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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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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24

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

Functionality (an S Type Drive)

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25

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

Functionality

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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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For non-S 400 VDC type drives:

Pin Function Cable Pin Positions

VP+ Pos. Power input DC Power

VN- Neg. Power input DC Power

N N/A N/A

PE Protective earth DC Power

27

AC

Motor

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- N.C.

VL+ N.C.

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

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

identical sequence.

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M6 screw
M6 spring washer

M6 flat washer

Barrel connector

M6 nut (available with

M6 spring washer

Barrel connector

Drum HV (High Voltage) Installation Guide Installation

Step 1: PE Connection

28

Table 6: Connecting the PE Cables

Step 2: Power and Motor Connection

the drive)

Table 7: Connecting the Main Power and Motor Cables

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3.5.3.1. Connecting the Motor Cable

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

Notes for connecting the motor cables:

• For best immunity, it is highly recommended to use a shielded (not twisted) cable for the

motor connection. A 4-wire shielded cable should be used. The gauge is determined by the
actual current consumption of the motor.

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

• Connect the shield of the cable to the PE terminal in the drive’s motor-connector.

• Be sure that the motor chassis is properly grounded.

• To close the motor cable into the drive, use the barrel connector, M6 spring washer and

M6 nut (in the drive). The required torque is 3 to 4 Nm.

29

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

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

Figure 5: AC Motor Power Connection Diagram

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3.5.3.2. Connecting the DC Power

The DC power to the Drum HV (High Voltage) is delivered from a separated rectifying-unit
(supplied by the user). Following are topology recommendations, of how to implement a 3x
phases and a supply chain.

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

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

However, the Drum HV (High Voltage) can operate from either non-isolated/direct-to-mains DC
power supply, or isolated DC power supply / batteries.

When rectifying the AC voltage source, the AC voltage-level must be limited to 270 VAC not to
exceed the max 390 VDC in the case of a 400 VDC drive, or limited to 528 VAC not to exceed
the max 747 VDC in the case of an 800 VDC drive.

30

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

This section relates to the configuration of the power supply and drive, which are connected
directly to the mains.

To connect the non-isolated DC power supply:

1. 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.

2. Connect both ends of the cable shield to the closest PE connections.

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

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

4. To close the power supply cable into the drive, use the barrel connector, M6 spring washer

and M6 nut (in the drive). The required torque is 3 to 4 Nm.

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

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

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

Figure 6: Non-Isolated Three-Phase Connection Topology

31

Caution:

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

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

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

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

3.5.3.3.b Multiple Connections Topology

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

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

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32

Figure 7: Non-Isolated Three-Phase Multiple Connection Topology

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

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3.5.3.4. Battery Supply

Caution:

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

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

33

Figure 8: Battery Connection Topology

must be isolated from the mains by

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

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

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

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

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

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

Notes for 24 VDC backup supply connections:

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

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

transformer.

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

ground (PE).

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

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

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Figure 9: Aux. 24 VDC Backup Supply Connection Diagram

Pin Signal Function Pin Positions

9 VL+ VDC+ backup supply

8 VL- Return (common) of

the backup supply

34

Note: The backup cable can be connected to

either CAN connector.

Table 8: Backup Cable Plug

3.5.5. Feedback and Control Assemblies

The Drum HV (High Voltage) 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.

6. 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.

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

8. Ideally, solder the drain wire to the connector body as shown in Figure 10.

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.

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

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

concerning the shield.

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Connector

Drain wire

housing

Make sure that the

housing

Drum HV (High Voltage) Installation Guide Installation

body

35

soldered to
the metal

braid shield is in tight
contact with the metal

Figure 10: Feedback and Control Cable Assemblies

Note: All D-Sub type connectors, used with the Drum HV (High Voltage), should be assembled

in this way.

3.5.6. Main Feedback Cable (FEEDBACK A)

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

The Drum HV (High Voltage) can accept any one the following devices as a main feedback
mechanism:

• Incremental encoder only

• Incremental encoder with digital Hall sensors

• Digital Hall sensors only

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

• Resolver (option)

• Tachometer (option)

• Potentiometer (option)

• Absolute Encoder

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

3.5.5 (Feedback and Control Assemblies).

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Incremental

Interpolated

Resolver

Tachometer and

Encoder/Hall +5V

Encoder/Hall +5V

Drum HV (High Voltage) Installation Guide Installation

36

Encoder

Analog Encoder

Potentiometer

DRU-AXXX/YYY_ DRU-AXXX/YYYI DRU-AXXX/YYYR DRU-AXXX/YYYT

Pin Signal Function Signal Function Signal Function Signal Function

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

(20 V max)

2 CHA- Channel A

complement

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

4 CHB- Channel B

complement

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

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

7 CLK- CLOCK

complement

8 +5V Encoder/Hall

+5V supply

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

10 INDEX- Index

complement

A- Sine A

complement

B- Cosine B

complement

CLK- CLOCK

complement

+5V

supply

R- Reference

complement

S3 Sine A

complement

S4 Cosine B

complement

50 mA Max.

CLK- CLOCK

complement

+5V

supply

R2 Vref complement

f= 1/TS, 50 mA
Maximum

Tac 1- Tacho Input 1

Neg. (20 V max)

(50 V max)

Tac 2- Tacho Input 2

Neg. (50 V max)

POT Potentiometer

Input

CLK- CLOCK

complement

+5V Encoder/Hall +5V

supply

NC -

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

12 DATA- Data

complement

13 HC Hall sensor C

input

14 HB Hall sensor B

input

15 HA Hall sensor A

input

DATA- Data

complement

HC Hall sensor C

input

HB Hall sensor B

input

HA Hall sensor A

input

DATA- Data

complement

NC - HC Hall sensor C input

NC - HB Hall sensor B input

NC - HA Hall sensor A

DATA- Data complement

input

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

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Drum HV (High Voltage) Installation Guide Installation

Absolute Encoders

Pin Signal Heidenhain Stegmann

1 A+ Sine A Sine A complement

2 A- Sine A complement Sine A

3 B+ Cosine B Cosine B

4 B- Cosine B complement Cosine B complement

5 INDEX – –

6 CLK+ CLOCK –

7 CLK- CLOCK complement –

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

9 SUPRET Supply return Supply return

10 INDEX- – –

11 DATA+ DATA DATA

12 DATA- Data complement Data complement

13 HC Hall C Hall C

37

14 HB Hall B Hall B

15 HA Hall A Hall A

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

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38

Figure 11: Main Feedback – Incremental Encoder Connection Diagram

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Drum HV (High Voltage) Installation Guide Installation

39

Figure 12: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram

Figure 13: Main Feedback – Resolver Connection Diagram

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40

Figure 14: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection

Diagram for Brushless Motors

Figure 15: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors

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Figure 16: Main Feedback – Potentiometer Feedback with Digital Hall Sensor

41

Connection Diagram for Brushless Motors

Figure 17: Main Feedback –

Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils

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42

Figure 18: Main Feedback – Heidenhain Absolute Encoder Feedback Connection Diagram

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43

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

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

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Feedback B Ports B1 and B2

Feedback B

Feedback A input

Port

Port

Drum HV (High Voltage) Installation Guide Installation

3.5.7. Main and Auxiliary Feedback Combinations

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

44

Feedback A

Software
Setting

Incremental
Encoder
Input

Interpolated
Analog
(sin/cos)
Encoder
Input

Resolver
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: Incremental

Encoder or Analog Encoder or
Resolver or Tachometer or
Potentiometer

Port B1 output: Differential or
Single-Ended Auxiliary Encoder

Port B2 output: Differential and
Buffered Auxiliary Encoder Signal

Feedback A input: Analog Encoder

Port B1 output: Differential or Single-

Ended Auxiliary Incremental Encoder

Port B2 output: Differential and
Buffered Auxiliary Encoder Signal

Tachometer
Input

Feedback A input: Tachometer

Port B1 output: Tachometer

Position Data Emulated in
Incremental Encoder Format
(signals are quadrature, differential
and buffered)

Port B2 output: Differential and
Buffered Auxiliary Encoder Signal

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Drum HV (High Voltage) Installation Guide Installation

Feedback A Feedback B Ports B1 and B2

45

Software
Setting

Potentio­meter
Input

Typical
Applications

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

Feedback A input:

Potentiometer

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

Port B2 output: Same as B1

 Any application where the main

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

 Analog Encoder applications

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

 Resolver applications where

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

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

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

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

Port B1 output: Differential or
Single-Ended Auxiliary Encoder

Port B2 output: Differential
Buffered Auxiliary Encoder Signal

Any application where two feedbacks
are used by the drive.

Port B1 serves as an input for the
auxiliary incremental encoder
(differential or 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 output: Differential or
Single-Ended Pulse and Direction
Commands

Port B2 output: Differential Buffered
Pulse and Direction Signal

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

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

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3.5.8. Auxiliary Feedback (FEEDBACK B)

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

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

FEEDBACK B (YA[4]=4)

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

option can be used when:

• The Drum HV (High Voltage) is used as a current amplifier to provide position data to the

position controller.

• The Drum HV (High Voltage) is used in velocity mode, to provide position data to the

position controller.

• The Drum HV (High Voltage) is used as a master in Follower or ECAM mode.

46

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):

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CHA

5

15

10

1

11

6

Port B1
Port B2
Power

Drum HV (High Voltage) Installation Guide Installation

Port Pin Signal Function Pin Positions

47

B1 1

Auxiliary channel A high output

B1 2 CHA- Auxiliary channel A low output

B1 3 CHB Auxiliary channel B high output

B1 4 CHB- Auxiliary channel B low output

B1 5 INDEX Auxiliary Index high output

B2 6 CHAO Buffered channel A output

B2 7 CHAO- Buffered channel A complement output

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

B1 10 INDEX- Auxiliary Index low output

B2 11 CHBO Buffered channel B output

B2 12 CHBO- Buffered channel B complement output

B2 13 INDEXO Buffered Index output

B2 14 INDEXO- Buffered Index complement output

15-Pin High Density

D-Sub Plug

15-Pin High Density

D-Sub Socket

PWR 15 SUPRET Supply return

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

Assignments

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

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48

Figure 20: Main Encoder Buffered Output or Emulated Encoder Output on AUX. FEEDBACK -

Connection Diagram

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input

input

B1

4

CHB-

Auxiliary channel B low input

input

PWR

9

SUPRET

Encoder supply voltage return

5

15

10

1

11

6

Port B1
Port B2
Power

input

B2

11

CHBO

Buffered channel B output

B2

13

INDEXO

Buffered Index output

Drum HV (High Voltage) Installation Guide Installation

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

The Drum HV (High Voltage) 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

49

B1 2 CHA- Auxiliary channel A low

B1 3 CHB Auxiliary channel B high

B1 5 INDEX Auxiliary Index high

B2 6 CHAO Buffered channel A output

B2 7 CHAO- Buffered channel A complement output

PWR 8 +5V Encoder supply voltage

B1 10 INDEX- Auxiliary Index low

B2 12 CHBO- Buffered channel B complement output

B2 14 INDEXO- Buffered Index complement output

PWR 15 SUPRET Supply return

15-Pin High Density D-

Sub Plug

15-Pin High Density D-

Sub Socket

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

Table 12: Differential Auxiliary Encoder Input Option on AUX. FEEDBACK

Pin Assignments

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50

Figure 21: Differential Auxiliary Encoder Input Option on AUX. FEEDBACK -

Connection Diagram

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4

NC

B1

5

INDEX

Auxiliary Index high input

B2

7

CHAO-

Channel A complement output

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

10

NC

Do not connect this pin

B2

12

CHBO-

Channel B complement output

Drum HV (High Voltage) Installation Guide Installation

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

The Drum HV (High Voltage) 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

51

2 NC

Do not connect this pin

B1 3 CHB Auxiliary channel B high input

Do not connect this pin

B2 6 CHAO Channel A output

15-Pin High Density D-Sub

PWR 8 +5V Encoder supply voltage

Plug

PWR 9 SUPRET Encoder supply voltage return

B2 11 CHBO Channel B output

B2 13 INDEXO Index output

B2 14 INDEXO- Index complement output

PWR 15 SUPRET Supply return

15-Pin High Density D-Sub

Socket

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

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

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52

Figure 22: Single-Ended Auxiliary Input Option on AUX. FEEDBACK - Connection Diagram

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4 NC

Do not connect this pin

5 NC

Do not connect this pin

B2

7

CHAO-

Channel A complement output

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

B2

11

CHBO

Channel B output.

13

NC

Do not connect this pin

Drum HV (High Voltage) Installation Guide Installation

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

This mode is used for input of differential or single-ended pulse-and-direction position
commands on Port B1. In this mode Port B2 provides differential buffered pulse-and-direction
outputs for another axis.

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

Port Pin Signal Function Pin Positions

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

2 NC Do not connect this pin

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

B2 6 CHAO Channel A output

PWR 8 +5V Encoder supply voltage

15-Pin D-Sub Plug

53

PWR 9 SUPRET Encoder supply voltage return

10 NC Do not connect this pin

B2 12 CHBO- Channel B complement output

14 NC Do not connect this pin

PWR 15 SUPRET Supply return

15-Pin D-Sub Socket

Table 14: Pulse-and-Direction Auxiliary Encoder Pin Assignment on AUX. FEEDBACK

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

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54

Figure 23: Pulse-and-Direction Input Option on AUX. FEEDBACK - Connection Diagram

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

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input

B1

2

PULS-/CHA-

Pulse-/Auxiliary channel A low input

input

B1

4

DIR-/CHB-

Direction-/Auxiliary channel B low input

5 NC

Do not connect this pin

B2

7

CHAO-

Channel A complement output

PWR

9

SUPRET

Encoder supply voltage return

5

15

10

1

11

6

Port B1
Port B2

Power
N.C.

B2

11

CHBO

Channel B output.

13

NC

Do not connect this pin

Drum HV (High Voltage) Installation Guide Installation

Port Pin Signal Function Pin Positions

55

B1 1 PULS/CHA Pulse/Auxiliary channel A high

B1 3 DIR/CHB Direction/Auxiliary channel B high

B2 6 CHAO Channel A output

PWR 8 +5V Encoder supply voltage

10 NC Do not connect this pin

B2 12 CHBO- Channel B complement output

14 NC Do not connect this pin

PWR 15 SUPRET Supply return

15-Pin D-Sub Plug

15-Pin D-Sub Socket

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

FEEDBACK

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56

Figure 24: Differential Pulse-and-Direction Input Option on AUX. FEEDBACK - Connection

Diagram

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Drum HV (High Voltage) Installation Guide Installation

3.5.9. I/O Port

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

I/O P1 Port Total

Digital Input 6 6

Digital Output 4 4

Analog Input 1 1

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

57

Pin Signal Function

1 VDDIN External 24 VDC supply pos. input

2 VDDIN External 24 VDC supply pos. input

3 OUT4 Programmable output 4

4 OUT3 Programmable output 3

5 OUT2 Programmable output 2

6 OUT1 Programmable output 1

7 VDDRET Supply return for out 1-4

8 VDDRET Supply return for out 1-4

9 ANARET Analog ground

10–13 N/A

14 OUT1_fast+ Differential output 1+

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Pin Signal Function

15 OUT1_fast- Differential output 1-

16 N.C

17 ANALOG1- Analog input 1-

18 ANALOG1+ Analog input 1+

19 IN1 Programmable input 1

20 IN2 Programmable input 2

21 IN3 Programmable input 3

22 IN4 Programmable input 4

23 IN5 Programmable input 5

24 IN6 Programmable input 6

25 INRET1-6 Programmable input 1-6 return

58

26 INRET1-6 Programmable input 1-6 return

Table 16: General I/O Connector - Pin Assignments

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59

Figure 25: General I/O - Connection Diagram

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3.5.10. Communication Cables

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

The communication interface may differ according to the user’s hardware. The Drum HV (High
Voltage) can communicate using the following options:

a. RS-232, full duplex

b. CAN

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

In order to benefit from CAN communication, the user must have an understanding of the basic

programming and timing issues of a CAN network.

The CAN interface is not isolated.

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

60

3.5.10.1. RS-232 Communication

Notes for connecting the RS-232 communication cable:

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

covered by copper braid with a drain wire.

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

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

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

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

wire can be used to facilitate the connection.

Pin Signal Function Drawing

1 N/A

2 RS232_Tx RS-232 transmit

3 RS232_Rx RS-232 receive

4 N/A

5 COMRET Communication return

6, 7, 8, 9 N/A

Table 17: RS-232 Cable - Pin Assignments

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Figure 26: RS-232 Connection Diagram

3.5.10.2. CAN Communication

61

Notes for connecting the CAN communication cable:

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

aluminum foil and covered by copper braid with a drain wire

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

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

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

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

wire can be used to facilitate the connection.

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

Pin Signal Function Drawing

1 — —

2 CAN_L CAN_L bus line (dominant low)

3 CAN_RET CAN Return

4 — —

5 CAN_SHLD Shield, connected to the metal housing

of the D-type

6 CAN_RET CAN Return

7 CAN_H CAN_H bus line (dominant high)

8 VL- Aux. supply– see Section 3.5.4.

9 VL+ Aux. supply + see Section 3.5.4.

Table 18: CAN Cable - Pin Assignments

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62

Figure 27: CAN - Connection Diagram

Caution:

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

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Drum HV (High Voltage) Installation Guide Installation

3.6. Powering Up

After the Drum HV (High Voltage) has been mounted, check that the cables are intact.

The Drum HV (High Voltage) 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 Drum HV (High Voltage) and that the proper plus­minus connections are in order.

3.7. Heat Dissipation

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

dissipate around 12 W for 40 °C ambient temperature and not exceeding 80 °C on the heat
sink.

When “Free Air Convection” is sufficient for the application it is recommended to leave
approximately 10 mm of space between the Drum's heat sink and any other assembly.

63

3.7.1. Drum HV Thermal Data

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

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

means that the Drum will reach 2/3 of its final temperature after 40 minutes).

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

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

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

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

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

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3.7.2. Heat Dissipation Data

Heat Dissipation is shown graphically below:

64

Figure 28: Dissipation versus Current Graph for 560 and 680 VDC

Figure 29: Dissipation versus Current Graph for 330 VDC

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DC Bus Voltage (VDC)

Rectified Voltage (VAC)

Drum HV (High Voltage) Installation Guide Installation

3.7.3. How to Use the Charts

The power dissipation in the chart includes the losses of the rectifying bridge.
Regarding Figure 28 and Figure 29, the following should be noted:

560 3X400

680 3X480

330 3X230

The charts above are based upon theoretical worst-case conditions. Actual test results show
30% to 50% better power dissipation.

To determine if your application needs a heat sink:

1. Allow maximum heat sink temperature to be 80 °C or less (shunt down is 6 °C to 8 °C

higher).

2. Determine the ambient operating temperature of the Drum HV (High Voltage) as ≤ 40 °C.

65

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

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

4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to

the desired output current and then find the dissipated power.

3.8. Initializing the System

After the Drum HV (High Voltage) 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.

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Chapter 4: Technical Specifications

Drum HV (High Voltage) Installation Guide

This chapter provides detailed technical information regarding the Drum HV (High Voltage).
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 Drum HV (High Voltage)'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

66

4.1.2. Advanced Positioning Control Modes

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

• Fast event capturing inputs

• Fast output compare (OC)

• Motion Commands: Analog, Pulse-Width Modulation (PWM), digital (SW) and Pulse and

Direction

4.1.3. Advanced Filters and Gain Scheduling

• “On-the-fly” gain scheduling of current and velocity

• Velocity and position with “1-2-4” PIP controllers

• Automatic commutation alignment

• Automatic motor phase sequencing

4.1.4. Fully Programmable

• Third generation programming structure with motion commands – “Metronome”

• Event capturing interrupts

• Event triggered programming

• 32 KB memory

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.1.5. Feedback Options

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

• Digital Halls – up to 2 kHz

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

for encoder

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

 Internal Interpolation - up to x4096
 Automatic Correction of amplitude mismatch, phase mismatch, signal offset
 Emulated encoder outputs, differential, buffered of the Analog encoder

• Absolute Encoder

• Analog Hall Sensor

• Resolver

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

67

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

• Tachometer & Potentiometer

• The Drum HV (High Voltage) can provide power (5 V, 2x200 mA max) for Encoders, Resolver or

Halls.

4.1.6. Input/Output

• 1 Analog Input – up to 14-bit resolution

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

inputs).

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

• 4 programmable Digital Outputs:

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

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

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Drum HV (High Voltage) Installation Guide Technical Specifications

• Buffered and differential outputs of the auxiliary encoder

• Emulated Buffered and differential outputs of resolver or analog encoder

• Pulse and Direction inputs (Differential)

• PWM current command output for torque and velocity

4.1.7. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Status reporting

• Protection against:

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

68

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

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

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

4.1.8. Accessories

• Heat sinks (TBD)

4.1.9. Status Indication

• Bi-color LED

4.1.10. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

• Velocity gain scheduling

• Position gain tuning

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.2. Dimensions

69

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Digital in/Digital out/ Analog in

Drum HV (High Voltage) Installation Guide Technical Specifications

70

4.3. Power Ratings

Feature Units 50/400 R100/400 35/800 R70/800 R100/800

Minimum supply voltage VDC *For S suffix type = 50

For 0 or 1 suffix type = 100

Nominal supply voltage VDC 325 560 for 400 VAC

Maximum supply voltage VDC 400 780

Maximum continuous power
output

Efficiency at rated power (at
nominal conditions)

Auxiliary supply option, for S drives VDC 18 to 30

Auxiliary power supply (external
option)

Continuous current limit (Ic)
amplitude of sinusoidal/DC
trapezoidal commutation

Sinusoidal continuous RMS current
limit (Ic)

kW 16 33 22 45 65

% > 98

VA ≤3 VA without external loading

≤7 VA with full external loading

A 50 100 35 70 100

A 35 71 25 50 71

*For S suffix type = 100

680 for 480 VAC

Peak current limit A 100 No peak 70 No peak No peak

Weight kg (oz) 1.623 kg (57.25 oz)

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

6/4/1

Mounting method Panel / Wall Mounted

*See page 18 for details on the part number. The S suffix appears in models where there is a
24 V control supply. If there is no S suffix, the control power supply operates from the main
power.

Note on current ratings: The current ratings of the Drum HV (High Voltage) are given in

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

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.3.1. Auxiliary Supply (Only for S type drive)

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 18 VDC to 30 VDC

Auxiliary supply input power ≤7 VA (this includes the 5 V/2x200 mA load for

the main and auxiliary encoders)

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

4.4. Environmental Conditions

Feature Details

71

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

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Current control

Programmable 100 to 200 µsec

Default 10 kHz

Drum HV (High Voltage) Installation Guide Technical Specifications

4.5. Control Specifications

4.5.1. Current Loop

Feature Details

Controller type Vector, digital

72

Compensation for bus voltage

“On-the-fly” automatic gain scheduling

variations

Motor types

• AC brushless (sinusoidal)

• DC brushless (trapezoidal)

• DC brush

• Linear motors

• “Voice” coils

• Fully digital

• Sinusoidal with vector control

• Programmable PI control filter based on a

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

Current loop bandwidth < 2.5 kHz

Current sampling time

Current sampling rate

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4.5.2. Velocity Loop

Feature Details

Controller type PI

73

Velocity control

• Fully digital

• Programmable PI and FFW control filters

• "On-the-fly" gain scheduling

• Automatic, manual and advanced manual tuning

Velocity and position feedback
options

• Incremental Encoder

• Absolute encoder (optional)

• Digital Halls

• Interpolated Analog (Sine/Cosine) Encoder

(optional)

• Resolver (optional)

• Tachometer and Potentiometer (optional)

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

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

Velocity loop bandwidth < 350 Hz

Velocity sampling time

140 to 200 µsec (2x current loop sample time)

Velocity sampling rate Up to 8 kHz; default 5.5 kHz

Velocity command options

• Analog

• Internally calculated by either jogging or step

Note: All software-calculated profiles support

on-the-fly changes.

4.5.3. Position Loop

Feature Details

Controller type “1-2-4” PIP

Position command options

Position loop bandwidth < 80 Hz

Position sampling time

Position sampling rate Up to 4 kHz; default 2.75 kHz

• Software

• Pulse and Direction

• Analog Potentiometer

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

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.6. Feedbacks

The Drum HV (High Voltage) can receive and process feedback input from diverse types of
devices.

4.6.1. Feedback Supply Voltage

The Drum HV (High Voltage) has two feedback ports (Main and Auxiliary). The Drum HV (High
Voltage) supplies voltage only to the main feedback device and to the auxiliary feedback device
if needed.

Feature Details

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

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

4.6.2. Main Feedback Options

4.6.2.1. Incremental Encoder Input

74

Feature Details

Encoder format

• A, B and Index

• Differential

• Quadrature

Interface RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency Maximum absolute: 5 MHz pulses

Minimum quadrature input period (PIN) 112 nsec

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

Minimum quadrature phase period (PPH) 28 nsec

Maximum encoder input voltage range

Common mode: ±7 V

Differential mode: ±7 V

Figure 30: Main Feedback - Encoder Phase Diagram

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Signal offsets

( 4.6.3)

Drum HV (High Voltage) Installation Guide Technical Specifications

4.6.2.2. Digital Halls

Feature Details

75

Halls inputs

• H

, HB, HC.

A

• Single ended inputs

• Built in hysteresis of 1 V for noise immunity

Input voltage Nominal operating range: 0 V < V

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

In_Hall

InHigh

InLow

> 2.5 V

< 1 V

< 5 V

In_Hall

< 15 V

Input current Sink current (when input pulled to the common): 5

mA

Maximum frequency f

MAX

: 2 kHz

4.6.2.3. Interpolated Analog (Sine/Cosine) Encoder

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Input resistance

Maximum analog signal frequency f

Differential 120 Ω

: 250 kHz

MAX

Interpolation multipliers Programmable: x4 to x4096

Maximum “counts” frequency 80 Megacounts/sec “internally”

Automatic errors correction

Signal amplitudes mismatch
Signal phase shift

Encoder outputs

See Auxiliary Encoder Outputs specifications

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.6.2.4. Resolver

Feature Details

76

Resolver format

• Sine/Cosine

• Differential

Input resistance

Differential 2.49 kΩ

Resolution Programmable: 10 to 15 bits

Maximum electrical frequency (RPS) 512 revolutions/sec

Resolver transfer ratio 0.5

Reference frequency 1/Ts (Ts = sample time in seconds)

Reference voltage Supplied by the Drum HV (High Voltage)

Reference current up to ±50 mA

Encoder outputs

See Auxiliary Encoder Output specifications ( 4.6.3)

4.6.2.5. Tachometer *

Feature Details

Tachometer format Differential

Maximum operating differential voltage for TAC1+, TAC1- ±20 V

Maximum absolute differential input voltage for TAC1+, TAC1- ±25 V

Maximum operating differential voltage for TAC2+, TAC2- ±50 V

Maximum absolute differential input voltage for TAC2+, TAC2- ±60 V

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.

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4.6.2.6. Potentiometer

Feature Details

Potentiometer Format Single-ended

Operating Voltage Range 0 to 5 V supplied by the Drum HV (High

Voltage)

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

affected detrimentally

Input Resistance 100 kΩ

Resolution 14 bit

4.6.3. Main Encoder Buffered Output

Feature Details

77

Main encoder buffered output

• A, B, Index

• Differential outputs

• Quadrature

Interface RS-422

Output current capability

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

Available as options Simultaneous buffered outputs of main-

incremental encoder input

Maximum frequency f

: 5 MHz pulses/output

MAX

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

quarter of an encoder cycle) and
synchronized to A&B

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Drum HV (High Voltage) Installation Guide Technical Specifications

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

Feature Details

78

Emulated output

• A, B, Index

• Differential outputs

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

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder outputs of analog encoder

> 3.0 V

OH

= 2 mA

OL

< 0.4 V

OL

• Emulated encoder outputs of the resolver

• Emulated encoder outputs of the tachometer

• Emulated encoder outputs of the

potentiometer

Maximum frequency f

: 5 MHz pulses/output

MAX

Edge separation between A & B Programmable number of clocks to allow adequate

noise filtering at remote receiver of emulated
encoder signals

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

an encoder cycle) and synchronized to A&B

Figure 31: Auxiliary Feedback - Encoder Phase Diagram

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Drum HV (High Voltage) Installation Guide Technical Specifications

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

Feature Details

79

Encoder input,
pulse and direction input

• A, B, Index

• Differential

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

V

High: 2 V < VIH < 5 V

In

Maximum absolute voltage: 0 < V

< 5.5 V

In

Input current: ±1 µA

Available as options

• Differential Buffered Encoder inputs

• Differential Buffered Pulse and Direction

inputs

Edge separation between A & B Programmable number of clocks to allow

adequate noise filtering at remote receiver
of emulated encoder signals

Index (marker): Length of pulse is one quadrature (one

quarter of an encoder cycle) and
synchronized to A&B

Figure 32: Auxiliary Feedback - Encoder Phase Diagram

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MAN-DRU-HVIG (Ve r. 1.602)

• Optically isolated

Drum HV (High Voltage) Installation Guide Technical Specifications

4.7. I/Os

The Drum HV (High Voltage) has:

• 6 Digital Inputs

• 4 Digital Outputs

• 1 Analog Input

4.7.1. Digital Input Interfaces

Feature Details

Type of input

• PLC level as default or TTL option upon request

80

Input current
for all inputs

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

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

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

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

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

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

If input is set to one of the built-in functions — Home,
Inhibit, Hard Stop, Soft Stop, Hard and Soft Stop,
Forward Limit, Reverse Limit or Begin — execution is
immediate upon detection: 0<T<4xTS

If input is set to General input, execution depends on

program. Typical execution time: ≅ 0.5 msec.

High-speed inputs – 5 & 6
minimum pulse width, in high­speed mode

T < 5 µsec

Notes:

• Home mode is high-speed mode and can be used

for fast capture and precise homing.

• High speed input has a digital filter set to same

value as digital filter (EF) of main encoder.

• Highest speed is achieved when turning on

optocouplers.

Figure 33: Digital Input Schematic

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MAN-DRU-HVIG (Ve r. 1.602)

I

out

Drum HV (High Voltage) Installation Guide Technical Specifications

4.7.2. Digital Output Interface

Feature Details

81

Type of output

• Optically isolated

• Powerful Source capability

Maximum external supply (VDD) 30 V

Max. allowable output current draw
I

(max) (V

out

= Low)

out

VOH maximum output voltage

(Source mode)

• I

• I

(max) ≤ 250 mA for output 1 to 3

out

(max) ≤ 500 mA for output 4

out

VDD ≥ VOH ≥ (VDD – 1.25)

*1.25 V is the typical internal V

@ 250 mA

Drop

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

output current to no more than 250 mA.

VDD – 1.25
RL = ------------------

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

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

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

Schematic Diagram

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.7.3. Analog Input

Feature Details

Maximum operating differential voltage ± 10 V

Maximum absolute differential input voltage ± 16 V

Differential input resistance 3.74 kΩ

Analog input command resolution 14-bit

4.8. Communications

Specification Details

RS-232 Signals:

• RxD , TxD , Gnd

• Full duplex, serial communication for setup and control.

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

82

CAN CAN bus Signals:

• CAN_H, CAN_L, CAN_GND

• Maximum Baud Rate of 1 Mbit/sec.

Version:

• DS 301 V4.01

Layer Setting Service and Protocol Support:

• DS 305

Device Profile (drive and motion control):

• DS 402

4.9. 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)

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Drum HV (High Voltage) Installation Guide Technical Specifications

4.10. Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

In compliance 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.)

83

• UL 60950

• IPC-D-275

• IPC-SM-782

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

• IPC-CM-770

• UL 508C

• UL 840

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

Safety

In compliance UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances

and Creepage Distances for Electrical
Equipment

In compliance with UL 60950 Safety of Information Technology Equipment

Including Electrical Business Equipment

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

systems

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

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Drum HV (High Voltage) Installation Guide Technical Specifications

Specification Details

EMC

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

systems

84

In compliance with EN 55011 Class A with

Electromagnetic compatibility (EMC)

EN 61000-6-2: Immunity for industrial
environment, according to:

IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C

Workmanship

In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies

PCB

In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards

Packing

In compliance with EN 100015 Protection of electrostatic sensitive devices

Environmental

In compliance with 2002/96/EC Waste Electrical and Electronic Equipment

regulations (WEEE)

Note: Out-of-service Elmo drives should be

sent to the nearest Elmo sales office.

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

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

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