ElmoMC SimplIQ Digital Servo Drives-Solo Trombone Installation Guide

Solo Trombone

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.203)

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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

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

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-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

7

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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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

12

• 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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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

13

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

14

Figure 1: Solo Trombone System Block Diagram

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MAN-SOLTROI G (Ver. 1.203)

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

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-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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MAN-SOLTROI G (Ver. 1.203)

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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MAN-SOLTROI G (Ver. 1.203)

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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Solo Trombone Installation Guide Installation

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

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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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MAN-SOLTROI G (Ver. 1.203)

Solo Trombone Installation Guide Installation

3.3.3.2.b Single-Phase Direct-to-Mains Connection Topology

Figure 4: Non-Isolated Single-Phase Connection Topology

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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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MAN-SOLTROI G (Ver. 1.203)

Solo Trombone Installation Guide Installation

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.

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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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MAN-SOLTROI G (Ver. 1.203)

Solo Trombone Installation Guide Installation

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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