ElmoMC SimplIQ Digital Servo Drives-Trombone Installation Guide

Trombone

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.403)

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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 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-TROIG (Ver. 1.403)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Revision History

Version Details

1.0 Initial release

1.1 Significant changes to the Appendix (Chapter 4)

1.2 Upgraded Trombone version to include new absolute

encoder settings and STO.

1.3 Sections 4.3 and 4.3.1: Auxiliary Supply Voltage range: 18

V to 30 V

1.4 September 2012 Change the overvoltage in 800 V mode, Pin layout, UL

recognition, and further optional versions added

“Metronome” was replaced by the “Composer” software.

1.401 February 2013 Added a caution and recommendation on the type of

cleaning solution to use for the Elmo unit.

1.402 June 2014 Document update

1.403 July 2014 Basic format changes

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-TROIG (Ve r. 1.403)

Table of Contents

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: Product Description ...................................................................................... 11

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

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

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

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

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

2.2.4. 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. Site Requirements ........................................................................................................ 16

3.2. Unpacking the Drive Components ................................................................................ 16

3.3. Pinouts .......................................................................................................................... 18

3.3.1. Connector Types ............................................................................................ 18

3.3.2. Connector J1 .................................................................................................. 19

3.3.3. Connector J2 .................................................................................................. 20

3.4. Mounting the Trombone .............................................................................................. 21

3.5. Integrating the Trombone on a PCB ............................................................................. 22

3.5.1. Traces ............................................................................................................. 22

3.5.2. Grounds and Returns ..................................................................................... 23

3.6. Connection Diagrams ................................................................................................... 24

3.7. Main Power and Motor Power ..................................................................................... 27

3.7.1. Connecting Motor Power .............................................................................. 27

3.7.2. Connecting the DC Power .............................................................................. 28

3.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 28

3.7.2.2. Battery Power Supply ................................................................... 32

3.8. Connecting the Control and Backup Supply ................................................................. 32

3.9. Main Feedback ............................................................................................................. 33

3.10. Auxiliary Feedback ........................................................................................................

44

3.10.1. Main and Auxiliary Feedback Combinations ................................................. 45

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Trombone Installation Guide Table of Contents

3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) ................. 47

3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 49

3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 51

3.11. User I/Os ....................................................................................................................... 54

3.11.1. Digital Input ................................................................................................... 54

3.11.2. Digital Output ................................................................................................ 57

3.11.3. Analog Input .................................................................................................. 59

3.12. Communications ........................................................................................................... 60

3.12.1. RS-232 Communication ................................................................................. 60

3.12.2. CAN Communication ..................................................................................... 61

3.13. Powering Up ................................................................................................................. 63

3.13.1. Initializing the System .................................................................................... 63

3.14. Heat Dissipation............................................................................................................ 63

3.14.1. Trombone Thermal Data ............................................................................... 63

3.14.2. Heat Dissipation Data .................................................................................... 64

3.14.3. How to Use the Charts ................................................................................... 65

6

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

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

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

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

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

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

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

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

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

4.1.8. Status Indication ............................................................................................ 68

4.1.9. Automatic Procedures ................................................................................... 68

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

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

4.3.1. Auxiliary Supply ............................................................................................. 71

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

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

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

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

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

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

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

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

4.6.2.1.

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

4.6.2.2. Digital Halls ................................................................................... 75

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

4.6.2.4. Absolute Serial Encoder ................................................................ 76

4.6.2.5. Resolver ........................................................................................ 76

4.6.2.6. Tachometer ................................................................................... 77

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Trombone Installation Guide Table of Contents

4.6.2.7. Potentiometer .............................................................................. 77

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

4.6.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 79

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

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

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

4.7.3. Analog Input .................................................................................................. 81

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

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

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

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MAN-TROIG (Ve r. 1.403)

Chapter 1: Safety Information

Trombone Installation Guide

In order to operate the 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 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 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:

Warning:
This information is needed to avoid a safety hazard, which might cause bodily
injury.

Caution:
This information is necessary for preventing damage to the product or to other
equipment.

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Safety Information

1.1. Warnings

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

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

• Disconnect the Trombone from all voltage sources before it is opened for servicing.

• The 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

• The Trombone servo drive contains hot surfaces and electrically-charged components

during operation.

9

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

parameters outlined in this guide.

• When connecting to 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 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 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-TROIG (Ve r. 1.403)

Trombone Installation Guide Safety Information

1.3. Directives and Standards

The 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 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 Trombone servo drive is intended for incorporation in a machine or end product. The
actual 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
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-TROIG (Ve r. 1.403)

Chapter 2: Product Description

Trombone Installation Guide

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

2.1. Drive Description

The Trombone series of digital servo drives are highly resilient and designed to deliver the
highest density of power and intelligence. The 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 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 configure the servo drive quickly and simply for optimal use
with their motor. The 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 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 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, Trombone models that do not have the Control
Supply S suffix in the catalog number (only for 400 V models -see page 17) can be used, i.e.,
they do not have a 24 V control supply. In these models, a smart control-supply algorithm
enables the Trombone to operate with only the main power supply VP+ and VN-, with no need
for a 24 VDC auxiliary power supply for the logic.

The Trombone is a PCB-mounted device, which enables efficient and cost-effective
implementation. However, stand-alone integrated products (the DC Trombone and Solo
Trombone) are also available, using pluggable connections.

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Product Description

The Trombone is available in two versions:

• The Standard 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
CAN DS 301, DS 305, DS 402 communications and features a third-generation programming
environment. (The catalog number begins TRO but is not followed by an A.)

• The Advanced 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 begins TRO-A.).

2.2. Product Features

2.2.1. Current Control

• Fully digital

• Sinusoidal commutation with vector control or trapezoidal commutation with encoder

and/or digital Hall sensors

12

• 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

• PT and PVT motion modes

• Fast output compare (OC)

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Product Description

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, Trombone users can select from two communication options:

• RS-232 serial communication

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

2.2.6. Feedback Options

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

• Digital Halls – up to 2 kHz

13

• 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 Encoder

 Heidenhain 2.1
 Heidenhain 2.2
 Panasonic

• Elmo drives provide supply voltage for all the feedback options

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MAN-TROIG (Ve r. 1.403)

Motor

PWM

Controller

Communication

RS 232 and CANopen

Isolated Power Stage

Protection

I/Os

Resolver

Tachometer

Analog

Encoder

or

Main

DC Power

Supply

Potentiometer

or

or

or

Auxilliary

Encoder

24V Logic

Supply

(Optional)

Isolation

Boundary

Isolation

Boundary

Current

Feedback

Incremental

Encoder

Absolute

or

Trombone Installation Guide Product Description

2.2.7. Fault Protection

The 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

2.3. System Architecture

14

Figure 1: Trombone System Block Diagram

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Product Description

2.4. How to Use this Guide

In order to install and operate the Trombone servo drive, you will use this manual in
conjunction with a set of Elmo documentation. Installation is your first step; after carefully
reading the safety instructions in the first chapter, the following chapters provide you with
installation instructions as follows:

• Chapter 3 - Installation, provides step-by-step instructions for unpacking, mounting,

connecting and powering up the Trombone.

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

When you have completed the instructions in this guide, the 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

Trombone

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

command used to manipulate the 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-TROIG (Ve r. 1.403)

Chapter 3: Installation

Trombone Installation Guide Installation

The Trombone must be installed in a suitable environment and properly connected to its
voltage supplies and the motor.

3.1. Site Requirements

You can guarantee the safe operation of the Trombone by ensuring that it is installed in an
appropriate environment.

Feature Value

16

Ambient operating temperature

Maximum non-condensing humidity 90%

Operating area atmosphere No flammable gases or vapors permitted in

Models for extended environmental conditions are available.

Caution:

The Trombone dissipates its heat by convection. The maximum ambient
operating temperature of 40 °C (104 °F) must not be exceeded.

0 °C to 40 °C (32 °F to 104 °F)

area

3.2. Unpacking the Drive Components

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

• The Trombone servo drive

• The Composer software and software manual

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

To unpack the 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.

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

3. To ensure that the Trombone you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the Trombone.

It looks like this:

4. Verify that the Trombone type is the one that you ordered, and ensure that the voltage

meets your specific requirements.

The part number at the top gives the type designation as follows:

17

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

3.3. Pinouts

The Trombone has 9 connectors.

3.3.1. Connector Types

Pins Type Port Function Connector Location

2 mm pitch

2x18

0.51 mm2

17 J2 Main Feedback, Analog

1x2 J3.1 24 VDC Auxiliary power input

J1 I/O, COMM, Auxiliary

Feedback

Input, LED

positive (Only in Trombone
models with the S suffix)

J3.2 24 VDC Auxiliary power input

return (Only in Trombone
models with the S suffix)

18

2.54 mm pitch

2

0.64 mm2

VP+ Positive DC power input

2 VN- Negative DC power input

2 PE Protective earth

2 M1 Motor power output 1

2 M2 Motor power output 2

2 M3 Motor power output 3

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Trombone Installation Guide Installation

3.3.2. Connector J1

Connector J1: Communications, Auxiliary Feedback, I/O functions)

Pin (J1) Signal Function

1 RS232_RX RS-232 receive

2 RS232_TX RS-232 transmit

3 RS232_COMRET RS-232 communication return

4 AUX PORT CHA Auxiliary port CHA (bidirectional)

5 AUX PORT CHB Auxiliary port CHB (bidirectional)

6 COMRET Common return

7 OUT1 Programmable digital output 1

8 OUT2 Programmable digital output 2

9 OUT3 Programmable digital output 3

19

10 OUT4 Programmable digital output 4

11 IN1 Programmable digital input 1

12 IN2 Programmable digital input 2

13 IN3 Programmable digital input 3

14 IN4 Programmable digital input 4

15 IN5 Programmable digital input 5

16 IN6 Programmable digital input 6

17 SAFETY1 Safety input 1

18 SAFETY2 Safety input 2

19 SAFETY2RET Safety input 1 return (optionally connected to J1/20)

20 SAFETY1RET Safety input 2 return (optionally connected to J1/19)

21 INRET6 Programmable digital input 6 return

22 INRET5 Programmable digital input 5 return

23 INRET4 Programmable digital input 4 return

24 INRET3 Programmable digital input 3 return

25 INRET2 Programmable digital input 2 return

26 INRET1 Programmable digital input 1 return

27 OUTRET4 Programmable digital output 4 return

28 OUTRET3 Programmable digital output 3 return

29 OUTRET2 Programmable digital output 2 return

30 OUTRET1 Programmable digital output 1 return

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Trombone Installation Guide Installation

Pin (J1) Signal Function

31 +5 V Encoder +5 V supply voltage

Maximum output current: 200 mA

32 SUPRET Supply return

33 AUX PORT INDEX Auxiliary port index (bidirectional)

34 CAN_COMRET CAN communication return

35 CAN_L CAN_L bus line (dominant low)

36 CAN_H CAN_H bus line (dominant high)

3.3.3. Connector J2

Connector J2: Main Feedback and Analog Input functions

Pin (J2) Signal Function

1 +5V Encoder/Hall +5V supply voltage

Maximum output current: 200 mA

20

2 COMRET Supply and common return

3 ANALIN1+ Analog input 1+

4 ANALIN1- Analog input 1-

5 CHA Channel A+

6 CHA- Channel A-

7 CHB Channel B+

8 CHB- Channel B-

9 INDEX+/DATA+ Index + or Data+

10 INDEX-/DATA- Index – or Data-

11 CLOCK+ Clocking+

12 CLOCK- Clocking-

13 HA Hall sensor A input

14 HB Hall sensor B input

15 HC Hall sensor C input

16 LED_2_OUT Bi-color indication output 2 (Cathode). Implement this

pin-out usage by connecting it to a led (as necessary).

17 LED_1_OUT Bi-color indication output 1 (Anode). Implement this

pin-out usage by connecting it to a led (as necessary).

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

3.4. Mounting the Trombone

The Trombone (Figure 2) is designed for mounting on a printed circuit board (PCB). It is
connected by 2 mm pitch 0.51 mm square pins and 2.54 mm pitch 0.64 mm square pins. When
integrating the Trombone into a PCB, be sure to leave about 1 cm (0.4") outward from the heat
sink to enable free convection of the air around the Trombone. We recommend that the
Trombone be soldered directly to the board. If the PCB is enclosed in a metal chassis, we
recommend that the Trombone be screw-mounted to it as well to help with heat dissipation.
The Trombone has screw-mount holes on each corner of the heat sink for this purpose.

21

All dimensions are in mm.

Figure 2: Trombone Dimensions

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

3.5. Integrating the Trombone on a PCB

The Trombone is designed to be mounted on a PCB, by soldering its pins directly to the PCB.
The following procedures apply.

3.5.1. Traces

To implement Traces

1. The size of the traces on the PCB (thickness and width) is determined by the current

carrying capacity required by the application.

 The rated continuous current limit (Ic) of the Trombone is the current used for sizing

the motor traces (M1, M2, M3 and PE) and power traces (VP+, VN- and PE).

 For control, feedbacks and I/O conductors the actual current is very small, but

“generous” thickness and width of the conductors will contribute to better
performance and lower interference.

2. The traces should be as short as possible to minimize EMI and to minimize the heat

generated by the conductors.

22

3. The spacing between the high voltage conductors (VP+, VN-, M1, M2, M3) must be at least:

400 V Drives 800 V Drives

Surface layer Non-coated 2.4 mm 4.2 mm

Coated 1.0 mm 2.4 mm

Internal layer 0.5 mm 1.0 mm

4. The spacing between the high voltage conductors (VP+, VN-, M1, M2, M3) and the logic

part of the drive must be at least:

400 V Drives 800 V Drives

Surface layer Non-coated 4.8 mm 8.4 mm

Coated 2.0 mm 3.8 mm

Internal layer 0.5 mm 1.0 mm

5. The spacing between any voltage conductors and the PE part of the drive, must be at least:

400 V Drives 800 V Drives

Surface layer Non-coated 2.4 mm 4.2 mm

Coated 1.0 mm 2.4 mm

Internal layer 0.5 mm 1.0 mm

Complying with the rules above will help satisfy UL safety standards, MIL-STD-275 and the
IPC-D-275 standard for non-coated conductors, operating at voltages lower than 800 VDC.

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

3.5.2. Grounds and Returns

The “Returns” of the Trombone are structured internally in a star configuration. The returns in
each functional block are listed below:

Functional Block Return Pin

RS232 Communications RS232_COMRET (J1/3)

CAN Communications CAN_COMRET (J1/34)

Control section COMRET (J1/6)

Aux. Feedback SUPRET (J1/32)

Main Feedback/ Analog input SUPRET (J2/2)

The returns above are all shorted within the control section of the Trombone, in a topology
that results in optimum performance.

1. When wiring the traces of the above functions, on the Integration Board, the Returns of

each function must be wired separately to its designated terminal on the Trombone. DO
NOT USE A COMMON GROUND PLANE. Shorting the common returns on the Integration
Board may cause performance degradation (ground loops, etc.).

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2. Inputs: The 6 digital inputs are optically isolated from the other parts of the Trombone.

Each input has its own return line, INRET#. To retain isolation, the Input Return pins and all
other conductors on the input circuit, must be laid out separately.

3. Outputs: The 4 digital outputs are optically isolated from the other parts of the Trombone.

Each output has its own return line, OUTRET# that is also optically isolated. To retain
isolation, all the output circuit conductors must be laid out separately.

4. Return Traces: The return traces should be as large as possible, but without shorting each

other, and with minimal crossover.

5. Main Power Supply and Motor Traces: The power traces must be kept as far away as

possible from the feedback, control and communication traces.

6. PE Terminal: The PE (Protective Earth) terminal is connected directly to the Trombone‘s

heat-sink. The heat-sink serves as an EMI common plane. The PE terminal should be
connected to the system’s Protective Earth. Any other metallic parts (such as the chassis) of
the assembly should be connected to the Protective Earth as well.

7. Under normal operating conditions, the PE trace carries no current. The only time these

traces carry current is under abnormal conditions (such as when the device has become a
potential shock or fire hazard while conducting external EMI interferences directly to
ground). When connected properly, the PE trace prevents these hazards from affecting the
drive.

Caution:
Follow these instructions to ensure safe and proper implementation. Failure to
meet any of the above-mentioned requirements can result in
drive/controller/host failure.

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Trombone Installation Guide Installation

3.6. Connection Diagrams

The following three connection diagrams (Figure 3, Figure 4) show the three different ways of
connecting the power supply:

• 400 V and 800 V S models (the catalog number has an S suffix) that feature backup

functionality and require an auxiliary 24 V backup supply. The drive will not be operative
without the external 24 VDC supply.

• 400 V model without backup functionality. The drive’s internal DC/DC converter is fed from

the VP+ and VN- of the internal drive’s bus line.

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Trombone Installation Guide Installation

25

Figure 3: Trombone Connection Diagram – with Backup Functionality

(S Model Drive)

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MAN-TROIG (Ve r. 1.403)

Trombone Installation Guide Installation

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Figure 4: Trombone Connection Diagram – 400 V without Backup Functionality

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