ElmoMC SimplIQ Digital Servo Drives-Drum HV User Manual

Drum HV (High Voltage)

Servo Drive Installation

Guide

July 2014 (Ver. 1.602)

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Notice

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

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

information is supplied solely for the purpose of assisting users of the Drum HV (High
Voltage) 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-DRU-HVIG (Ver. 1.602)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Revision History

Version Date Details

1.0 Initial release

1.1 Formatted according to new template, Catalog Number

updated

1.2 Catalog Number updated, references to Standard version

removed.

1.3 Added section on High Voltage Thermal data. Sections 4.3

and 4.3.1: Auxiliary Supply Voltage range: 18 V to 30 V

1.4 Removed the 800 V without 24 V auxiliary option

1.500 Added a caution and recommendation on the type of

cleaning solution to use for the Elmo unit.

Updated Figure 3, Figure 4 and Figure 25.

Updated Section 4.7.1, Section 3.5.9 and Section 4.7.2.

1.501 Section 3.5.10: Communication Cables – updated

Section 3.5.10.1: RS-232 Communication – updated

Section 3.5.10.2: CAN Communication – updated

1.600 Nov 2013 Changes to connection instructions regarding motor power

and main power.

1.601 Jan 2014 Updated Section 3.5.3.3: Direct-to-Mains Power Source

(Non-Isolated Rectifier)

1.602 July 2014 General format updates

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel

Tel: [phone] • Fax: [phone] • [e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

Tel: [phone] • Fax: [phone] • [e-mail]

Europe

Elmo Motion Control GmbH

Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany

Tel: [phone] • Fax: [phone] • [e-mail]

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China

Tel: [phone] • Fax: [phone] • [e-mail]

Asia Pacific

Elmo Motion Control APAC Ltd.

B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)

Tel: [phone] • Fax: [phone] • [e-mail]

MAN-DRU-HVIG (Ve r. 1.602)

Table of Contents

Drum HV (High Voltage) 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 ............................................................................................. 10

1.5. Warranty Information .................................................................................................. 10

Chapter 2: Product Description ...................................................................................... 11

2.1. Drive Description .......................................................................................................... 11

2.2. Product Features .......................................................................................................... 12

2.2.1. Current Control .............................................................................................. 12

2.2.2. Velocity Control ............................................................................................. 12

2.2.3. Position Control ............................................................................................. 12

2.2.4. Communication Options ................................................................................ 13

2.2.5. Feedback Options .......................................................................................... 13

2.2.6. Fault Protection ............................................................................................. 13

2.3. System Architecture ..................................................................................................... 14

2.4. How to Use this Guide .................................................................................................. 15

5

Chapter 3: Installation ................................................................................................... 16

3.1. Before You Begin .......................................................................................................... 16

3.1.1. Site Requirements ......................................................................................... 16

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

3.2. Unpacking the Drive Components ................................................................................ 18

3.3. Connectors.................................................................................................................... 19

3.3.1. Connector Types ............................................................................................ 19

3.4. Mounting the Drum HV (High Voltage) ........................................................................ 21

3.5. Connecting the Cables .................................................................................................. 22

3.5.1. Wiring the Drum HV (High Voltage) .............................................................. 22

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

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

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

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

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

3.5.3.4. Battery Supply............................................................................... 33

3.5.4. Connecting the Control and Backup Supply (24 V) ........................................ 33

3.5.5. Feedback and Control Assemblies ................................................................. 34

3.5.6. Main Feedback Cable (FEEDBACK A) ............................................................. 35

3.5.7. Main and Auxiliary Feedback Combinations ................................................. 44

3.5.8. Auxiliary Feedback (FEEDBACK B) .................................................................. 46

MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Table of Contents

3.5.8.1. Main Encoder Buffered Outputs or Emulated Encoder Outputs

Option on FEEDBACK B (YA[4]=4) ................................................. 46

3.5.8.2. Differential Auxiliary Encoder Input Option on FEEDBACK B

(YA[4]=2) ....................................................................................... 49

3.5.8.3. Single-Ended Auxiliary Input Option on FEEDBACK B (YA[4]=2) ... 51

3.5.8.4. Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) ....... 53

3.5.9. I/O Port .......................................................................................................... 57

3.5.10. Communication Cables .................................................................................. 60

3.5.10.1. RS-232 Communication ................................................................ 60

3.5.10.2. CAN Communication..................................................................... 61

3.6. Powering Up ................................................................................................................. 63

3.7. Heat Dissipation............................................................................................................ 63

3.7.1. Drum HV Thermal Data.................................................................................. 63

3.7.2. Heat Dissipation Data .................................................................................... 64

3.7.3. How to Use the Charts ................................................................................... 65

3.8. Initializing the System ................................................................................................... 65

Chapter 4: Technical Specifications ................................................................................ 66

6

4.1. Features ........................................................................................................................ 66

4.1.1. Motion Control Modes .................................................................................. 66

4.1.2. Advanced Positioning Control Modes ........................................................... 66

4.1.3. Advanced Filters and Gain Scheduling........................................................... 66

4.1.4. Fully Programmable ....................................................................................... 66

4.1.5. Feedback Options .......................................................................................... 67

4.1.6. Input/Output ................................................................................................. 67

4.1.7. Built-In Protection ......................................................................................... 68

4.1.8. Accessories .................................................................................................... 68

4.1.9. Status Indication ............................................................................................ 68

4.1.10. Automatic Procedures ................................................................................... 68

4.2. Dimensions ................................................................................................................... 69

4.3. Power Ratings ............................................................................................................... 70

4.3.1. Auxiliary Supply (Only for S type drive) ......................................................... 71

4.4. Environmental Conditions ............................................................................................ 71

4.5. Control Specifications ................................................................................................... 72

4.5.1. Current Loop .................................................................................................. 72

4.5.2. Velocity Loop ................................................................................................. 73

4.5.3. Position Loop ................................................................................................. 73

4.6. Feedbacks ..................................................................................................................... 74

4.6.1. Feedback Supply Voltage ............................................................................... 74

4.6.2. Main Feedback Options ................................................................................. 74

4.6.2.1. Incremental Encoder Input ........................................................... 74

4.6.2.2. Digital Halls ................................

................................................... 75

4.6.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 75

4.6.2.4. Resolver ........................................................................................ 76

4.6.2.5. Tachometer ................................................................................... 76

MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Table of Contents

4.6.2.6. Potentiometer .............................................................................. 77

4.6.3. Main Encoder Buffered Output ..................................................................... 77

4.6.4. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 78

4.6.5. Auxiliary Feedback Port (Input Mode YA[4]= 2, 0) ........................................ 79

4.7. I/Os ............................................................................................................................... 80

4.7.1. Digital Input Interfaces .................................................................................. 80

4.7.2. Digital Output Interface ................................................................................. 81

4.7.3. Analog Input .................................................................................................. 82

4.8. Communications ........................................................................................................... 82

4.9. Pulse-Width Modulation (PWM) .................................................................................. 82

4.10. Compliance with Standards .......................................................................................... 83

7

MAN-DRU-HVIG (Ve r. 1.602)

Chapter 1: Safety Information

Warning:

Caution:

Drum HV (High Voltage) Installation Guide

In order to operate the Drum HV (High Voltage) 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 Drum HV (High
Voltage) and accompanying equipment.

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

Before you start, make sure that all system components are connected to earth ground.
Electrical safety is provided through a low-resistance earth connection.

Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified
person has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating motors.

The Drum HV (High Voltage) 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-DRU-HVIG (Ver . 1.602)

Drum HV (High Voltage) Installation Guide Safety Information

1.1. Warnings

• To avoid electric arcing and hazards to personnel and electrical contacts, never

connect/disconnect the servo drive while the power source is on.

• Disconnect the Drum HV (High Voltage) from all voltage sources before it is opened for

servicing.

• The Drum HV (High Voltage) servo drive contains grounding conduits for electric current

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

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

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

1.2. Cautions

• The Drum HV (High Voltage) servo drive contains hot surfaces and electrically-charged

components during operation.

9

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

parameters outlined in this guide.

• When connecting to Drum HV (High Voltage) to an approved isolated 24 VDC auxiliary

power supply, connect it through a line that is separated from hazardous live voltages using
reinforced or double insulation in accordance with approved safety standards.

• Before switching on the Drum HV (High Voltage), 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 Drum HV (High Voltage) 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-DRU-HVIG (Ver . 1.602)

Drum HV (High Voltage) Installation Guide Safety Information

1.3. Directives and Standards

The Drum HV (High Voltage) conforms to the following industry safety standards:

Safety Standard Item

10

In compliance IEC/EN 61800-5-1,

Adjustable speed electrical power drive systems

Safety

In compliance UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

In compliance with UL 60950-1
(formerly UL 1950)

Safety of Information Technology Equipment
Including Electrical Business Equipment

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

The Drum HV (High Voltage) 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 Drum HV (High Voltage) 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
Drum HV (High Voltage) 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.

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MAN-DRU-HVIG (Ve r. 1.602)

Chapter 2: Product Description

Drum HV (High Voltage) Installation Guide

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

2.1. Drive Description

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

The digital drives are based on Elmo’s advanced SimplIQ motion control technology. They
operate from a DC power source in current, velocity, position and advanced position modes, in
conjunction with a permanent-magnet synchronous brushless motor, DC brush motor, linear
motor or voice coil. They are designed for use with any type of sinusoidal and trapezoidal
commutation, with vector control. The Drum HV (High Voltage) can operate as a stand-alone
device or as part of a multi-axis system in a distributed configuration on a real-time network.

11

The drives are easily set up and tuned using Elmo’s Composer software tools. This Windows­based application enables users to quickly and simply configure the servo drive for optimal use
with their motor. The Drum HV (High Voltage), as part of the SimplIQ product line, is fully
programmable with Elmo’s Metronome motion control language.

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

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

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

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

of 18 to 30 VDC.

Whenever backup functionality is not required, Drum HV (High Voltage) models that do not
have the S suffix in the catalog number (only for the 400 V model -see page 18) can be used,
i.e., they do not have a 24 V control supply. In these models, a smart control-supply algorithm
enables the Drum HV (High Voltage) to operate with only the main power supply VP+ and VN-,
with no need for a 24 VDC auxiliary power supply for the logic.

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Product Description

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

12

• 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)

The Drum HV (High Voltage) has the following advanced position control features:

• 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

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Product Description

2.2.4. Communication Options

Depending on the application, Drum HV (High Voltage) users can select from two
communication options:

• RS-232 serial communication

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

2.2.5. Feedback Options

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

• Digital Halls – up to 2 kHz

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

for encoder

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

 Internal Interpolation – up to x4096
 Automatic correction of amplitude mismatch, phase mismatch, signals offset
 Auxiliary emulated, unbuffered, single-ended, encoder output

13

• Resolver

 Programmable 10 to 15 bit resolution
 Up to 512 revolutions per second (RPS)
 Auxiliary emulated, unbuffered, single-ended, encoder output

• Tachometer, Potentiometer

• Absolute Encoder

 Heidenhain 2.1
 Stegmann

• Elmo drives provide supply voltage for all the feedback options

2.2.6. Fault Protection

The Drum HV (High Voltage) 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-DRU-HVIG (Ve r. 1.602)

Motor

PWM

Controller

Communication

RS-232 and CANopen

Isolated Power Stage

Protection

I/Os

Resolver

Tachometer

Analog

Encoder

or

Main

DC Power

Supply

Potentiometer

or

or

or

Auxilliary

Encoder

24

V Logic

Supply

(for “S” Suffix

drive)

Isolation

Boundary

Isolation

Boundary

Current

Feedback

Incremental

Encoder

Main Feedback

Buffered

Output

Drum HV (High Voltage) Installation Guide Product Description

2.3. System Architecture

14

Figure 1: Drum HV (High Voltage) System Block Diagram

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Product Description

2.4. How to Use this Guide

In order to install and operate the Drum HV (High Voltage) 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 Drum HV (High Voltage).

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

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

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

Drum HV (High Voltage)

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

command used to manipulate the Drum HV (High Voltage) motion controller

15

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

are part of Elmo’s Composer software environment

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MAN-DRU-HVIG (Ve r. 1.602)

Chapter 3: Installation

Drum HV (High Voltage) Installation Guide

The Drum HV (High Voltage) 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 Drum HV (High Voltage) by ensuring that it is
installed in an appropriate environment.

Feature Value

16

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 Drum HV (High Voltage) dissipates its heat by natural convection. The

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

0 °C to 40 °C (32 °F to 104 °F)

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MAN-DRU-HVIG (Ve r. 1.602)

Digital I/O Cable

Drum HV (High Voltage) Installation Guide Installation

3.1.2. Hardware Requirements

The components that you will need to install your Drum HV (High Voltage) are:

Component Connector Section Drawing

Main Power Cable VP+ N VN- 3.5.3

Motor Cable M3 M2 M1 PE 3.5.3

17

Main Feedback Cable

Main Feedback

3.5.6

(Feedback A)

Connects to Port A

Auxiliary Feedback Cable
(if needed)

Aux. Feedback

(Feedback B)

3.5.8

Connects to Port B

(if needed)

General I/O
Connects to the

3.5.9

I/O Port

RS232 Communication Cable RS-232 3.5.10.1

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MAN-DRU-HVIG (Ve r. 1.602)

Communication cable(s)

Drum HV (High Voltage) Installation Guide Installation

Component Connector Section Drawing

18

CAN
(if needed)

CAN (in)
CAN (out)

3.5.10.2

3.2. Unpacking the Drive Components

Before you begin working with the Drum HV (High Voltage) system, verify that you have all of
its components, as follows:

• The Drum HV (High Voltage) servo drive

• The Composer software and software manual

The Drum HV (High Voltage) is shipped in a cardboard box with Styrofoam protection.

To unpack the Drum HV (High Voltage):

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

2. Check the drive to ensure that there is no visible damage to the instrument. If any damage

has occurred, report it immediately to the carrier that delivered your drive.

3. To ensure that the Drum HV (High Voltage) you have unpacked is the appropriate type for

your requirements, locate the part number sticker on the side of the Drum HV (High
Voltage). It looks like this:

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

4. Verify that the Drum HV (High Voltage) type is the one that you ordered, and ensure that

the voltage meets your specific requirements.

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

3.3. Connectors

The Drum HV (High Voltage) has nine connectors.

3.3.1. Connector Types

The Drum HV (High Voltage) has the following types of connectors:

Type Function Port Connector Location

N/A N/A N

19

Barrel Connector +

Power VP+, VN­M6 Spring Washer
+ M6 Nut

Barrel Connector +

Motor M1, M2, M3

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

Table 1: Power Connectors on the Drum HV (High Voltage)

Type Function Port Connector Location

15-Pin High­Density Female

Aux.
Feedback

FEEDBACK B

(Port B)
D-Sub
Connector

15-Pin Female
High-Density

Main
Feedback

FEEDBACK A

(Port A)
D-Sub Connector

26-Pin Male
High-Density
D-Sub Connector

Analog
Input and
General I/O

I/O

Table 2: Feedback and I/O Connectors on the Drum HV (High Voltage)

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

Port A and Port B on the Drum HV (High Voltage) and the cables connected to them.

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

Type Function Port Connector Location

20

9-Pin D-Sub male CAN &

CAN
Optional
Backup
Supply

9-Pin D-Sub male CAN &

CAN
Optional
Backup
Supply

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

Table 3: Communication and Backup Connectors on the Drum HV (High Voltage)

Note: The Drum HV (High Voltage) has two CAN connectors. These connectors are functionally

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

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Drum HV (High Voltage) Installation Guide Installation

3.4. Mounting the Drum HV (High Voltage)

The Drum HV (High Voltage) 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
Drum HV (High Voltage) (see the diagram below).

21

Figure 2: Mounting the Drum HV (High Voltage)

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Drum HV (High Voltage) Installation Guide Installation

3.5. Connecting the Cables

The Drum HV (High Voltage) has nine connectors.

3.5.1. Wiring the Drum HV (High Voltage)

Once the Drum HV (High Voltage) 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 Drum HV (High Voltage).

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.

22

• 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.

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

3.5.2. Connection Diagrams

The various Drum HV (High Voltage) models connection diagrams differ from one another.

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

• 400 V & 800 V S-models that feature power supply backup functionality, needing an Aux.

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

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

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

23

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

24

Figure 3: Drum HV (High Voltage) Connection Diagram – with Power Supply Backup

Functionality (an S Type Drive)

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

25

Figure 4: Drum HV (High Voltage) Connection Diagram – 400 V without Power Supply Backup

Functionality

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MAN-DRU-HVIG (Ve r. 1.602)

Drum HV (High Voltage) Installation Guide Installation

3.5.3. Connecting the Power Cables

The power connectors of the Drum HV (High Voltage) are located as follows:

For S type drives:

Pin Function Cable Pin Positions

VP+ Pos. Power input DC Power

VN- Neg. Power input DC Power

N N/A N/A

PE Protective earth DC Power

26

AC

Motor

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

Auxiliary 24 VDC Backup Supply

(CAN connector)

VL- Neg. Aux. input Backup Power

VL+ Pos. Aux. input Backup Power

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

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

identical sequence.

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