Page 1
Solo Trombone
Digital Servo Drive
Installation Guide
July 2014 (Ver. 1.203)
www.elmomc.com
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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 Solo Trombone
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-SOLTROIG (Ver. 1.203)
Copyright 2014
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Page 3
Revision History
Version Details
1.0 Initial release
1.1 Update to site requirements. Sections 4.3 and 4.3.1:
Auxiliary Supply Voltage range: 18 V to 30 V.
1.2 September 2012 Change the overvoltage in 800 V mode, Pin layout, UL
recognition, and further optional versions added
Updated the Section 1.3: Directives and Standards and
Section 4.11 (Compliance with Standards).
“Metronome” was replaced by the “Composer” software.
1.201 February 2013 Added a caution and recommendation on the type of
cleaning solution to use for the Elmo unit.
1.202 June 2014 Document update
1.203 July 2014 General document update
Page 4
Elmo Worldwide
Head Office
Elmo Motion Control Ltd.
60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel
Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
Asia Pacific
Elmo Motion Control APAC Ltd.
B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)
Tel: +82-31-698-2010 • Fax: +82-31-801-8078 • info-asia@elmomc.com
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MAN-SOLTROI G (Ver. 1.203)
Table of Contents
Solo Trombone 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: Introduction ................................................................................................. 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. Advanced Position Control ............................................................................ 13
2.2.5. Communication Options ................................................................................ 13
2.2.6. Feedback Options .......................................................................................... 13
2.2.7. Fault Protection ............................................................................................. 14
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
3.2. Unpacking the Drive Components ................................................................................ 17
3.3. Pinouts .......................................................................................................................... 18
3.3.1. Connector Types ............................................................................................ 18
3.3.2. Main Power and Motor Power ...................................................................... 19
3.3.2.1. S Type Drives ................................................................................. 19
3.3.2.2. Non-S 400 VDC Type Drives .......................................................... 20
3.3.3. Connecting Motor Power .............................................................................. 21
3.3.3.1. Connecting the DC Power ............................................................. 21
3.3.3.2. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 22
3.3.3.3. Battery Power Supply ................................................................... 25
3.3.4. Connecting the Control and Backup Supply (24 V) ........................................ 26
3.3.5. Motor (Brake, PTC) ........................................................................................ 27
3.3.6. Main Feedback............................................................................................... 28
3.4. Main Buffered Output Port .......................................................................................... 36
3.5. Auxiliary Feedback (Bi-Directional) .............................................................................. 38
3.5.1. Main and Auxiliary Feedback Combinations ................................................. 39
3.5.2. Solo Trombone Auxiliary Feedback – Differential Buffered Encoder Output
(YA[4]=4) ................................................................
........................................ 42
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Solo Trombone Installation Guide Table of Contents
3.5.3. Auxiliary Feedback - Differential Encoder Input Option (YA[4]=2) ................ 45
3.5.4. Auxiliary Feedback – Differential Pulse-and-Direction Input Option (YA[4]=0)
....................................................................................................................... 48
3.5.5. I/Os ................................................................................................................ 51
3.5.5.1. Digital Input .................................................................................. 51
3.5.6. Digital Output ................................................................................................ 53
3.5.7. Analog Input .................................................................................................. 55
3.5.8. Communication ............................................................................................. 56
3.5.8.1. RS-232 Communication ................................................................ 56
3.5.8.2. CAN Communication..................................................................... 57
3.6. Powering Up ................................................................................................................. 60
3.7. Initializing the System ................................................................................................... 60
3.8. Heat Dissipation............................................................................................................ 60
3.8.1. Solo Trombone Thermal Data ........................................................................ 60
3.8.2. Heat Dissipation Data .................................................................................... 61
3.8.3. How to Use the Charts ................................................................................... 62
6
Chapter 4: Technical Specifications ................................................................................ 63
4.1. Features ........................................................................................................................ 63
4.1.1. Motion Control Modes .................................................................................. 63
4.1.2. Advanced Positioning Control Modes ........................................................... 63
4.1.3. Advanced Filters and Gain Scheduling........................................................... 63
4.1.4. Fully Programmable ....................................................................................... 63
4.1.5. Feedback Options .......................................................................................... 64
4.1.6. Input/Output ................................................................................................. 64
4.1.7. Built-In Protection ......................................................................................... 65
4.1.8. Accessories .................................................................................................... 65
4.1.9. Status Indication ............................................................................................ 65
4.1.10. Automatic Procedures ................................................................................... 66
4.2. Solo Trombone Dimensions.......................................................................................... 66
4.3. Power Ratings ............................................................................................................... 67
4.3.1. Auxiliary Supply ............................................................................................. 68
4.4. Environmental Conditions ............................................................................................ 68
4.5. Control Specifications ................................................................................................... 69
4.5.1. Current Loop .................................................................................................. 69
4.5.2. Velocity Loop ................................................................................................. 70
4.5.3. Position Loop ................................................................................................. 71
4.6. Feedbacks ..................................................................................................................... 71
4.6.1. Feedback Supply Voltage ............................................................................... 71
4.6.2. Main Feedback Options .................................................................................
72
4.6.2.1. Incremental Encoder Input ........................................................... 72
4.6.2.2. Digital Halls ................................................................................... 73
4.6.2.3. Absolute Serial Encoder ................................................................ 73
4.6.2.4. Interpolated Analog (Sine/Cosine) Encoder ................................. 74
4.6.2.5. Resolver ........................................................................................ 74
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Solo Trombone Installation Guide Table of Contents
4.6.2.6. Tachometer ................................................................................... 75
4.6.2.7. Potentiometer .............................................................................. 75
4.6.3. Main Encoder Buffered Output ..................................................................... 76
4.6.4. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 77
4.6.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 78
4.7. I/Os ............................................................................................................................... 79
4.7.1. Digital Input Interfaces .................................................................................. 79
4.7.2. Powerful Digital Output Interface ................................................................. 80
4.7.3. Analog Input .................................................................................................. 81
4.8. Communications ........................................................................................................... 81
4.9. Pulse-Width Modulation (PWM) .................................................................................. 81
4.10. Brake ............................................................................................................................. 81
4.11. Compliance with Standards .......................................................................................... 82
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MAN-SOLTROI G (Ver. 1.203)
Chapter 1: Safety Information
Warning:
Caution:
Solo Trombone Installation Guide
In order to operate the Solo Trombone 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 Solo Trombone 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 Solo Trombone 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-SOLTROI G (Ver. 1.203)
Solo Trombone Installation Guide Safety Information
1.1. Warnings
Employ the following:
• 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 Solo Trombone from all voltage sources before it is opened for servicing.
• The Solo Trombone 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
9
• The Solo Trombone servo drive contains hot surfaces and electrically-charged components
during operation.
• The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
• When connecting to Solo Trombone 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 Solo Trombone, 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 Solo Trombone 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-SOLTROI G (Ver. 1.203)
Solo Trombone Installation Guide Safety Information
1.3. Directives and Standards
The Solo Trombone conforms to the following industry safety standards:
Safety Standard Item
Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems
Recognized UL 508C Power Conversion Equipment
In compliance with UL 840 Insulation Coordination Including Clearances and
Creepage Distances for Electrical Equipment
10
In compliance with UL 60950-1
(formerly UL 1950)
Safety of Information Technology Equipment
Including Electrical Business Equipment
In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
The Solo Trombone 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 Solo Trombone 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
Solo Trombone 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-SOLTROI G (Ver. 1.203)
Chapter 2: Introduction
Solo Trombone Installation Guide
The Solo Trombone is an integrated solution designed to simply and efficiently connect Elmo’s
Trombone servo drive directly to the application. The solution consists of the Trombone
together with a convenient connection interface which either eliminates or reduces
development time and resources when designing an application’s PCB board.
This installation guide describes the Solo Trombone servo drive and the steps for its wiring,
installation and power-up. Follow these guidelines to ensure maximum functionality of the
drive and the system to which it is connected.
2.1. Drive Description
The Solo Trombone series of digital servo drives are highly resilient and designed to deliver the
highest density of power and intelligence. The Solo Trombone delivers up to 10 kW of
continuous power or 16 kW of peak 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 Solo Trombone 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 Solo Trombone, as part of the SimplIQ product line, is fully
programmable with Elmo’s Composer motion control language.
Power to the drives is provided by a DC power source (not included with the Solo Trombone).
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 Solo Trombone 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, Solo Trombone models without the catalog
number S suffix can be used (only for 400 V model). These models have a smart control-supply
algorithm that enables the Solo Trombone to operate with only the main power supply VP+
and VN-, and a 24 VDC auxiliary power supply is unnecessary for the logic.
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MAN-SOLTROI G (Ver. 1.203)
Solo Trombone Installation Guide Introduction
The Solo Trombone is available in two versions:
• The Standard Solo Trombone is a basic servo drive which operates in current, velocity, and
position modes including Follower and PT & PVT. It operates simultaneously via RS-232 and
CANopen DS 301, DS 305, DS 402 communications and features a third-generation
programming environment. (The catalog number starts SOL-TRO but is not followed by an
A.)
• The Advanced Solo Trombone includes all the motion capabilities and communication
options included in the Standard model, as well as advanced positioning capabilities:
ECAM, Dual Loop and increased program size. (The catalog number starts SOL-TROA.)
Both versions operate with RS-232 and CAN communication.
2.2. Product Features
2.2.1. Current Control
• Fully digital
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• 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
• 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
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MAN-SOLTROI G (Ver. 1.203)
Solo Trombone Installation Guide Introduction
• PT and PVT motion modes
• Fast output compare (OC)
2.2.4. Advanced Position Control
This relates to the Advanced model only.
• Position-based and time-based ECAM mode that supports a non-linear follower mode, in
which the motor tracks the master motion using an ECAM table stored in flash memory
• Dual (position/velocity) loop
2.2.5. Communication Options
Depending on the application, Solo Trombone users can select from two communication
options:
• RS-232 serial communication
• CAN for fast communication in a multi-axis distributed environment
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2.2.6. Feedback Options
• Incremental Encoder – up to 20 Megacounts (5 Megapulses) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Megacounts per second
for encoder
• Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz (analog signal)
Internal Interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signals
offset
Auxiliary emulated, unbuffered, single-ended, encoder output
• Resolver
Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer
• Absolute Encoders
Heidenhain 2.1
Stegmann
Panasonic
Note: Elmo drives provide supply voltage for all the feedback options.
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MAN-SOLTROI G (Ver. 1.203)
Absolute
Encoder
PWM
Controller
Communication
RS 232 and CANopen
Power Stage
Protection
Current
Feedback
Panasonic
or
Main
100 – 400 VDC
Power Supply
Motor
20 – 28 VDC
Auxiliary Supply
or
or
or
Auxilliary
Encoder
Main Feedback
Buffered
Output
or
Potentiometer
or
Tachometer
Analog
Encoder
Incremental
Encoder
Resolver
Main
50 – 750 VDC
Power Supply
I/Os
S Type
Non-S Type
Solo Trombone Installation Guide Introduction
2.2.7. Fault Protection
The Solo Trombone 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
• Safe Torque OFF (STO) –optional per customer requirement
2.3. System Architecture
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Figure 1: Solo Trombone System Block Diagram
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Solo Trombone Installation Guide Introduction
2.4. How to Use this Guide
In order to install and operate the Solo Trombone servo drive, 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 Solo Trombone
• Chapter 4 - Technical Specifications, lists all the drive ratings and specifications
Upon completing the instructions in this guide, the Solo Trombone 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
Solo Trombone
• The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the Solo Trombone motion controller
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• 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-SOLTROI G (Ver. 1.203)
Chapter 3: Installation
Solo Trombone Installation Guide
Warning:
The Solo Trombone must be:
• installed in a suitable environment and properly connected to its voltage
supplies and the motor.
• mounted and confined within a metal enclosure.
3.1. Before You Begin
3.1.1. Site Requirements
You can guarantee the safe operation of the Solo Trombone 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 relative humidity 90% non-condensing
Operating area atmosphere No flammable gases or vapors permitted in area
Models for extended environmental conditions are available.
Caution:
The Solo Trombone 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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Solo Trombone Installation Guide Installation
3.2. Unpacking the Drive Components
Before you begin working with the Solo Trombone, verify that you have all of its components,
as follows:
• The Solo Trombone servo drive
• The Composer software and software manual
The Solo Trombone is shipped in a cardboard box with styrofoam protection.
To unpack the Solo Trombone
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 Solo Trombone you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Solo Trombone.
It looks like this:
17
The part number at the top gives the type designation as follows:
4. Verify that the Solo Trombone type is the one that you ordered, and ensure that the
voltage meets your specific requirements.
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Solo Trombone Installation Guide Installation
3.3. Pinouts
The Solo Trombone has nine connectors.
3.3.1. Connector Types
The Solo Trombone has the following types of connectors:
18
No.
Type Port Function
Pins
2 5.08 mm Pitch J18 Aux connection
7 8 mm Pitch J14 Power + Motor Power
4 2.54 mm Pitch J5 Motor (Brake, PTC)
20 2.54 mm Pitch J7 I/O
3 2.54 mm Pitch J22 Not in use
12 2.54 mm Pitch J3 Communication
16 2.54 mm Pitch J10 Main Feedback
8 2.54 mm Pitch J9 Main Feedback Buffered Output
16 2.54 mm Pitch J6 Auxiliary Feedback
Connector Locations
Table 1: Connector Types for the Solo Trombone
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Solo Trombone Installation Guide Installation
3.3.2. Main Power and Motor Power
The Solo Trombone receives power from main and auxiliary supplies and delivers power to the
motor.
3.3.2.1. S Type Drives
Pin Function Cable
Auxiliary 24 VDC Control Supply
VL- Neg. Aux. input Control Power
VL+ Pos. Aux. input Control Power
Power
VP+ Pos. Power input DC Power
VN- Neg. Power input DC Power
PE Protective earth DC Power
Motor AC DC
19
PE Protective earth Motor Motor
M1 Motor phase Motor N.C
M2 Motor phase Motor Motor
M3 Motor phase Motor Motor
Connector Location
Table 2: 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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Solo Trombone Installation Guide Installation
3.3.2.2. Non-S 400 VDC Type Drives
Pin Function Cable
Not used
VL- N.C.
VL+ N.C.
Power
VP+ Pos. Power input DC Power
VN- Neg. Power input DC Power
PE Protective earth DC Power
Motor AC DC
PE Protective earth Motor Motor
M1 Motor phase Motor N.C
M2 Motor phase Motor Motor
20
M3 Motor phase Motor Motor
Connector Location
Table 3: 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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Solo Trombone Installation Guide Installation
3.3.3. Connecting Motor Power
Connect the M1, M2, M3 and PE pins on the Solo Trombone. The phase connection is arbitrary,
as the Composer will establish the proper commutation automatically during setup. However, if
you plan to copy the setup to other drives, then the phase order on all copy drives must be the
same.
21
Figure 2: AC Motor Power Connection Diagram
3.3.3.1. Connecting the DC Power
The DC power for the Solo Trombone is delivered from a separated rectifying unit (supplied by
the user). The following sections contain topology recommendations for implementing threephase and a single-phase supply chains. Elmo offers the end-user the option to purchase its
Tambourine rectifier, which offers a range of versatile options.
The power stage of the Solo Trombone is fully isolated from the other Solo Trombone sections,
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 that significantly contributes to proper
functionality, safety and EMI immunity, leading to better performance of the Solo Trombone.
In addition, this isolation simplifies the requirements of the DC power supply used to power the
DC bus of the Solo Trombone, by allowing it to operate with a non-isolated DC power source (a
direct-to-mains connection) therefore eliminating the need for a bulky and expensive isolation
transformer.
However, as well as operating from a non-isolated/direct-to-mains DC power supply, the Solo
Trombone can also operate from an isolated power supply or batteries.
When rectifying an AC voltage source, the AC voltage level must be limited to 270 VAC so as
not to exceed the maximum 390 VDC in the case of a 400 VDC drive, or 528 VAC so as not to
exceed the maximum 747 VDC in the case of an 800 VDC drive.
If the Solo Trombone is connected to Elmo’s Tambourine power supply, the end-user can
exploit the Tambourine’s options, such as EMI-filtering and shunt-regulator.
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3.3.3.2. Direct-to-Mains Power Source (Non-Isolated Rectifier)
This section relates to the configuration of the power supply and drive, which are directly
connected to the Mains.
Note for connecting 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/ heat sink, and tie the other end either to
the PE terminal of the Solo Trombone's power-connector, or attach it to one of the four
mounting screws of the drive's heat sink.
3.3.3.2.a Three-Phase Direct-to-Mains Connection Topology
22
Figure 3: Non-Isolated Three-Phase Connection Topology
Caution:
• Do not connect VN- to PE. In a direct-to-mains connection the VN- must not
be connected to the PE, as this 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.
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3.3.3.2.b Single-Phase Direct-to-Mains Connection Topology
Figure 4: Non-Isolated Single-Phase Connection Topology
23
The Power Supply is connected directly to the Mains AC line.
Warning:
• 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.
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3.3.3.2.c 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 rather economic, by reducing the number of power supplies and wiring, but
most importantly, it utilizes an "energy-sharing" environment among all the drives that are
sharing the same DC bus network.
24
Figure 5: Non-Isolated Three-Phase multiple Connection Topology
The power supply is connected directly to the mains AC line and feeds more than one drive.
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3.3.3.3. Battery Power Supply
Figure 6: Battery Connection Topology
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.
25
must be isolated from the mains by
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3.3.4. Connecting the Control and Backup Supply (24 V)
In a non-S type Solo Trombone drive (a drive without the suffix S in its part number), a “smart”
control-supply algorithm enables the Solo Trombone 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 main power
outages, then the S type Solo Trombone should be used, with an external 24 VDC isolated
power supply connected to it.
Note that the S type Solo Trombone always requires an external 24 VDC power supply,
regardless if backup functionality in required or not.
Connect the auxiliary 24 VDC power supply as described below.
Note for 24 VDC backup supply connections:
1. Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.
26
2. The source of the 24 VDC backup supply must be isolated, by using an isolation
transformer.
3. For safety and EMI reasons, connect the return of the 24 VDC backup supply to the closest
ground (PE).
4. Connect the cable shield to the closest ground (PE) near the power source.
5. Before applying power, first verify the correct polarity of the connection.
Figure 7: Auxiliary 24 VDC Backup Supply Connection Diagram
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3.3.5. Motor (Brake, PTC)
Pin (J5) Signal Function
1 BRAKE - Brake (-) (coming from the motor)
2 BRAKE + Brake (+) (coming from the motor)
3 PTC Motor Protection Sensor (coming from the motor)
4 PTC Motor Protection Sensor (coming from the motor)
Pin Positions
27
Table 4: The Motor Brake and PTC Connector
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Encoder/Hall +5V
Solo Trombone Installation Guide Installation
3.3.6. Main Feedback
The main feedback cable is used to transfer feedback data from the motor to the drive.
The Solo Trombone 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 (Heidenhain 2.1 or Stegmann)
• Panasonic absolute encoder
28
Incremental
Encoder
Interpolated
Analog Encoder
Resolver Tachometer and
Potentiometer
SOL-ARTROXX/YYY_ SOL -ARTROXX/YYYI SOL -ARTROXX/YYYR SOL -ARTROXX/YYYT
Pin
Signal Function Signal Function Signal Function Signal Function
(J10)
14 HC Hall sensor C
input
12 HA Hall sensor A
input
15 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return
2 +5V Encoder/Hall
+5V supply
4 CHA- Channel A
complement
3 CHA Channel A A+ Sine A S1 Sine A Tac 1+ Tacho Input 1
8 INDEX- Index
complement
HC Hall sensor C
input
HA Hall sensor A
input
+5V
supply
A- Sine A
complement
R- Reference
complement
NC - HC Hall sensor C
input
NC - HA Hall sensor A
input
+5V Encoder/Hall +5V
supply
S3 Sine A
complement
R2 Vref complement
f= 1/TS, 50 mA
Maximum
+5V Encoder/Hall
+5V supply
Tac 1- Tacho Input 1
Neg. (20 V max)
Pos. (20 V max)
NC -
7 INDEX Index R+ Reference R1 Vref f=1/TS,
50 mA Max.
1 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return
11 HB Hall sensor B
input
6 CHB- Channel B
complement
5 CHB Channel B B+ Cosine B S2 Cosine B Tac 2+ Tacho Input 2
HB Hall sensor B
input
B- Cosine B
complement
NC - HB Hall sensor B
S4 Cosine B
complement
POT Potentiometer
Input
input
Tac 2- Tacho Input 2
Neg. (50 V max)
Pos. (50 V max)
Table 5: Main Feedback Cable Pin Assignments (Part A)
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Absolute Encoders
SOL -ARTROXX/YYYQ SOL -ARTROXX/YYYP
29
Pin
Signal Heidenhain Stegmann Panasonic
(J10)
14 HC Hall C Hall C Hall C
12 HA Hall A Hall A Hall A
15 SUPRET Supply return Supply return Supply return
2 +5V EnDat (Heidenhain) Encoder +5 supply
4 A- Sine A complement Sine A Sine A complement
3 A+ Sine A Sine A complement Sine A
8 DATA- Data complement Data complement Data complement
7 DATA+ DATA DATA DATA
1 SUPRET Supply return Supply return Supply return
11 HB Hall B Hall B Hall B
10 CLK- CLOCK complement - -
16 +8V - Stegmann Encoder +8V supply
9 CLK+ CLOCK - -
6 B- Cosine B complement Cosine B complement Cosine B complement
5 B+ Cosine B Cosine B Cosine B
Halls supply +5V Encoder +5 supply
-
8 V @90 mA maximum
Pin Positions
Table 6: Main Feedback Cable Pin Assignments (Part B)
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30
Figure 8: Main Feedback – Incremental Encoder with Digital Hall Sensors Connection Diagram
Figure 9: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram
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31
Figure 10: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder with Digital Hall
Sensors Connection Diagram
Figure 11: Main Feedback – Resolver Connection Diagram
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32
Figure 12: Main Feedback – Tachometer Feedback with Digital Hall Sensors
Connection Diagram for Brushless Motors
Figure 13: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors
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33
Figure 14: Main Feedback – Potentiometer Feedback with Digital Hall Sensors
Connection Diagram for Brushless Motors
Figure 15: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils
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34
Figure 16: Main Feedback – Stegmann Feedback Connection Diagram
Figure 17: Main Feedback – Heidenhain Feedback Connection Diagram
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Figure 18: Main Feedback – Panasonic Feedback Connection Diagram
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3.4. Main Buffered Output Port
This port provides Differential Buffered Outputs (of the Main Feedback) for another axis.
Pin (J9) Signal Function
1 CHAO Buffered Channel A output
2 CHAO- Buffered Channel A complement output
3 CHBO Buffered Channel B output
4 CHBO- Buffered Channel B complement output
5 INDEXO Buffered Index output
6 INDEXO- Buffered Index complement output
7 COMRET Common return
8 PE Protective Earth
Pin Positions
36
Table 7: Main Buffered Output Port - Pin Assignments
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37
Figure 19: Main Buffered Output Port (Differential Main Feedback Output) – Connection
Diagram
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3.5. Auxiliary Feedback (Bi-Directional)
When using one of the Auxiliary Feedback options, the relevant functionality of the Auxiliary
Feedback's ports are software selected for that option. Refer to the SimplIQ Command
Reference Manual for detailed information about Auxiliary Feedback setup.
The Auxiliary Feedback connector has two ports: B1 and B2.
• Port B1 has three pairs of differential buffered inputs.
• Port B2 has three pairs of differential buffered outputs.
There are two modes of operation for this interface:
• Mode 1 (Composer Command: YA[4]=4) – see Section 3.5.2
When the Auxiliary port of the Solo Trombone is set by the software to act as an emulated
encoder output.
This is practical only when using the following Main Feedbacks:
Resolver
Interpolated Analog Encoder
Potentiometer and Tachometer
Absolute Encoder (Stegmann, Heidenhain or Panasonic)
38
B1 input becomes inactive.
B2 presents emulated differential buffered encoder output signals of the
Main Feedback.
• Mode 2 (Composer Command: YA[4]=2 or YA[4]=0) – Refer to Sections 3.5.3, and 3.5.4.
When the Auxiliary port of the Solo Trombone is set by software to act as an input
B1 becomes an active differential buffered input.
B2 presents differential buffered encoder output signals of B1.
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Auxiliary Feedback:
B2: Emulated Differential
Buffered Encoder Output
B1: NA
Main Feedback:
I
Analog (Sin/Cos) Encoder
OR Resolver
OR
OR
OR Absolute (all types)
Solo Trombone Installation Guide Installation
3.5.1. 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 Solo Trombone, AUX.
FEEDBACK, has two ports, Port B1 and Port B2. When used in combination with the MAIN
FEEDBACK, these ports can be set, by the software, as follows:
Main Feedback Auxiliary Feedback: Output
39
Software Setting
Incremental Encoder Input
Interpolated
Analog (Sine/Cosine)
Encoder Input
Resolver Input
Potentiometer
Tachometer
Input
Absolute Encoder Input
(All types)
◊
nterpolated
Potentiometer
Tachometer
YA[4] = 4
(Auxiliary Feedback: output)
Auxiliary Feedback:
Typical
Applications
Analog Encoder applications where position data is
required, in the Encoder’s quadrature format, for other
purposes such as position controllers and/or other drives.
Resolver applications where position data is required in
the Encoder’s quadrature format, for other purposes such
as position controllers and/or other drives.
Potentiometer and Tachometer applications where
position data is required, in the Encoder’s quadrature
format, for other purposes such as position controllers
and/or other drives.
◊ Absolute applications where position data is required, in
the Encoder’s quadrature format, for other purposes such
as position controllers and/or other drives.
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Main Feedback:
Incremental Encoder
OR Interpolated
Analog (Sin/Cos) Encoder
OR Resolver
OR
OR
OR Absolute (all types)
Auxiliary Feedback:
B1: Differential Auxiliary
Encoder Input
Auxiliary Feedback:
B2: Differential
Buffered
Encoder Output of B1
Solo Trombone Installation Guide Installation
Main Feedback Auxiliary Feedback: Input
40
Software Setting
Incremental
Encoder Input
Interpolated
Analog
(Sine/Cosine)
Encoder Input
Resolver Input
Potentiometer
Tachometer
Input
Absolute Encoder
Input
Potentiometer
Tachometer
YA[4] = 2
(Auxiliary Feedback: input)
(All types)
Typical
Applications
Any application where two Feedbacks are used by the drive.
The B1 Auxiliary Feedback port serves as an input port for the B2
Auxiliary incremental encoder.
For applications such as Follower, ECAM, or Dual Loop.
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Main Feedback:
Incremental Encoder
OR Interpolated
Analog (Sin/Cos) Encoder
OR Resolver
OR
OR
OR A
Auxiliary Feedback:
B1: Differential
Pulse & Direction
Commands Input
Auxiliary Feedback:
B2: Differential Buffered
Pulse & Direction
Commands Output of B1
Solo Trombone Installation Guide Installation
41
Main Feedback
Software
Setting
Incremental
Encoder Input
Interpolated
Analog
(Sine/Cosine)
Encoder Input
Resolver Input
Potentiometer
Tachometer
Input
Absolute
Encoder Input
(All types)
Potentiometer
Tachometer
bsolute (all types)
Auxiliary Feedback: Input
YA[4] = 0
(Auxiliary Feedback: input)
Typical
Applications
Any application where two Feedbacks are used by the drive.
The Auxiliary Feedback ports serve as an input and output for Pulse &
Direction Commands.
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3.5.2. Solo Trombone Auxiliary Feedback – Differential Buffered
Encoder Output (YA[4]=4)
The Auxiliary Feedback’s B2 port can provide emulated encoder signals to other controllers or
drives. This option can be used when:
• A Resolver, Interpolated Analog Encoder, Absolute Encoder (Stegmann, Heidenhain or
Panasonic), or Potentiometer and Tachometer is used as a Main Feedback device.
• The Solo Trombone is used as a current amplifier to provide position data to the position
controller.
• The Solo Trombone is used in velocity mode, to provide position data to the position
controller.
• The Solo Trombone is used as a master in Follower or ECAM mode.
Below are the signals on the Auxiliary Feedback ports when the Solo Trombone Auxiliary
Feedback port is set up for emulated output of the Main Feedback device (Resolver or Analog
Incremental Encoder only).
42
Port Pin (J6) Signal Function
PWR 1 COMRET Common return
PWR 2 +5V Encoder supply voltage
B1 3 NA When YA[4]=4 the B1 port is not available
B1 4 NA When YA[4]=4 the B1 port is not available
B1 5 NA When YA[4]=4 the B1 port is not available
B1 6 NA When YA[4]=4 the B1 port is not available
B1 7 NA When YA[4]=4 the B1 port is not available
B1 8 NA When YA[4]=4 the B1 port is not available
B2 9 CHAO Buffered Channel A output
B2 10 CHAO- Buffered Channel A complement 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
PWR 15 PE Protective Earth
PWR 16 COMRET Common return
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Pin Positions
43
Table 8: Emulated Encoder Output on the Auxiliary Feedback Port B2 - Pin Assignments
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Figure 20: Emulated Encoder Direct Output – Acceptable Connection Diagram
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3.5.3. Auxiliary Feedback - Differential Encoder Input Option
(YA[4]=2)
The Solo Trombone 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 of B1 for the next slave axis in Follower or ECAM mode.
Below are the signals on the Auxiliary Feedback ports when the Solo Trombone Auxiliary
Feedback port is set up to run as a differential Auxiliary input:
Port Pin (J6) Signal Function
PWR 1 COMRET Common return
PWR 2 +5V Encoder supply voltage
B1 3 CHA Auxiliary channel A input
B1 4 CHA- Auxiliary channel A complement input
B1 5 CHB Auxiliary channel B input
45
B1 6 CHB- Auxiliary channel B complement input
B1 7 INDEX Auxiliary Index input
B1 8 INDEX- Auxiliary Index complement input
B2 9 CHAO Buffered Channel A output
B2 10 CHAO- Buffered channel A complement 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
PWR 15 PE Protective Earth
PWR 16 COMRET Common return
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Pin Positions
46
Table 9: Differential Auxiliary Encoder Input Option along with Differential Encoder Outputs
on Auxiliary Feedback - Pin Assignments
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Figure 21: Differential Auxiliary Input Option on Auxiliary Feedback - Connection Diagram
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3.5.4. Auxiliary Feedback – Differential Pulse-and-Direction Input
Option (YA[4]=0)
This mode is used for input of differential pulse-and-direction position commands on Port B1.
In this mode Port B2 provides differential buffered pulse-and-direction outputs of B1 for
another axis.
Below are the signals on the Auxiliary Feedback ports when set up to run as a differential pulseand-direction input:
Port Pin (J6) Signal Function
PWR 1 COMRET Common return
PWR 2 +5V Encoder supply voltage
B1 3 CHA Auxiliary pulse input
B1 4 CHA- Auxiliary pulse complement input
B1 5 CHB Auxiliary direction input
48
B1 6 CHB- Auxiliary direction complement input
B1 7 NA Do not connect this pin
B1 8 NA Do not connect this pin
B2 9 CHAO Buffered pulse output
B2 10 CHAO- Buffered pulse complement output
B2 11 CHBO Buffered direction output
B2 12 CHBO- Buffered direction complement output
B2 13 NA Do not connect this pin
B2 14 NA Do not connect this pin
PWR 15 PE Protective Earth
PWR 16 COMRET Common return
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Pin Positions
49
Table 10: Pulse-and-Direction Pin Assignments on Auxiliary Feedback
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Figure 22: Pulse-and-Direction Input Option on Auxiliary Feedback - Connection Diagram
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3.5.5. I/Os
The Solo Trombone has 6 Digital Inputs, 4 Digital Outputs and 1 Analog Input.
3.5.5.1. Digital Input
Each of the pins below can function as an independent input.
Pin (J7) Signal Function
1 IN2 Programmable input 2 (general purpose, RLS, FLS, INH)
2 INRET2 Programmable input 2 return
3 IN4 Programmable input 4 (general purpose, RLS, FLS, INH)
4 IN3 Programmable input 3 (general purpose, RLS, FLS, INH)
5 IN5 Hi-Speed Programmable input 5 (event capture, Main Home, general
purpose, RLS, FLS, INH)
6 INRET Programmable input return
51
7 IN6 Hi-Speed Programmable input 6 (event capture, Auxiliary Home,
general purpose, RLS, FLS, INH)
8 INRET Programmable input return
Pin Positions
Table 11: Digital Input Pin Assignments
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Figure 23: Digital Input Connection Diagram
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3.5.6. Digital Output
Pin (J7) Signal Function
9 VDDIN Digital output supply
10 OUT1 Programmable digital output 1
11 VDDIN Digital output supply
12 OUT2 Programmable digital output 2
13 VDDRET Digital output supply return
14 OUT3 Programmable digital output 3
15 VDDRET Digital output supply return
16 OUT4 Programmable digital output 4
Pin Positions
53
Table 12: Digital Output Pin Assignments
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Figure 24: Digital Output Connection Diagram
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3.5.7. Analog Input
Pin (J7) Signal Function
18 ANLIN1+ Analog input 1+
20 ANLIN1- Analog input 1-
17 ANLRET Analog return
Pin Positions
55
Table 13: Analog Input Pin Assignments
Figure 25: Analog Input with Single-Ended Source
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3.5.8. Communication
The communication interface may differ according to the user’s hardware. The Solo Trombone
can communicate using the following options:
• RS-232, full duplex
• CAN
RS-232 communication requires a standard, commercial 3-core null-modem cable connected
from the Solo Trombone 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.
3.5.8.1. RS-232 Communication
56
To connect the RS-232 communication cable
1. 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.
2. The RS-232 communication port is non-isolated.
Pin (J3) Signal Function
9 RS232_Tx RS-232 transmit
10 RS232_Rx RS-232 receive
11 RS232_COMRET Communication return
Pin Positions
Table 14: RS-232 Pin Assignments
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Figure 26: RS-232 Connection Diagram
3.5.8.2. CAN Communication
57
To connect the CAN communication cable
1. 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.
2. Make sure to have a 120-Ω resistor termination at each of the two ends of the network
cable.
3. Note that the Solo Trombone’s CAN port is non-isolated.
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58
Pin (J3)
CANIN
Pin (J3)
CANOUT
Signal Function
1 5 CAN_L CAN_L busline (dominant low)
2 6 CAN_H CAN_H busline (dominant high)
3 7 CAN_GND CAN ground
Pin Positions
Table 15: CAN - Pin Assignments
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59
Figure 27: CAN - Connection Diagram
Caution:
When installing the CAN
communications, ensure that
each servo drive is allocated a
unique ID. Otherwise, the
CAN network may hang.
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3.6. Powering Up
After the Solo Trombone has been mounted, check that the cables are intact.
The Solo Trombone 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 Solo Trombone and that the proper
plus-minus connections are in order.
3.7. Initializing the System
After the Solo Trombone 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.
3.8. Heat Dissipation
60
The best way to dissipate heat from the Solo Trombone is to mount it so that its heatsink faces
up. For best results leave approximately 10 mm of space between the Solo Trombone‘s
heatsink and any other assembly.
3.8.1. Solo Trombone Thermal Data
• Heat dissipation capability (θ): Approximately 5.5 °C/W
• Thermal time constant: Approximately 600 seconds (thermal time constant means that the
Solo Trombone will reach 2/3 of its final temperature after 10 minutes)
• Shut-off temperature: 86 °C to 88 °C (measured on the heatsink)
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3.8.2. Heat Dissipation Data
Heat Dissipation is shown graphically below:
61
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)
Solo Trombone Installation Guide Installation
3.8.3. 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 Solo Trombone as ≤ 40 °C.
62
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.
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Chapter 4: Technical Specifications
Solo Trombone Installation Guide
This chapter provides detailed technical information regarding the Solo Trombone. 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 Solo Trombone'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
63
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, 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 – “Composer”
• Event capturing interrupts
• Event triggered programming
• 32 KB memory in "A" (Advanced) type
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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
• Panasonic
• Analog Hall Sensor
64
• Resolver
Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Emulated encoder outputs, differential, buffered of the Resolver
• Auxiliary Encoder inputs (ECAM, follower, etc.) differential, buffered
• Tachometer & Potentiometer
• The Solo Trombone 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
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• Buffered and differential outputs of the main encoder with up to 5 MHz pulses
• 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
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
65
4.1.8. Accessories
• Heat sinks (TBD)
4.1.9. Status Indication
• Bi-color LED
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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
4.2. Solo Trombone Dimensions
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67
4.3. Power Ratings
Feature Units 12/400 16/400 R17/400 R22/400 8/800 12/800 R11/800 R16/800
Minimum supply
voltage
Nominal supply
voltage
Maximum supply
voltage
Maximum
continuous power
output
Efficiency at rated
power (at nominal
conditions)
Auxiliary supply
voltage option
Auxiliary power
supply
Continuous current
limit (Ic) Amplitude
sinusoidal/DC
trapezoidal
commutation
VDC S suffix in P/N*: 50
No S suffix in P/N: 100
VDC 325 560 for 400 VAC
VDC 400 780
W Up to 10 kW of continuous qualitative power
% > 98
VDC 18 V to 30 V
Only for Control Supply S suffix Model
VA ≤5 VA without external loading
≤8 VA with full external loading
A 12 16 17 22 8 12 11 16
S suffix in P/N*: 95+
680 for 480 VAC
Sinusoidal
continuous RMS
current limit (Ic)
Peak current limit A 2 x Ic No peak 2 x Ic No peak
Weight g (oz)
Dimensions mm
Digital in/Digital
out/ Analog in
Mounting method Panel / Wall Mounted
A 8.5 11.3 12 15.5 5.7 8.5 7.8 11.3
350 g (12.3 oz)
111 x 76 x 56 (4.37" x 2.99" x 2.21")
(in)
6/4/1
*See page 17 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 Solo Trombone 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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4.3.1. Auxiliary Supply
This table applies only to the models with an S suffix. See page 17 for further details on the part
number.
Feature Details
Auxiliary power supply Isolated DC source only
Auxiliary supply input voltage 18 to 30 VDC
Auxiliary supply input power < 8 VA (this includes the 5 V/2x200 mA load for
the main and auxiliary encoders)
Note: An S-type drive will not operate unless it has the Aux. supply (Mandatory).
4.4. Environmental Conditions
Feature Details
68
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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4.5. Control Specifications
4.5.1. Current Loop
Feature Details
Controller type Vector, digital
Compensation for bus voltage variations “On-the-fly” automatic gain scheduling
69
Motor types
• AC brushless (sinusoidal)
• DC brushless (trapezoidal)
• DC brush
• Linear motors
• “Voice” coils
Current control
• Fully digital
• Sinusoidal with vector control
• Programmable PI control filter based on a
pair of PI controls of AC current signals and
constant power at high speed
Current loop bandwidth <2.5 kHz
Current sampling time
Programmable 100 to 200 µsec
Current sampling rate Default 10 kHz
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4.5.2. Velocity Loop
Feature Details
Controller type PI
70
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.
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4.5.3. Position Loop
Feature Details
Controller type “1-2-4” PIP
71
Position command options
• Software
• Pulse and Direction
• Analog Potentiometer
Position loop bandwidth < 80 Hz
Position sampling time
280 to 400 µsec (4x current loop sample time)
Position sampling rate Up to 4 kHz; default 2.75 kHz
4.6. Feedbacks
4.6.1. Feedback Supply Voltage
The DC supply voltage of the Solo Trombone has two feedback ports (Main and Auxiliary). This
DC voltage supplies voltage only to the main feedback device and to the auxiliary feedback
device if necessary.
Feature Details
Main encoder supply voltage 5 V +5% @ 200 mA maximum
Auxiliary encoder supply voltage 5 V +5% @ 200 mA maximum
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4.6.2. Main Feedback Options
The Solo Trombone can receive and process feedback input from diverse types of devices.
4.6.2.1. Incremental Encoder Input
Feature Details
72
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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4.6.2.2. Digital Halls
Feature Details
Halls inputs
• H
• Single ended inputs
• Built in hysteresis of 1 V for noise immunity
, HB, HC.
A
73
Input voltage Nominal operating range: 0 V < V
Maximum absolute: -1 V < V
High level input voltage: V
Low level input voltage: V
InHigh
InLow
In_Hall
> 2.5 V
< 1 V
< 5 V
In_Hall
< 15 V
Input current Sink current (when input pulled to the common): 5 mA
Maximum frequency f
MAX
: 2 kHz
4.6.2.3. Absolute Serial Encoder
Feature Details
Encoder format
Interface
Input Resistance
• NRZ (Panasonic)
• EnDAT 2.21 (with analog Sine/Cosine)
• Stegmann in DC-TRO/SOL-TRO
• RS-485
• Clock – Differential output line
• Data – Differential bidirectional line
Differential 120 Ω
Transmission Rate Up to 2.5 MHz
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Signal offsets
( 4.6.3)
Solo Trombone Installation Guide Technical Specifications
4.6.2.4. Interpolated Analog (Sine/Cosine) Encoder
Feature Details
Analog encoder format Sine and Cosine signals
74
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
4.6.2.5. Resolver
Feature Details
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 Solo Trombone
Reference current up to ±50 mA
Encoder outputs
See Auxiliary Encoder Output specifications ( 4.6.3)
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4.6.2.6. 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.
75
4.6.2.7. Potentiometer
Feature Details
Potentiometer Format Single-ended
Operating Voltage Range 0 to 5 V supplied by the Solo Trombone
Potentiometer Resistance 100 Ω to 1 kΩ above this range, linearity is affected
detrimentally
Input Resistance 100 kΩ
Resolution 14 bit
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4.6.3. Main Encoder Buffered Output
Feature Details
76
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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4.6.4. Auxiliary Feedback Port (output mode YA[4]= 4)
Feature Details
77
Emulated output
• A, B, Index
• Differential outputs
Output current capability Maximum output current: IOH (max) = 2 mA
> 3.0 V
OH
= 2 mA
OL
< 0.4 V
OL
Available as options
High level output voltage: V
Minimum output current: I
Low level output voltage: V
• Emulated encoder outputs of:
• Resolver
• Analog Encoder
• Absolute Encoder (Stegmann, Heidenhain or
Panasonic),
• Potentiometer and Tachometer
Maximum frequency f
Edge separation between A & B
: 5 MHz pulses/output
MAX
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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4.6.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)
Feature Details
78
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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4.7. I/Os
The Solo Trombone has
• 6 Digital Inputs
• 4 Digital Outputs
• 1 Analog Input
4.7.1. Digital Input Interfaces
Feature Details
Type of input Optically isolated
79
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 < 4 x TS
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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4.7.2. Powerful Digital Output Interface
Feature Details
80
Type of output
• Optically isolated
• Powerful Sink/Source capability
Maximum supply output
30 V
(Vdd)
Max. output current
Iout (max) ≤ 250 mA
Iout (max) (Vout = Low)
VOH at maximum output
voltage
VDO ≥ VOH ≥ VDO-1.25
VOH @ 250 mA
Source mode
VOL at maximum output
voltage
0 V ≤ VOL ≤ 1.25
VOL @ 250 mA
Sink mode
RL The external RL must be selected to limit output current to
no more than 250 mA.
RL=VDO-Ix5
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.
SINK
SOURCE
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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.
81
• Baud Rate of 9,600 to 57,600 bit/sec.
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)
4.10. Brake
The brake can be controlled by Digital Output 1, which should be set to Brake.
Feature Details
Rated voltage 24 V +10%
Rated current 0.5 A
Input power 12 W
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4.11. Compliance with Standards
Specification Details
Quality Assurance
ISO 9001:2008 Quality Management
Design
Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)
MIL-HDBK- 217F Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
82
• 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
Recognized UL 508C Power Conversion Equipment
In compliance with UL 840 Insulation Coordination Including Clearances
and Creepage Distances for Electrical
Equipment
In compliance with UL 60950 Safety of Information Technology Equipment
Including Electrical Business Equipment
Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive
systems
In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
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Specification Details
EMC
Approved IEC/EN 61800-3, EMC Adjustable speed electrical power drive
systems
83
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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