.9 Communication Cables ............................................................................. 50

3.4.9.1 RS-232 Communication ........................................................... 50

3.4.9.2 CAN Communication................................................................ 51

3.5 Powering Up ............................................................................................................ 53

3.6 Initializing the System .............................................................................................. 53

4 Technical Specifications ................................................................................ 54

4.1 Features ................................................................................................................... 54

4.1.1 Motion Control Modes ............................................................................. 54

4.1.2 Advanced Positioning Motion Control Modes ......................................... 54

4.1.3 Advanced Filters and Gain Scheduling...................................................... 54

4.1.4 Fully Programmable .................................................................................. 54

4.1.5 Feedback Options ..................................................................................... 55

4.1.6 Input/Output ............................................................................................ 55

4.1.7 Built-In Protection .................................................................................... 56

4.2 Cello Dimensions ..................................................................................................... 57

4.3 Power Ratings .......................................................................................................... 58

4.4 Environmental Conditions ....................................................................................... 59

4.5 Cello Connections .................................................................................................... 60

4.5.1 Backup Supply (Optional) ......................................................................... 61

4.6 Control Specifications .............................................................................................. 61

4.6.1 Current Loop ............................................................................................. 61

4.6.2 Velocity Loop ............................................................................................ 62

4.6.3 Position Loop ............................................................................................ 62

4.7 Feedbacks ................................................................................................................ 63

4.7.1 Feedback Supply Voltage .......................................................................... 63

4.7.2 Incremental Encoder Input ....................................................................... 63

4.7.3 Digital Halls ............................................................................................... 64

4.7.4 Interpolated Analog (Sine/Cosine) Encoder ............................................. 64

4.7.5 Resolver .................................................................................................... 65

4.7.6 Tachometer............................................................................................... 65

4.7.7 Potentiometer .......................................................................................... 65

4.7.8 Encoder Outputs ....................................................................................... 66

4.8 I/Os .......................................................................................................................... 67

4.8.1 Digital Input Interfaces ............................................................................. 67

4.8.2 Digital Output Interface ............................................................................ 68

4.8.3 Analog Input ............................................................................................. 70

4.9

Communications ...................................................................................................... 70

4.10 Pulse-Width Modulation (PWM) ............................................................................. 70

4.11 Mechanical Specifications ....................................................................................... 70

4.12 Compliance with Standards ..................................................................................... 71

6

MAN-CELIG (Ve r. 1.602)

1 Safety Information

Warning:

Caution:

Cello Installation Guide

In order to achieve the optimum, safe operation of the Cello servo drive, 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 Cello 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 Cello 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.

7

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-CELIG (Ve r. 1.602)

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

 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 Cello servo drive contains hot surfaces and electrically-charged

components during operation.

8

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

the parameters outlined in this guide.

 The Cello can operate only through an isolated power source, using an isolated

transformer and a rectifier circuit. Power to this device must be supplied by DC
voltage, within the boundaries specified for the Cello. High voltages may
damage the drive.

The DC power supply voltage range is defined in the table in Section 4.3.

Safety margins must be considered in order to avoid activating the under- or over-voltage
protection against line variations and/or voltage drop under load. The transformer should
be able to deliver the required power to the drive (including peak power) without
significant voltage drops (10% maximum). While driving high-inertia loads, the power
supply circuit must be equipped with a shunt regulator; otherwise, the drive will be
disabled whenever the capacitors are charged above the maximum voltage.

 Before switching on the Cello, 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 Cello 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-CELIG (Ve r. 1.602)

Cello Installation Guide Safety Information

1.3 Directives and Standards

The Cello 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

9

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 Cello 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.

1.4 CE Marking Conformance

The Cello 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
Cello 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.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

2 Introduction

Cello Installation Guide

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

2.1 Drive Description

The Cello is a powerful servo drive that operates in digital current, velocity, position and
advanced position modes, in conjunction with a permanent-magnet synchronous brushless
motor or DC brush motor. The Cello features flexible sinusoidal and trapezoidal commutation,
with vector control. The Cello can operate as a stand-alone device or as part of a multi-axis
network in a distributed configuration.

The Cello drive is set up and tuned using Elmo’s Composer software. This Windows-based
application enables users to quickly and simply configure the servo drive for optimal use with
their motor.

10

Power to the Cello is provided by a 10 to 195 VDC source. A “smart” control-supply algorithm
enables the Cello to operate with the power supply only, with no need for an auxiliary 24 Volt
supply. If backup functionality is required for storing control parameters in case of power-outs,
an external 24 VDC power supply can be connected, providing maximum flexibility and optional
backup functionality when needed.

Two variations of the Cello are available: the Standard version and the Advanced version, which
features advanced positioning capabilities. Both versions operate with RS-232 and/or CAN
communication.

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

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Introduction

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

 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

11

 Sample time: four times that of current loop

 Fast event capturing inputs

2.2.4 Advanced Position Control (Advanced model only)

 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

 PT and PVT motion modes

 Dual (position/velocity) loop

 Fast output compare (OC)

2.2.5 Communication Options

Depending on the application, Cello 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-CELIG (Ve r. 1.602)

Cello Installation Guide Introduction

2.2.6 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

 Absolute Encoder

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

 Internal Interpolation – programmable up to x4096

 Automatic Correction of:

• amplitude mismatch

• phase mismatch

• signals offset

 Encoder outputs, buffered, differential.

12

 Resolver

 Programmable 10 to 15 bit resolution

 Up to 512 Revolutions Per Second (RPS)

 Encoder outputs, buffered, differential

 Tachometer and Potentiometer

 Two inputs for Tachometer Feedback:

 Up to ±50 VDC

 Up to ±20 VDC

 Potentiometer Feedback:

 0 to 5 V voltage range

 Resistance: 100 Ω to 1000 Ω

 Elmo drives provide supply voltage for all the feedback options

2.2.7 Fault Protection

The Cello 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-CELIG (Ve r. 1.602)

Auxiliary

Power

Supply

PWM

Controller

Power Stage

Protection

Current
Feedback

Incremental

Encoder

24 VDC

I/Os

Incremental Encoder

Buffered Output

or

Emulated Output

Resolver

Analog

Encoder

Auxiliary

Encoder

or

or

Potentiometer

Tachometer

or

or

Communication

RS 232 and CANopen

Cello Installation Guide Introduction

2.3 System Architecture

13

Figure 1: Cello System Block Diagram

2.4 How to Use this Guide

In order to install and operate your Elmo Cello 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 Cello.

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

Upon completing the instructions in this guide, your Cello 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.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

SimplIQ Command Reference Manual

Cello Installation Guide

SimplIQ Software Manual

Programming

Setup

Installation

Composer User Manual

CANopen Implementation Guide

Cello Installation Guide Introduction

14

Figure 2: Elmo Documentation Hierarchy

As depicted in the previous figure, this installation guide is an integral part of the Cello
documentation set, comprising:

 The Composer Software Manual, which includes explanations of all the

software tools that are part of Elmo’s Composer software environment.

 The SimplIQ Command Reference Manual, which describes, in detail, each

software command used to manipulate the Cello motion controller.

 The SimplIQ Software Manual, which describes the comprehensive software

used with the Cello.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

3 Installation

Cello Installation Guide

The Cello 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 Cello by ensuring that it is installed in an
appropriate environment.

Feature Value

15

Ambient operating temperature

Maximum operating altitude 2,000 m (6562 feet)

Maximum non-condensing humidity 90%

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution:
The Cello 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.

0 °C to 40 °C (32 °F to 104 °F)

3.1.2 Hardware Requirements

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

Component Connector Described in Section Drawing

Main Power Cable VP+ PR 3.4.2.2

Motor Cable M1 M2 M3 3.4.2.1

Backup Supply Cable
(if needed)

24V 3.4.3

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

Component Connector Described in Section Drawing

Main Feedback Cable FEEDBACK A 3.4.5

16

Auxiliary Feedback
Cable
(if needed)

Digital I/O Cable
(if needed)

Digital Inputs and
Analog Inputs Cable
(if needed)

RS232
Communication
Cable

FEEDBACK B 3.4.7 0

GENERAL I/O

3.4.8.1

J1

GENERAL I/O

3.4.8.2

J2

RS232 3.4.9.1

CAN Communication
cable(s) (if needed)

PC for drive setup
and tuning

Motor data sheet or
manual

CAN (in)

CAN (out)

3.4.9.2

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.2 Unpacking the Drive Components

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

 The Cello servo drive

 The Composer software and software manual

The Cello is shipped in a cardboard box with Styrofoam protection.

To unpack the Cello:

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

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.

To ensure that the Cello you have unpacked is the appropriate type for your requirements,

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

17

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

Verify that the Cello type is the one that you ordered, and ensure that the voltage meets your

specific requirements.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.3 Mounting the Cello

The Cello 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 Cello
(see the diagram below).

18

Figure 3: Mounting the Cello

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4 Connecting the Cables

The Cello has ten connectors.

3.4.1 Wiring the Cello

Once the Cello 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 Cello.

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.

19

 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.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Optional

Ground

Power & Motor

CAN

Feedback B

RS-232

J2: I/O

J1: I/O

Feedback A

Cello Installation Guide Installation

The following connectors are used for wiring the Cello.

Type Function Port Connector Location

20

5-Pin Phoenix

st

(1

two pins)

Power VP+, PR

(provided)

5-Pin Phoenix

Motor M1, M2, M3
(last 3 pins)
(provided)

3 ground

Ground PE, PE, PE

Backup Supply

screws

2-Pin Phoenix
(provided)

Optional

Backup Supply

24 VDC

Table 1: Connectors on the “Bottom” of the Cello

Type Function Port Connector Location

15-Pin D-Sub Feedback A Feedback A

15-Pin D-Sub

General I/O J1
(high-density)

15-Pin D-Sub

General I/O J2
(high-density)

Table 2: Connectors on the “Front” of the Cello

Type Function Port Connector Location

8-Pin RJ-45 CAN CAN

8-Pin RJ-45 CAN CAN

15-Pin D-Sub

Feedback B Feedback B

(high-density)

8-Pin RJ-45 RS-232 RS-232

Table 3: Connectors on the “Top” of the Cello

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

21

Figure 4: Cello Detailed Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4.2 Connecting the Power Cables

The main power connector, which is located on the bottom of the Cello, includes the following
pins:

Pin Function Cable Pin Positions

VP+ Pos. Power input Power

PR Power return Power

PE Protective earth Power

22

AC
Motor

DC Motor
Cable

Cable

PE Protective earth Motor Motor

M1 Motor phase Motor N/C

M2 Motor phase Motor Motor

M3 Motor phase Motor Motor

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

Table 4: Connector for Main Power and Motor Cables

3.4.2.1 Connecting the Motor Cable

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

Notes for connecting the motor cables:

For best immunity, it is highly recommended to use a shielded (not twisted) cable for
the motor connection. A 4-wire shielded cable should be used. The gauge is
determined by the actual current consumption of the motor.

Connect the shield of the cable to the closest ground connection at the motor end.

Connect the shield of the cable to the PE terminal on the Cello.

Be sure that the motor chassis is properly grounded.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

Figure 5: AC Motor Power Connection Diagram

3.4.2.2 Connecting the Main Power Cable

Connect the main power supply cable to the VP+ and PR terminals of the main power
connector. Connect the Protective Earth wire to the PE terminal on the Cello’s heat sink.

Notes for connecting the DC power supply:

Be sure to isolate the source of the DC power supply.

23

For best immunity, it is highly recommended to use twisted cables for the DC power
supply cable. A 3-wire shielded cable should be used. The gauge is determined by the
actual current consumption of the motor.

Connect both ends of the cable shield to the closest ground connection, one end near
the power supply and the other end to the PE terminal on the Cello’s heat sink.

For safety reasons connect the PR of the power supply to the closest ground
connection.

Figure 6: Main Power Supply Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4.3 Connecting the Optional Backup Supply Cable (24 V)

Power to the Cello is provided by a 10 to 195 VDC source. A “smart” control-supply algorithm
enables the Cello to operate with the power supply only, with no need for an auxiliary 24 volt
supply. If backup functionality is required for storing control parameters in case of power-outs,
an external 24 VDC power supply can be connected, providing maximum flexibility and optional
backup functionality when needed.

To connect the backup supply to the 24v port on the bottom of the Cello, use the 2-pin power
plug provided with the Cello. Remember, you are working with DC power; be sure to exercise
caution. The required voltage is 24 VDC.

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 must be isolated.

For safety reasons, connect the return of the 24 VDC source to the closest ground.

Connect the cable shield to the closest ground near the 24 VDC source.

24

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

Pin Signal Function Pin Positions

[+] +24VDC +24 VDC backup supply

[-] RET24VDC Return (common) of the 24 VDC

backup supply

Table 5: Backup Cable Plug

Figure 7: Backup Supply (24v) Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Connector

Drain wire
Make sure that the braid

Cello Installation Guide Installation

“Smart” Control Supply Options:

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

an auxiliary external 24 VDC supply for normal operation)

 24 VDC supply for backing up the control parameters if DC power is shut off

3.4.4 Feedback and Control Cable Assemblies

The Cello 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.

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

Ideally, solder the drain wire to the connector body as shown in Figure 8.
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.

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

25

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

concerning the shield.

body

soldered to
the metal
housing

shield is in tight contact
with the metal

housing

Figure 8: Feedback and Control Cable Assemblies

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

3.4.5 Main Feedback Cable (FEEDBACK A)

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

The Cello accepts the following as a main feedback mechanism:

 Incremental encoder only

 Incremental encoder with digital Hall sensors

 Digital Hall sensors only

 Interpolated Analog (Sine/Cosine) encoder (option)

 Resolver (option)

 Tachometer & Potentiometer

 Absolute encoder

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Incremental

Interpolated

Resolver

Tachometer and

CEL-XX/YYY_

CEL-XX/YYYI

CEL-XX/YYYR

CEL-XX/YYYT

Cello Installation Guide Installation

FEEDBACK A on the “front” of the Cello has a 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 3.4.4 (Feedback and
Control Cable Assemblies).

26

Encoder

Analog Encoder

Potentiometer

Pin Signal Function Signal Function Signal Function Signal Function

1 HC Hall sensor C

input

2 HA Hall sensor A

input

3 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

4 +5V Encoder/Hall

+5V supply

5 CHA- Channel A

complement

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

7 INDEX- Index

complement

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

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

10 HB Hall sensor B

input

HC Hall sensor C

input

HA Hall sensor A

input

+5V Encoder/Hall

+5V supply

A- Sine A

complement

R- Reference

complement

HB Hall sensor B

input

NC - HC Hall sensor C input

NC - HA Hall sensor A

input

+5V Encoder/Hall

+5V supply

S3 Sine A

complement

R2 Vref complement

f= 1/TS, 50 mA
Maximum

50 mA Max.

NC - HB Hall sensor B input

+5V Encoder/Hall +5V

supply

Tac 1- Tacho Input 1

Neg. (20 V max)

(20 V max)

NC -

POT Potentiometer

Input

11 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

12 +5V Encoder/Hall

+5V supply

13 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

14 CHB- Channel B

complement

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

+5V Encoder/Hall

+5V supply

B- Cosine B

complement

+5V Encoder/Hall

+5V supply

S4 Cosine B

complement

+5V Encoder/Hall +5V

supply

Tac 2- Tacho Input 2

Neg. (50 V max)

(50 V max)

Table 6: Main Feedback Cable Pin Assignments (Part A)

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

CEL-XX/YYYQ

Cello Installation Guide Installation

Absolute Encoders

Pin Signal Heidenhain Stegmann

1 HC Hall C Hall C

2 HA Hall A Hall A

3 SUPRET Supply return Supply return

4 +5V EnDat (Heidenhain) Encoder +5 supply Halls supply +5V

5 A- Sine A complement Sine A

6 A+ Sine A Sine A complement

7 DATA- Data complement Data complement

8 DATA+ DATA DATA

9 SUPRET Supply return Supply return

10 HB Hall B Hall B

27

11 CLK- CLOCK complement -

12 +8V - Stegmann Encoder +8V supply

8 V @90 mA maximum

13 CLK+ CLOCK -

14 B- Cosine B complement Cosine B complement

15 B+ Cosine B Cosine B

Table 7: Main Feedback Cable Pin Assignments (Part B)

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

28

Figure 9: Main Feedback- Incremental Encoder Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

29

Figure 10: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram

Figure 11: Main Feedback – Resolver Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello

CEL

only one tachometer port is available at a time

Up to 20v Max Feedback Input
(use with applications having a
Tacho voltage below 20v)

Up to 50v Max Feedback Input
(use with applications having a
Tacho voltage between 20v and 50v)

Cello

CEL0009B

Cello Installation Guide Installation

30

Figure 12: Main Feedback – Tachometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure 13: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello

CEL

Cello

CEL

Cello Installation Guide Installation

31

Figure 14: Main Feedback – Potentiometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure 15: Main Feedback –

Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

32

Figure 16: Main Feedback – Stegmann Feedback Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

33

Figure 17: Main Feedback – Heidenhain Feedback Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Feedback B Ports B1 and B2

FEEDBACK A
1

FEEDBACK B

Cello Installation Guide Installation

3.4.6 Main and Auxiliary Feedback Combinations

The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is
often, but not always used. The Auxiliary Feedback connector on the Cello, FEEDBACK B, has
two ports, Port B1 (pins 1 to 5 and 10) and Port B2 (pins 6, 7 and 11 to 14). When used in
combination with the Main Feedback port, FEEDBACK A, the ports can be set, by software, as
follows:

Feedback A

34

Software
Setting

Incremental
Encoder
Input

Interpolated
Analog

(Sin/Cos)
Encoder
Input

Resolver
Input

Tachometer
Input

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

 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: Tachometer

Port B1 output: Tachometer

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: Differential or Single­Ended Auxiliary Encoder

Port B2: Differential and Buffered
Auxiliary Encoder Signal

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

Port B1: Differential or Single­Ended Pulse and Direction
Commands

Port B2: Differential, Buffered and
Pulse and Direction Signals

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

35

FEEDBACK A

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.

FEEDBACK B Ports B1 and B2

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

Port B1: Differential or Single­Ended Auxiliary Incremental
Encoder

Port B2: Differential and 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 single-ended).

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: Differential or Single­Ended Pulse and Direction
Commands

Port B2: Differential Buffered
Pulse and Direction Signals

Port B1 serves as an input for
Pulse & Direction commands
(differential or single-ended).

Port B2 is used to output
differential buffered Pulse &
Direction signals.

3.4.7 Auxiliary Feedback (FEEDBACK B)

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

3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on

FEEDBACK B (YA[4]=4)

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

 The Cello is used as a current amplifier to provide position data to the position

controller.

 The Cello is used in velocity mode, to provide position data to the position

controller.

 The Cello is used as a master in Follower or ECAM mode.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

5

15

10

1

11

6

Port B1
Port B2
Power

Cello Installation Guide Installation

Below are the signals on the Auxiliary Feedback ports when set up to run as a buffered outputs
or emulated outputs of the main encoder (on FEEDBACK A):

Port Pin Signal Function Pin Positions

B1 1 CHA 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

15-Pin High

Density D-Sub

Plug

B1 5 INDEX Auxiliary Index

high output

B2 6 CHAO Buffered channel

A output

36

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

Socket

PWR 15 SUPRET Supply return

Table 8: Main Encoder Buffered Outputs or Emulated Encoder Outputs on FEEDBACK B - Pin

Assignments

FEEDBACK B on the “top” of the Cello has a 15-pin high density D-Sub socket. Connect the
Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 15-pin
high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable,
follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

37

Figure 18: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B -

Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

5

15

10

1

11

6

Port B1
Port B2
Power

Cello Installation Guide Installation

3.4.7.2 Differential Auxiliary Encoder Input Option on FEEDBACK B (YA[4]=2)

The Cello 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

B1 2 CHA- Auxiliary channel A low input

B1 3 CHB Auxiliary channel B high input

B1 4 CHB- Auxiliary channel B low input

B1 5 INDEX Auxiliary Index high input

B2 6 CHAO Buffered channel A output

B2 7 CHAO- Buffered channel A complement output

15-Pin High Density

D-Sub Plug

38

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

B1 10 INDEX- Auxiliary Index low input

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 Socket

PWR 15 SUPRET Supply return

Table 9: Differential Auxiliary Encoder Input Option on FEEDBACK B

Pin Assignments

FEEDBACK B on the “top” of the Cello has a 15-pin high density D-Sub socket. Connect the
Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin, high density
D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

39

Figure 19: Differential Auxiliary Encoder Input Option on FEEDBACK B -

Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

Cello Installation Guide Installation

3.4.7.3 Single-Ended Auxiliary Input Option on FEEDBACK B (YA[4]=2)

The Cello 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

4 NC Do not connect this pin

40

B1 5 INDEX Auxiliary Index high input

B2 6 CHAO Channel A output

B2 7 CHAO- Channel A complement output

15-Pin High Density D-Sub

Plug

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

B2 13 INDEXO Index output

15-Pin High Density D-Sub

B2 14 INDEXO- Index complement output

Socket

PWR 15 SUPRET Supply return

Table 10: Single-Ended Auxiliary Encoder Option on FEEDBACK B - Pin Assignments

FEEDBACK B on the “top” of the Cello has a 15-pin high density D-Sub socket. Connect the
Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin, high density
D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

41

Figure 20: Single-Ended Auxiliary Input Option on FEEDBACK B - Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

Cello Installation Guide Installation

3.4.7.4 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

42

B2 6 CHAO Channel A output

B2 7 CHAO- Channel A complement output

15-Pin D-Sub Plug

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 11: Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B

FEEDBACK B on the “top” of the Cello has a 15-pin high density D-Sub socket. Connect the
Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a 15-pin,
high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable,
follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

43

Figure 21: Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

Cello Installation Guide Installation

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

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

44

B2 6 CHAO Channel A output

B2 7 CHAO- Channel A complement output

15-Pin D-Sub Plug

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 12: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

45

Figure 22: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection

Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4.8 I/O Cables

The Cello has two I/O ports, J1 and J2. J1 is a general I/O which can be used to connect 6 digital
inputs and 5 digital outputs. J2 is an input port for connecting up to 4 separate digital inputs
and 2 analog inputs:

I/O J1 Port J2 Port Total

Digital Input 6 4 10

Digital Output 5 - 5

Analog Input - 2 2

3.4.8.1 General I/O Port (J1)

Port J1 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high
density metal case D-Sub female connector (socket).

46

Pin Signal Function Pin Positions

1 IN1 Programmable input 1

2 IN2 Programmable input 2

3 IN3 Programmable input 3

4 OUT2 Programmable output 2

5 OUT3 Programmable output 3

6 IN4 Programmable input 4

7 IN7 Programmable input 7

8 IN8 Programmable input 8

9 INRET General input return

10 OUTRET2-3 Programmable output return 2 & 3

11 OUT4 Programmable output 4

12 OUTRET4-5 Programmable output return 4 & 5

13 OUT5 Programmable output 5

14 OUT1 Programmable output 1

15 OUTRET 1 Programmable output return 1

Table 13: J1 I/O Cable - Pin Assignments

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

47

Figure 23: General J1 I/O Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4.8.2 General Input Port (J2)

Port J2 has a 15-pin high density D-Sub socket. When assembling this I/O cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high
density metal case D-Sub male connector (plug).

Note: Analog Inputs 1 and 2 are functionally identical. However, note that the velocity and

current commands can only be given on Analog Input 1.

Pin Signal Function Pin Positions

1 IN5 Programmable input 5 (high-speed input)

2 IN6 Programmable input 6 (high-speed input)

3 IN9 Programmable input 9

4 IN10 Programmable input 10

5 ANLIN1+ Analog input 1

48

6 INRET5 Programmable input return 5 (high-speed input)

7 INRET6 Programmable input return 6 (high-speed input)

8 INRET9 Programmable input return 9

9 INRET10 Programmable input return 10

10 ANLIN1- Analog input 1

11 ANLIN2+ Analog input 2

12 ANLIN2- Analog input 2

13 ANLRET Analog return

14 ANLRET Analog return

15 SUPRET Supply return

Table 14: General Input J2 Cable - Pin Assignments

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

high speed

input

Cello Installation Guide Installation

49

Figure 24: General Input J2 Connection Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.4.9 Communication Cables

The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CAN ports
on the “top” of the Cello.

The communication interface may differ according to the user’s hardware. The Cello can
communicate using the following options:

a. RS-232, full duplex

CAN

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

In order to benefit from CAN communication, the user must have an understanding of the basic
programming and timing issues of a CAN network. The interface is electrically isolated by
optocouplers.

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

50

3.4.9.1 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 male RJ plug must have a shield cover.

Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain
wire can be used to facilitate the connection.

Pin Signal Function Pin Locations

1, 2 N/A —

3 Tx RS-232 transmit

4 N/A —

5 COMRET Communication return

6 Rx RS-232 receive

7, 8 N/A —

Table 15: RS-232 Cable - Pin Assignments

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

Figure 25: RS-232 Connection Diagram

3.4.9.2 CAN Communication

Notes for connecting the CAN communication cable:

51

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 male RJ plug must have a shield cover.

Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain
wire can be used to facilitate the connection.

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

Pin Signal Function Pin Positions

1 CAN_H CAN_H busline (dominant high)

2 CAN_L CAN_L busline (dominant low)

3 CAN_GND CAN ground

4, 5 N/A —

6 CAN_SHLD Shield, connected to the RJ plug cover

7 CAN_GND CAN Ground

8 N/A —

Table 16: CAN Cable – Pin Assignments

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

52

Figure 26: 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-CELIG (Ve r. 1.602)

Cello Installation Guide Installation

3.5 Powering Up

After the Cello has been mounted, check that the cables are intact. The Cello 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 Cello and that the proper plus-minus connections are in
order.

3.6 Initializing the System

After the Cello 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.

53

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

4 Technical Specifications

Cello Installation Guide

This chapter provides detailed technical information regarding the Cello. 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 Cello'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

54

4.1.2 Advanced Positioning Motion Control Modes

 PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop

 Fast event capturing inputs

 Fast output compare (OC)

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

 Event capturing interrupts

 Event triggered programming

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.1.5 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

 Absolute 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

 Encoder outputs, buffered, differential.

 Resolver

 Programmable 10 to 15 bit resolution

 Up to 512 revolutions per second (RPS)

55

 Encoder outputs, buffered, differential

 Elmo drives provide supply voltage for all the feedback options

 Tachometer, Potentiometer

4.1.6 Input/Output

 Analog Inputs – up to 14-bit resolution

 Programmable digital inputs, optically isolated

 Inhibit/Enable motion

 Software and analog reference stop

 Motion limit switches

 Begin on input

 Abort motion

 General-purpose

 Homing

 2 Fast event capture inputs, optically isolated IN5-IN6

 Programmable digital outputs

 Brake Control

 Amplifier fault indication

 General-purpose

 Servo enable indication

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

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

 Buffered and differential outputs of the auxiliary encoder

 Emulated output of the resolver or interpolated analog encoder

 Fast output compare (OC), optically isolated

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

56

 Overheating

 Over/Under voltage

 Loss of feedback

 Following errors

 Current limits

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.2 Cello Dimensions

57

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

2400

2.25

10.6

Cello Installation Guide Technical Specifications

4.3 Power Ratings

Feature Units

5/60

10/60

15/60

15RMS/60

30/60

3/100

10/100

Minimum
supply voltage

Nominal
supply voltage

Maximum
supply voltage

Maximum continuous
power output

Efficiency at
rated power (at
nominal conditions)

Maximum output
voltage

Auxiliary supply
voltage

Auxiliary power supply VA 12

VDC 10 20 40

VDC 50 85 170

VDC 59 95 195

W 240 480 720 1000 1440 260 800 1200 1700 2400 360 960 1600

% > 97

97% of DC bus voltage at f=22 kHz

VDC 24 ± 20%

58

15/100

15RMS/100

30/100

2/200

6/200

10/200

15/200

15RMS/200

3400

Amplitude

A 5 10 15 21 30 3.3 10 15 21 30
sinusoidal/DC
continuous current

Sinusoidal continuous

A 3.5 7.1

15 21.2 2.3 7.1 10.6 15 21.2 1.6 4.2 7.1 10.6 15

RMS current limit (Ic)

Peak current limit A 2 x Ic

Output power without

% 100 75 100 100 75 50

additional heatsink

Weight g

640 g (22.6 ounces)

(oz)

Dimensions mm

150 x 25.4 x 105 (5.9" x 1.0" x 4.1")

(in)

Digital in/Digital out/

10/5/2

Analog in

Mounting method Wall mount (on back or on side)

6 10 15 21

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.4 Environmental Conditions

Feature Details

59

Operating ambient temperature
according to IEC60068-2-2

Storage temperature

Maximum non-condensing humidity
according to IEC60068-2-78

Maximum Operating Altitude

Mechanical Shock
according to IEC60068-2-27

Vibration
according to IEC60068-2-6

0 °C to 40 °C (32 °F to 104 °F)

-20 °C to +85 °C ( -4 °F to +185 °F)

95%

2,000 m (6562 feet)

15g / 11ms Half Sine

5 Hz ≤ f ≤ 10 Hz: ±10mm

10 Hz ≤ f ≤ 57 Hz: 4G

57 Hz ≤ f ≤ 500 Hz:5G

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

3

2

Optional Back-up

Ground

Power & Motor

CAN

Feedback B

RS-232

J2: I/O

J1: I/O

Feedback A

Cello Installation Guide Technical Specifications

4.5 Cello Connections

The following connectors are used for wiring the Cello.

Pins Type Maker & Part No. Mating Connector Port

60

5 5.00 mm Pitch

Header and Plug

Phoenix Header
MSTBA 2.5 HC/5-G

Phoenix Plug (supplied)
MSTBT 2.5 HC/5-ST

M4 screws PE, PE, PE

3.81 mm Pitch
Header and Plug

Phoenix Header
MC 1.5/2-G-3.81

Phoenix Plug (supplied)
MC 1.5/2-ST-3.81

Connector Location

Power Supply

Table 17: Connectors on the Bottom of the Cello

Pins Type Port Connector Location

15 D-Sub Socket FEEDBACK A

15 High Density D-Sub Plug J1

VP+, PR

M1, M2, M3

24V

15 High Density D-Sub Socket J2

Table 18: Connectors on the Front of the Cello

Pins Type Port Connector Location

8 RJ-45 CAN

8 RJ-45 CAN

15 High Density D-Sub Socket FEEDBACK B

8 RJ-45 RS-232

Table 19: Connectors on the Top of the Cello

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.5.1 Backup Supply (Optional)

Feature Details

Auxiliary power supply DC source only

Auxiliary supply input voltage 24 V ±20%

Auxiliary supply input power 10 W

Note: The Cello can operate without a 24 Volt backup power supply.

4.6 Control Specifications

4.6.1 Current Loop

Feature Details

Controller type Vector, digital

Compensation for bus voltage variations “On-the-fly” gain scheduling

61

Motor types AC brushless (sinusoidal)

DC brushless (trapezoidal)

DC brush

Linear motors

Moving coils

Current control Fully digital

Sinusoidal with vector control

Programmable PI control filter based on a
pair of PI controls of AC current signals and
constant power at high speed

Current loop bandwidth < 2.5 kHz

Current sampling time

Programmable 70 to 100 µsec

Current sampling rate Up to 16 kHz; default 11 kHz

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.6.2 Velocity Loop

Feature Details

Controller type PI

Velocity control Fully digital

Programmable PI and FFW control filters

On-the-fly gain scheduling

Automatic, manual and advanced manual tuning

62

Velocity and position feedback
options

Incremental Encoder

Digital Halls

Interpolated Analog (Sine/Cosine) Encoder
(optional)

Resolver (optional)

Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).

Velocity sampling time

140 to 200 µsec (x2 current loop sample time)

Velocity sampling rate Up to 8 kHz; default 5.5 kHz

Velocity command options Analog

Internally calculated by either jogging or step

Note: All software-calculated profiles support on-the-fly
changes.

4.6.3 Position Loop

Feature Details

Controller type “1-2-4” PIP

Position command options Software

Pulse and Direction

Position sampling time

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

Position sampling rate Up to 4 kHz; default 2.75 kHz

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.7 Feedbacks

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

4.7.1 Feedback Supply Voltage

Feature Details

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

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

4.7.2 Incremental Encoder Input

Feature Details

Encoder format A, B and Index

Differential

Quadrature

63

Interface: RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency: Maximum: 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 27: Encoder Phase Diagram

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.7.3 Digital Halls

Feature Details

Halls inputs HA, HB, HC.

Single ended inputs

Built in hysteresis for noise immunity.

64

Input voltage Nominal operating range: 0 V < V

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

InHigh

InLow

In_Hall

> 2.5 V

< 1 V

< 5 V

In_Hall

< 15 V

Input current Sink current (when input pulled to the common): 3

mA

Source current: 1.5 mA (designed to also support
open collector Halls)

Maximum frequency f

MAX

: 2 kHz

4.7.4 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

Differential 120 Ω

Maximum analog signal frequency f

: 250 kHz

MAX

Interpolation multipliers Programmable: x4 to x4096

Maximum “counts” frequency 80 mega-counts/sec “internally”

Automatic error correction

Signal amplitudes mismatch
Signal phase shift
Signal offsets

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.7.5 Resolver

Feature Details

Resolver format Sine/Cosine

Differential

65

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 Cello

Reference current up to ±50 mA

4.7.6 Tachometer*

Feature Details

Tachometer format Differential

Maximum operating differential voltage
for TAC1+, TAC1-

Maximum absolute differential input
voltage for TAC1+, TAC1-

Maximum operating differential voltage
for TAC2+, TAC2-

±20 V

±25 V

±50 V

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.

4.7.7 Potentiometer

Feature Details

Potentiometer Format Single-ended

Operating Voltage Range 0 to 5 V supplied by the Cello

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

Feature Details

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

affected detrimentally

Input Resistance 100 kΩ

Resolution 14 Bit

4.7.8 Encoder Outputs

Feature Details

Encoder output format A, B, Index

Differential outputs

Quadrature

Interface RS-422

66

Port B1 output current capability

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

Port B2 output current capability INDEXO/INDEXO-, CHBO/CHBO- and

CHAO/CHAO- pairs are not loaded

Available as options Two simultaneous buffered outputs of main-

incremental encoder input

Two simultaneous emulated encoder
outputs of analog encoder input

Two simultaneous emulated encoder
outputs of resolver input

Buffered output of auxiliary input

Maximum frequency f

: 5 MHz pulses/output

MAX

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

encoder cycle) and synchronized to A&B

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.8 I/Os

The Cello has:

 10 Digital Inputs

 5 Digital Outputs

 2 Analog Input

4.8.1 Digital Input Interfaces

Feature Details

Type of input Optically isolated

Single ended

PLC level

Input current

= 2.2 mA for Vin = 12 V

* I

in

67

Input current for high speed
inputs

= 4.4 mA for Vin = 12 V

* I

in

High-level input voltage 12 V < Vin < 30 V, 24 V typical

Low-level input voltage 0 V < Vin < 6.5 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 < 4 x TS

If input is set to General input, execution depends on
program. Typical execution time: ≅ 0.5 msec.

High-speed inputs - minimum
pulse width, in high-speed mode
(IN5 - IN6)

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.

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

J2: General

J1: General

General input return

Cello Installation Guide Technical Specifications

Feature Details

Connector Location

68

purpose I/O

purpose I/O

Figure 28: Digital Input Schematic

4.8.2 Digital Output Interface

Feature Details

Type of output Optically isolated

Open collector and open emitter

Maximum supply output (VCC) 30 V

Max. output current
I

(max) (V

out

= Low)

out

(max) ≤ 15 mA

I

out

VOL at maximum output voltage (low

V

(on) ≤ 0.3 V + 0.02 * I

out

out

(mA)

level)

RL The external resistor RL must be selected to limit the

output current to no more than 15 mA.

Executable time If output is set to one of the built-in functions —

Home flag, Brake or AOK — execution is immediate
upon detection:
0 < T < 4 x TS

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

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

J2: General

J1: General

Cello Installation Guide Technical Specifications

Feature Details

Connector Location

69

purpose I/O

purpose I/O

Figure 29: Digital Output Schematic

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

CAN

port

CAN

port

RS-232

port

Cello Installation Guide Technical Specifications

4.8.3 Analog Input

Feature Details

Maximum operating differential voltage ± 10 V

Maximum absolute differential input voltage ± 16 V

Differential input resistance 3 kΩ

Analog input command resolution 14-bit

4.9 Communications

Specification Details Connector Location

RS-232 Signals:

RxD , TxD , Gnd

Full duplex, serial communication for
setup and control.

Baud Rate of 9,600 to 115,200 bit/sec.

70

CAN CAN bus Signals:

CAN_H, CAN_L, CAN_GND

Maximum Baud Rate of 1 Mbit/sec.

Version:

DS 301 V4.01

Device Profile (drive and motion control):

DS 402

4.10 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)

4.11 Mechanical Specifications

Feature Details

Mounting method Wall Mount

Overall dimensions 150 x 105 x 25.4 mm (5.9 x 4.13 x 1 in)

Weight 640 g (22.6 oz)

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

4.12 Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

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

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

MIL-HDBK- 217F Reliability prediction of electronic equipment

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

71

UL 60950

IPC-D-275

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

IPC-SM-782

IPC-CM-770

UL 508C

UL 840

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

Safety

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances

and Creepage Distances for Electrical
Equipment

In compliance with UL 60950 Safety of Information Technology Equipment

Including Electrical Business Equipment

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

systems

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

www.elmomc.com

MAN-CELIG (Ve r. 1.602)

Cello Installation Guide Technical Specifications

Specification Details

EMC

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

systems

72

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)

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

Note: Out-of-service Elmo drives should be

sent to the nearest Elmo sales office.

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

www.elmomc.com