ElmoMC SimplIQ Digital Servo Drives-Trombone DC User Manual

Download

DC Trombone

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.601)

www.elmomc.com

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 DC 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.

• Information in this document is subject to change without notice.

Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd.

Document no. MAN-DCTROIG (Ver. 1.601)

Elmo Motion Control Ltd.

Catalog Number

Revision History

Version Date Details

Ver. 1.0 Initial release

Ver. 1.1 Updated with new template

Ver. 1.2 Changes and updates to the following sections:

2.1, 2.2.6, 2.2.7, 2.3, 3.0, 3.11, 3.3.1, 3.4, 3.5, 3.5.2, 3.6, 3.7,

3.8, 3.9, 3.10, 4.1, 4.1.7, 4.3, 4.4.1, 4.6, 4.7

Ver. 1.3 Sections 4.3, 4.4.1: Auxiliary supply range: 18 to 30 V

Ver. 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.

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

cleaning solution to use for the Elmo unit.

Ver. 1.500 May 2013 Addition of heat-sink option to lower side of the drive.

Ver. 1.600 June 2014 Manual updated

Ver. 1.601 July 2014 General format updates

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

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

Tel: +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

MAN-DCTROIG (V er. 1.601)

Table of Contents

DC 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

2.2.8. Built-in Protection .......................................................................................... 14

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

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

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

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

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

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

3.2. Unpacking the Drive Components ................................................................................ 19

3.3. Connectors.................................................................................................................... 20

3.3.1. Connector Types ............................................................................................ 20

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

3.5. Connections .................................................................................................................. 23

3.5.1. Wiring the DC Trombone ............................................................................... 23

3.5.2. Connection Diagrams..................................................................................... 24

3.6. Connecting the Power Cables ....................................................................................... 27

3.6.1. For S type drives ............................................................................................ 27

3.6.2. For Non-S 400 VDC Type Drives ..................................................................... 28

3.6.3. Connecting the Motor Cable ......................................................................... 29

3.6.4. Connecting the DC Power .............................................................................. 29

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

3.6.5.1. Three-Phase Direct-to-Mains Connection Topology .................... 30

3.6.5.2. Single

-Phase Direct-to-Mains Connection Topology .................... 31

3.6.5.3. Multiple Connections Topology .................................................... 32

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Table of Contents

3.6.6. Battery Power Supply .................................................................................... 33

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

3.7. Feedback and Control Cable Assemblies ...................................................................... 35

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

3.7.2. Main and Auxiliary Feedback Combinations ................................................. 44

3.7.3. FEEDBACK B (Auxiliary Feedback) .................................................................. 48

3.7.3.1. Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4) .... 48

3.7.3.2. Differential Auxiliary Encoder Input Option on FEEDBACK B

(YA[4]=2) ....................................................................................... 51

3.7.3.3. Differential Pulse-and-Direction Input Option on FEEDBACK B

(YA[4]=0) ....................................................................................... 53

3.8. I/O Cables ..................................................................................................................... 55

3.8.1. General I/O Port (P1) ..................................................................................... 55

3.8.1.1. Digital Output (as Source Configuration) & Input (as Sink

Configuration) ............................................................................... 56

3.8.1.2. Digital Output (as Sink Configuration) & Input (as Source

Configuration) ............................................................................... 58

3.8.2. General I/O Port (P2) ..................................................................................... 60

3.9. Communication Cables ................................................................................................. 62

3.9.1.1. RS-232 Communication ................................................................ 62

3.9.1.2. CAN Communication..................................................................... 63

3.10. Powering Up ................................................................................................................. 65

3.11. Initializing the System ................................................................................................... 65

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 .......................................................................................... 66

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

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

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

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

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

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

4.3. Power Ratings for the 400 V Type ................................................................................ 70

4.4. Power Ratings for the 800 V Type ................................................................................ 71

4.4.1. Auxiliary Supply (only for S Type Drive) ......................................................... 72

4.5. Environmental Conditions ............................................................................................ 72

4.6. Control Specifications ................................................................................................... 73

4.6.1. Current Loop .................................................................................................. 73

4.6.2. Velocity Loop ................................................................................................. 74

4.6.3. Position Loop ................................................................................................. 74

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Table of Contents

4.7. Feedbacks ..................................................................................................................... 75

4.7.1. Feedback Supply Voltage ............................................................................... 75

4.7.2. Main Feedback Options ................................................................................. 75

4.7.2.1. Incremental Encoder Input ........................................................... 75

4.7.2.2. Digital Halls ................................................................................... 76

4.7.2.3. Absolute Encoder .......................................................................... 76

4.7.2.4. Interpolated Analog Encoder (Sine/Cosine) ................................. 76

4.7.2.5. Resolver ........................................................................................ 77

4.7.2.6. Tachometer* ................................................................................. 77

4.7.2.7. Potentiometer .............................................................................. 78

4.7.3. Main Encoder Buffered Output ..................................................................... 78

4.7.4. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 79

4.7.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 80

4.8. I/Os ............................................................................................................................... 81

4.8.1. Digital Input Interfaces .................................................................................. 81

4.8.2. Digital Output Interface ................................................................................. 82

4.8.3. Analog Input .................................................................................................. 83

4.9. Communications ........................................................................................................... 83

4.10. Pulse Width Modulation (PWM) .................................................................................. 83

4.11. Compliance with Standards .......................................................................................... 84

MAN-DCTROIG (V er. 1.601)

Chapter 1: Safety Information

Warning:

Caution:

DC Trombone Installation Guide

In order to operate the DC 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 DC 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 DC 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.

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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC 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 DC Trombone from all voltage sources before it is opened for servicing.

• The DC 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 DC 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 DC 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 DC 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 DC 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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Safety Information

1.3. Directives and Standards

The DC 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

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 DC 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 DC 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 DC 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Chapter 2: Product Description

DC Trombone Installation Guide

This installation guide describes the DC 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 DC Trombone series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence. The DC 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 DC 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.

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 DC 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 DC Trombone). Elmo recommends using the Elmo Tambourine Power Supply, which is ideally suited to the Trombone, DC Trombone, and 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 DC 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, DC Trombone models that do not have the S option in the catalog number (only for 400 V model) can be used. In these models, a smart control-supply algorithm enables the DC 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 DC Trombone is available in two versions:

• The Standard DC 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 DC-TRO but is not followed by an A.)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Product Description

• The Advanced DC 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 DC-TROA.)

Both versions operate with RS-232 and CAN communication.

2.2. Product Features

2.2.1. Current Control

• Fully digital

• Sinusoidal commutation with vector control or trapezoidal commutation with encoder

and/or digital Hall sensors

• 12-bit current loop resolution

• Automatic gain scheduling, to compensate for variations in the DC bus power supply

2.2.2. Velocity Control

• Fully digital

• Programmable PI and FFW (feed forward) control filters

• Sample rate two times current loop sample time

• “On-the-fly” gain scheduling

• 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)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC 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, DC 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

• 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  Stegmann

Note: Elmo drives provide supply voltage for all the feedback options.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Motor

PWM

Controller

Communication

RS 232 and CANopen

Isolated Power Stage

Protection

I/Os

Resolver

Tachometer

Analog

Encoder

Main

DC Power

Supply

Potentiometer

Auxilliary

Encoder

24V Logic

Supply

(Optional)

Isolation

Boundary

Isolation

Boundary

Current

Feedback

Incremental

Encoder

Absolute

Main Feedback

Buffered

Output

DC Trombone Installation Guide Product Description

2.2.7. Fault Protection

The DC 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

2.2.8. Built-in Protection

• Additional heat-sink options, for demanding applications:

 External Heat Sink with fins (P/N with suffix 2)  External Heat Sink with fins and fan (P/N with suffix 1)

2.3. System Architecture

Figure 1: DC Trombone System Block Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Product Description

2.4. How to Use this Guide

In order to install and operate the DC 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 DC Trombone

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

Upon completing the instructions in this guide, the DC 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

DC Trombone

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

command used to manipulate the DC Trombone motion controller

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

are part of Elmo’s Composer software environment

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Chapter 3: Installation

Caution:

DC Trombone Installation Guide

3.1. Before You Begin

3.1.1. Site Requirements

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

Feature Value

Ambient operating temperature

Maximum Operating Altitude 2,000 m (6562 feet)

Maximum non-condensing humidity 90%

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

The DC 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)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.1.2. Hardware Requirements

The components that you will need to install your DC Trombone are:

Component Connector Described

in Section

Main Power Cable PE VN- VP+ 3.6.4

Motor Cable M3 M2 M1 PE 3.6.3

Backup Supply Cable

VL+ VL- 3.6.7

(needed for S type drive)

Diagram

Main Feedback Cable MAIN FEEDBACK

(FEEDBACK A)

Auxiliary Feedback Cable (if needed)

AUX. FEEDBACK

(FEEDBACK B)

3.7.1

3.7.3.2

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Component Connector Described

in Section

Digital I/O Cable (if needed)

Digital Inputs and Analog Inputs Cable

GENERAL I/O

3.8.1

3.8.1.2

(if needed)

RS232 Communication

RS232 3.9.1.1

Cable

Diagram

CAN Communication cable(s) (if needed)

PC for drive setup and tuning

Motor data sheet or manual

CAN (in)

CAN (out)

3.9.1.2

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.2. Unpacking the Drive Components

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

• The DC Trombone servo drive

• The Composer software and software manual

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

To unpack the DC 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 DC Trombone you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the DC Trombone. It looks like this:

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

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

meets your specific requirements.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Connector for optional backup supply in S type Motor Connector

Power Connector

DC Trombone Installation Guide Installation

3.3. Connectors

3.3.1. Connector Types

The DC Trombone has the following connectors:

Bottom Connectors

Pins Type Function

2 5.08 mm Phoenix high current

drives

4 7.62 mm Phoenix high current

3 7.62 mm Phoenix high current

Front Connectors

8 RJ-45 CAN in

8 RJ-45 CAN out

15 High-Density Female D-Sub P2- I/O

15 High-Density Male D-Sub P1-I/O

8 RJ-45 RS-232

15 Female D-Sub Feedback A (Main Feedback)

15 High Density Female D-Sub Feedback B (Aux. Feedback)

Table 1: Connector Types

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.4. Mounting the DC Trombone

The DC Trombone has been designed for two standard mounting options:

• Wall Mount along the back (can also be mounted horizontally on a metal surface)

• Book Shelf along the side

M4 round head screws, one through each opening in the heat sink, are used to mount the DC Trombone (see the diagram below).

Figure 2: Mounting the DC Trombone with L-shaped Heat-sink

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 3: Mounting the DC Trombone with Heat-Sink Fan and Fins

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.5. Connections

3.5.1. Wiring the DC Trombone

Once the DC Trombone is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the DC Trombone.

Caution: Perform the following instructions to ensure safe and proper wiring.

1. Use twisted pair shielded cables for control, feedback and communication connections. For

best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire. The drain wire is a non-insulated wire that is in contact with parts of the cable, usually the shield. It is used to terminate the shield and as a grounding connection.

The impedance of the wire must be as low as possible. The size of the wire must be thicker than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and feedback cables is satisfactory although 24 AWG is recommended.

2. Use shielded wires for motor connections as well. If the wires are long, ensure that the

capacitance between the wires is not too high: C < 30 nF is satisfactory for most applications.

3. Keep all wires and cables as short as possible.

4. Keep the motor wires as far away as possible from the feedback, control and

communication cables.

5. Ensure that in normal operating conditions, the shielded wires and drain carry no current.

The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground, in order to prevent them from affecting the drive. Failing to meet this requirement can result in drive/controller/host failure.

6. After completing the wiring, carefully inspect all wires to ensure tightness, good solder

joints and general safety.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.5.2. Connection Diagrams

The following two connection diagrams (Figure 4, Figure 5) show the three different ways of connecting the servo drive:

• 400 V and 800 V S models (the catalog number has an S option) 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 4: DC Trombone Connection Diagram – with Backup Functionality

(S Type Drive)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 5: DC-DC Trombone Connection Diagram – 400 V without Backup Functionality

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6. Connecting the Power Cables

The power connectors are located at the bottom of the DC Trombone, as follows:

3.6.1. For S type drives

Pin Function Cable

Power

VP+ Positive Power input DC Power

VN- Negative 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

M3 Motor phase Motor Motor

Auxiliary 24 VDC Backup Supply

VL- Negative Auxiliary input Backup Power

VL+ Positive Auxiliary input Backup Power

Connector Location Cable Connector

Pin Positions

Table 2: Connectors for Main DC Power, Backup supply and Motor Cable –S Type Drives

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6.2. For Non-S 400 VDC Type Drives

Pin Function Cable

Power

VP+ Positive Power input DC Power

VN- Negative 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

M3 Motor phase Motor Motor

Not Used

VL- N.C.

VL+ N.C.

Connector Location Cable Connector

Pin Positions

Table 3: Connectors for Main DC Power and Motor Cable – in Non-S 400 VDC type drives

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6.3. Connecting the Motor Cable

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

Note for connecting the motor cables:

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

motor connection. A shielded cable consisting of four wires should be used. The gauge is determined by the actual current consumption of the motor.

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

3. Connect the shield of the cable to the PE terminal in the drive's motor-connector.

4. Make sure that the motor chassis is properly grounded.

Figure 6: AC Motor Power Connection Diagram

3.6.4. Connecting the DC Power

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

In addition, this isolation simplifies the requirements of the DC power supply that is used to power the DC bus of the DC Trombone, by allowing it to operate with a non-isolated DC power source (a direct-to-mains connection) eliminating the need for a bulky and expensive isolationtransformer.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

However, the DC Trombone can operate from a non-isolated/direct-to-mains DC power supply, an isolated DC 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 Trombone is connected to Elmo’s Tambourine power supply, then the end-user can exploit the Tambourine’s options, such as EMI-filtering and shunt-regulator.

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

This section relates to the configuration of the power supply and drive, which are connected directly to the mains (Figure 7, Figure 8, Figure 9).

Recommended connection of 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 DC Trombone's power-connector, or attach it to one of the 6 mounting screws of the drive's heat sink.

3.6.5.1. Three-Phase Direct-to-Mains Connection Topology

Figure 7: 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.

Take care to 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6.5.2. Single-Phase Direct-to-Mains Connection Topology

Figure 8: Non-Isolated Single-Phase Connection Topology

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, as this will cause irreparable damage to the system.

Take care 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6.5.3. Multiple Connections Topology

When applied in a multi-axis arrangement, it is likely that a single power supply can feed several drives in parallel.

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

Figure 9: Non-Isolated Three-Phase multiple Connection Topology

The power supply is connected directly to the Mains AC line and it feeds more than one drive.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.6.6. Battery Power Supply

Figure 10: 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.

must be isolated from the mains by

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

In non-S type DC Trombone drive (a drive without having the option S in its part number), a “smart” control-supply algorithm enables the DC 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: In models without the S option, 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 DC Trombone should be used, with an external 24 VDC isolated power supply connected to it.

Note: The S-model DC Trombone always requires an external 24 VDC power supply,

regardless of whether or not backup functionality is required.

Connect the auxiliary 24 VDC power supply as described below.

Notes for 24 VDC backup supply connections:

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

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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 11: Auxiliary 24 VDC Backup Supply Connection Diagram

Pin Signal Function Cable

VL+ +24VDC +24 VDC backup supply Input

Positive

VL- 24VDC RET Return (common) of the 24 VDC

backup supply

Table 4: Backup Cable Plug

2-Pin Phoenix Plug-in

Connector

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Connector body

Drain wire soldered to connector body

Make sure that the braid shield is in tight contact with the metal housing

DC Trombone Installation Guide Installation

3.7. Feedback and Control Cable Assemblies

The DC Trombone features easy-to-use D-Sub type connections for all Control and Feedback cables. Below are instructions and diagrams describing how to assemble those cables.

1. Use 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended). For

best results, the shield should have aluminum foil covered by copper braid.

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

3. Ideally, solder the shield drain wire to the connector body as shown in Figure 12. However,

the shield may also be attached without soldering, as long as the braid shield is in tight contact with the metal housing of the D-type connector.

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

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

concerning the shield.

Figure 12: Feedback and Control Cable Assemblies

Note: All D-Sub type connectors, used with the DC Trombone, should be assembled in this

way.

3.7.1. Main Feedback Cable (FEEDBACK A)

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

The DC Trombone can accept any one of the following devices as a main feedback mechanism:

• Incremental encoder only

• Incremental encoder with digital Hall sensors

• Digital Hall sensors only

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

• Resolver (option)

• Tachometer (option)

• Potentiometer (option)

• Absolute Encoder

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Incremental

Interpolated

Resolver

Tachometer and

Encoder/Hall +5V

DC Trombone Installation Guide Installation

FEEDBACK A on the “front” of the DC Trombone has a 15-pin D-Sub socket.

Connect the Main Feedback cable from the motor to FEEDBACK A using a 15-pin, D-Sub plug with a metal housing. When assembling the Main Feedback cable, follow the instructions in Section 3.7 (Feedback and Control Cable Assemblies).

Encoder

Analog Encoder

Potentiometer

DC-TROXX/YYY _ DC-TROXX/YYYI DC-TROXX/YYYR DC-TROXX/YYYT

Pin Signal Function Signal Function Signal Function Signal Function

1 HC Hall sensor C

input

2 HA Hall sensor A

input

3 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

4 +5V Encoder/Hall

+5V supply

5 CHA- Channel A

complement

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

7 INDEX- Index

complement

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

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

10 HB Hall sensor B

input

HC Hall sensor C

input

HA Hall sensor A

input

+5V

supply

A- Sine A

complement

R- Reference

complement

HB Hall sensor B

input

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

50 mA Max.

NC - HB Hall sensor B input

+5V Encoder/Hall +5V

supply

Tac 1- Tacho Input 1

Neg. (20 V max)

(20 V max)

NC -

POT Potentiometer

Input

11 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

12 +5V Encoder/Hall

+5V supply

13 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return

14 CHB- Channel B

complement

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

+5V

supply

B- Cosine B

complement

+5V Encoder/Hall

+5V supply

S4 Cosine B

complement

+5V Encoder/Hall +5V

supply

Tac 2- Tacho Input 2

Neg. (50 V max)

(50 V max)

Table 5: Main Feedback Cable Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Absolute Encoders

DC-TROXX/YYYQ DC-TROXX/YYYP

Pin Signal Heidenhain Stegmann Panasonic

1 HC Hall C Hall C Hall C

2 HA Hall A Hall A Hall A

3 SUPRET Supply return Supply return Supply return

4 +5V EnDat (Heidenhain) Encoder

+5V supply

5 A- Sine A complement Sine A Sine A complement

6 A+ Sine A Sine A complement Sine A

7 DATA- Data complement Data complement Data complement

8 DATA+ DATA DATA DATA

9 SUPRET Supply return Supply return Supply return

10 HB Hall B Hall B Hall B

11 CLK- CLOCK complement - -

12 +8V - Stegmann Encoder +8V supply

13 CLK+ CLOCK - -

14 B- Cosine B complement Cosine B complement Cosine B complement

15 B+ Cosine B Cosine B Cosine B

Halls supply +5V Encoder +5V supply

8 V @90 mA maximum

Table 6: Main Feedback Cable Pin Assignments

Note: Connect the common from the control section to the closest PE point.

To connect the control common to the PE, use any one of the following available pins:

• P2/9

• FEEDBACK-B / 9, or 15

• FEDBACK A / 9, or 11, or 13

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 13: Main Feedback- Incremental Encoder Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 14: Main Feedback – Interpolated Analog Encoder Connection Diagram

Figure 15: Main Feedback – Resolver Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

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

Connection Diagram for Brushless Motors

Figure 17: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 18: Main Feedback – Potentiometer Feedback with Digital Hall Sensor

Connection Diagram for Brushless Motors

Figure 19: Main Feedback –

Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 20: Main Feedback – Stegmann Feedback Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 21: Main Feedback – Heidenhain Feedback Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Port

DC Trombone Installation Guide Installation

3.7.2. 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 DC Trombone, FEEDBACK B, has two ports, Port B1 and Port B2. When used in combination with the FEEDBACK A, these ports can be set, by the software, as follows:

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Feedback A (Main Feedback): Digital

Feedback B (Auxiliary Feedback) B1 Input:

N/A

Feedback B (Auxiliary Feedback) B2 Output:

N/A

Main Buffered Output via P2: Differential and buffered main encoder signals

Feedback A (Main Feedback): In Or Resolver Or Potentiomer and Tachometer Or Absolute Encoder (all types)

Feedback B (Auxiliary Feedback) B2 Output:

Differential and buffered emulated encoder signal of Feedback A

Main Buffered Output via P2: N/A

Feedback B (Auxiliary Feedback) B1 Input:

N/A

DC Trombone Installation Guide Installation

MAIN FEEDBACK

Software Setting

Incremental Encoder Input

Interpolated Analog

(sin/cos) Encoder Input

Resolver Input

Potentiomete r and Tachometer Input

AUX. FEEDBACK Ports B1 and B2

Encoder

terpolated Analog Encoder

YA[4] = 4

Absolute Encoder Input (All Types)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Feedback A (Main Feedback): Digital

Feedback B (Auxiliary Feedback) B1 Input:

Differential Incremental Encoder

Feedback B (Auxiliary Feedback) B2 Output:

Output same as B1

Main Buffered Output via P2: Differential and buffered main encoder signals

Feedback A (Main Feedback): In Or Resolver Or Potentiomer and Tachometer Or Absolute Encoder (all types)

Feedback B (Auxiliary Feedback) B1 Input:

Differential Incremental Encod

Feedback B (Auxiliary Feedback) B2 Output:

Output same as B1

Main Buffered Output via P2: N/A

DC Trombone Installation Guide Installation

MAIN FEEDBACK

Software Setting

Incremental Encoder Input

Interpolated Analog

(sin/cos) Encoder Input

AUX. FEEDBACK Ports B1 and B2

YA[4] = 2

Encoder

Resolver Input

Potentiometer and Tachometer Input

Absolute Encoder Input (All Types)

terpolated Analog Encoder

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Feedback A (Main Feedback): Digital

Feedback B (Auxiliary Feedback) B1 Input:

Pulse and Direction signals

Feedback B (Auxiliary Feedback) B2 Outpu

Pulse and Direction signals

Main Buffered Output via P2: Differential and buffered main encoder signals

Feedback A (Main Feedback): In Or Resolver Or Potentiomer and Tachometer Or Absolute Encoder (all types)

Feedback B (Auxiliary Feedback) B1 Input:

Pulse and Direction signals

Feedback B (Auxiliary Feedback) B2 Output:

Pulse and Direction signals

Main Buffered Output via P2: N/A

DC Trombone Installation Guide Installation

MAIN FEEDBACK

Software Setting

Incremental Encoder Input

Interpolated Analog (sin/cos) Encoder Input

AUX. FEEDBACK Ports B1 and B2

YA[4] = 0

Encoder

Resolver Input

Potentiometer and Tachometer Input

Absolute Encoder Input (All Types)

terpolated Analog Encoder

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.7.3. FEEDBACK B (Auxiliary Feedback)

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

3.7.3.1. Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4)

Note: This mode is not applicable when an incremental encoder is employed as the Main

Feedback A. When an incremental encoder is employed as Feedback A, the buffered main output is transmitted via P2 to an upper controller or other drive.

Through FEEDBACK B (Port B2) the DC Trombone can provide a simultaneous emulated encoder signal to other controllers or drives. This option can be used when the DC Trombone:

• Is used as a current amplifier to provide position data to the position controller.

• Is used in velocity mode, to provide position data to the position controller.

• Is used as a master in Follower or ECAM mode.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Port B1 Port B2 Power

DC Trombone Installation Guide Installation

Below are the signals on the Auxiliary Feedback ports when set up to run as buffered emulated outputs of the following main encoders(on FEEDBACK A):

• Interpolated Analog Encoder

• Resolver

• Tachometer and Potentiometer

• Absolute Encoder (all types)

Port Pin Signal Function

B1 1 CHA Not in use in this mode

B1 2 CHA- Not in use in this mode

B1 3 CHB Not in use in this mode

B1 4 CHB- Not in use in this mode

B1 5 INDEX Not in use in this mode

B2 6 CHAO Emulated buffered channel A output

B2 7 CHAO- Emulated buffered channel A complement output

PWR 8 +5V Encoder supply voltage

PWR 9 SUPRET Encoder supply voltage return

B1 10 INDEX- Not in use in this mode

B2 11 CHBO Emulated buffered channel B output

B2 12 CHBO- Emulated buffered channel B complement output

B2 13 INDEXO Emulated buffered Index output

B2 14 INDEXO- Emulated buffered Index complement output

PWR 15 SUPRET Supply return

Pin Positions

15-Pin High Density D-Sub Socket 15-Pin High Density D-Sub Plug

Table 7: Emulated Encoder Outputs on FEEDBACK B - Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

FEEDBACK B on the DC Trombone has a 15-pin high density D-Sub socket.

Connect the Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 15-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.7 (Feedback and Control Cable Assemblies).

Figure 22: Emulated Encoder Output on FEEDBACK B - Connection Diagram

Note: When using digital incremental encoder as the main Feedback A, buffered main encoder

signals are conveyed through the P2-I/O connector.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

CHA

Auxiliary channel A high input

input

CHB

Auxiliary channel B high input

input

CHAO

Buffered channel A output

PWR

+5V

Encoder supply voltage

INDEXO

Buffered Index output

PWR

SUPRET

Supply return

Port B1 Port B2 Power

DC Trombone Installation Guide Installation

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

The DC Trombone can be used as a slave by receiving the position of the master encoder data (on Port B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs of Port B1 for the next slave axis in follower or ECAM mode.

Below are the signals on the Auxiliary Feedback port when set up to run as a differential auxiliary encoder input:

Port Pin Signal Function

B1 2 CHA- Auxiliary channel A low

B1 4 CHB- Auxiliary channel B low

B1 5 INDEX Auxiliary Index high

B2 7 CHAO- Buffered channel A complement output

PWR 9 SUPRET Encoder supply voltage return

B1 10 INDEX- Auxiliary Index low input

B2 11 CHBO Buffered channel B output

B2 12 CHBO- Buffered channel B complement output

B2 14 INDEXO- Buffered Index complement output

Pin Positions

Table 8: Differential Auxiliary Encoder Input Option on FEEDBACK B - Pin Assignments

15-Pin High Density D-Sub Socket 15-Pin High Density D-Sub Plug

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

FEEDBACK B on the DC Trombone has a 15-pin high density D-Sub socket. Connect the Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.7 (Feedback and Control Cable Assemblies).

Figure 23: Differential Auxiliary Encoder Input Option on FEEDBACK B - Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

PULS/CHA

Pulse/Auxiliary channel A high input

input

DIR/CHB

Direction/Auxiliary channel B high input

input

CHAO

Channel A output

PWR

+5V

Encoder supply voltage

Port B1 Port B2

Power N.C.

Do not connect this pin

CHBO-

Channel B complement output

DC Trombone Installation Guide Installation

3.7.3.3. Differential Pulse-and-Direction Input Option on FEEDBACK B (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 Port B1 for another axis.

Below are the signals on the Feedback B ports when they are set up to run as differential pulseand-direction input:

Port Pin Signal Function Pin Positions

B1 2 PULS-/CHA- Pulse-/Auxiliary channel A low

B1 4 DIR-/CHB- Direction-/Auxiliary channel B low

5 NC Do not connect this pin

B2 7 CHAO- Channel A complement output

15-Pin D-Sub Plug

PWR 9 SUPRET Encoder supply voltage return

B2 11 CHBO Channel B output.

13 NC Do not connect this pin

14 NC Do not connect this pin

15-Pin D-Sub Socket

PWR 15 SUPRET Supply return

Table 9: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

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

Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.8. I/O Cables

The DC Trombone has two I/O ports, P1 and P2. P1 is a general I/O which can be used to connect 6 digital inputs and 4 digital outputs. P2 has 1 analog input port, and buffered encoder signals that are derived from the main feedback:

I/O P1 Port P2 Port

Digital Input 6 -

Digital Output 4 -

Analog Input - 1

3.8.1. General I/O Port (P1)

Port P1 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the instructions in Section 3.7 (Feedback and Control Cable Assemblies) using a 15-pin high density metal case D-Sub female connector (socket).

The I/Os for Port P1 detailed below; Digital Output (as Source Configuration) & Input (as Sink Configuration) are defaults, although several options are available (upon request).

Note: The digital input interface is suitable for both TTL-level (5V) and PLC-level (24V).

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.8.1.1. Digital Output (as Source Configuration) & Input (as Sink Configuration)

Pin Signal Function Pin Positions

1 IN1 Programmable input 1

2 IN2 Programmable input 2

3 OUT1 Programmable output 1 up to 0.5 A

4 OUT2 Programmable output 2 up to 0.5 A

5 OUT3 Programmable output 3 up to 0.5 A

6 INRET General input return 1 to 6/ “Common

Cathode”

7 IN3 Programmable input 3

8 IN4 Programmable input 4

9 VDDRET External 24 VDC supply return

10 VDDIN External 24 VDC supply pos. input

11 IN5 Programmable input 5

12 IN6 Programmable input 6

13 OUT4 Programmable output 4 up to 0.5 A

14 VDDRET External 24 VDC supply return

15 VDDIN External 24 VDC supply pos. input

Table 10: Digital Output (as Source Configuration) & Input (as Sink Configuration) P1 Cable -

Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 25: Digital Output (as Source Configuration) & Input (as Sink Configuration) P1 -

Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.8.1.2. Digital Output (as Sink Configuration) & Input (as Source Configuration)

Pin Signal Function Pin Positions

1 IN1 Programmable input 1 return

2 IN2 Programmable input 2 return

3 OUT1 Programmable output 1 up to 50 mA

4 OUT2 Programmable output 2 up to 50 mA

5 OUT3 Programmable output 3 up to 50 mA

6 INRET General input for positive connection /

“Common Anode”

7 IN3 Programmable input 3 return

8 IN4 Programmable input 4 return

9 VDDRET External 24 VDC supply return

10 VDDIN External 24 VDC supply pos. input

11 IN5 Programmable input 5 return

12 IN6 Programmable input 6 return

13 OUT4 Programmable output 4 up to 50 mA

14 VDDRET External 24 VDC supply return

15 VDDIN External 24 VDC supply pos. input

Table 11: Digital Output (as Sink Configuration) & Input (as Source Configuration) P1 Cable -

Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 26: Digital Output (as Sink Configuration) & Input (as Source Configuration) P1 -

Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

MAIN_OUT_CHAO

Buffered output of main FB Channel A

SAFETY 1

Safety input 1

SAFETY 2

Safety input 2

ANLIN1-

Analog input 1 negative

DC Trombone Installation Guide Installation

3.8.2. General I/O Port (P2)

Port P2 has a 15-pin high density D-Sub socket. When assembling this I/O cable, follow the instructions in Section 3.7 (Feedback and Control Cable Assemblies) using a 15-pin high density metal case D-Sub male connector (plug).

Pin Signal Function Pin Positions

2 MAIN_OUT_CHAO- Buffered output of main FB Channel A

3 MAIN_OUT_CHBO Buffered output of main FB Channel B

4 MAIN_OUT_CHBO- Buffered output of main FB Channel B

5 MAIN_OUT_INDEXO Buffered output of main FB index

7 SAFETY_RET Safety input 1 Return (optionally

complement

connected to P2/12)

8 Not connected Empty pin

9 COMRET Circuit common

10 MAIN_OUT_INDEXO- Buffered output of main FB index

complement

12 SAFETY_RET Safety input 2 Return (optionally

connected to P2/7)

13 ANLRET Analog input return

15 ANLIN1+ Analog input 1 positive

Table 12: General I/O P2 Cable - Pin Assignments

Note: The main feedback buffered output signals are only available when

Main Feedback A is a digital incremental encoder type.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 27: General I/O P2 - Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.9. Communication Cables

The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CAN ports of the DC Trombone.

The communication interface may differ according to the user’s hardware. The DC Trombone can communicate using the following options:

a. RS-232, full duplex

b. CAN

RS-232 communication requires a standard, commercial 3-core null-modem cable connected from the DC 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.

3.9.1.1. RS-232 Communication

Notes for connecting the RS-232 communication cable:

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

covered by copper braid with a drain wire.

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

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

• The male RJ plug must have a shield cover.

• Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain wire

can be used to facilitate the connection.

Pin Signal Function Pin Location

1, 2 N/A —

3 RS232_Tx RS-232 transmit

4 N/A —

5 COMRET Communication return

6 RS232_Rx RS-232 receive

7, 8 N/A —

Table 13: RS-232 Cable - Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Figure 28: RS-232 Connection Diagram

3.9.1.2. CAN Communication

Notes for connecting the CAN communication cable:

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

aluminum foil and covered by copper braid with a drain wire

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

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

• The male RJ plug must have a shield cover.

• Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain wire

can be used to facilitate the connection.

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

Pin Signal Function Pin Positions

1 CAN_H CAN_H bus line (dominant high)

2 CAN_L CAN_L bus line (dominant low)

3 CAN_RET CAN Return

4, 5 N/A —

6 CAN_SHLD Shield, connected to the RJ plug cover

7 CAN_RET CAN Return

8 N/A —

Table 14: CAN Cable - Pin Assignments

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

Caution:

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

Figure 29: CAN - Connection Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Installation

3.10. Powering Up

After the DC Trombone has been mounted, check that the cables are intact.

The DC 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 DC Trombone and that the proper plus-minus connections are in order.

3.11. Initializing the System

After the DC 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Chapter 4: Technical Specifications

DC Trombone Installation Guide

4.1. Features

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

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

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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

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

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

• Absolute Encoder

• Analog Hall Sensor

• Resolver

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

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

• Tachometer & Potentiometer

• The DC 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 default output-current configuration of 0.5 A  Amplifier fault indication  General-purpose  Servo enable indication

• 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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

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

4.1.8. Accessories

• Heat sinks (TBD)

4.1.9. Status Indication

• Bi-color LED

4.1.10. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

• Velocity gain scheduling

• Position gain tuning

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.2. Dimensions

Figure 30: DC Trombone with L-shaped Heat-Sink

Figure 31: DC Trombone with Heat-Sink Fan and Fins

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.3. Power Ratings for the 400 V Type

Feature Units 6/400 12/400 16/400 R17/400 R22/400

Minimum supply voltage VDC S option in P/N: 50

No S option in P/N: 100

Nominal supply voltage VDC 325

Maximum supply voltage VDC 400

Maximum continuous

kW 2 4 5 5.5 7

power output

Efficiency at rated power

% > 98

(at nominal conditions)

Auxiliary supply voltage option

VDC 18 V to 30 V

Only for Control Supply S option Model

Auxiliary power supply VA ≤5 VA without external loading

≤7 VA with full external loading

Continuous current limit

A 6 12 16 17 22 (Ic) Amplitude sinusoidal/DC trapezoidal commutation

Sinusoidal continuous RMS

A 4.2 8.5 11.3 12 15.5 current limit (Ic)

Peak current limit A 2 x Ic No peak

Weight g (oz)

650 g (22.9 oz) for standard L shape

1100 g (38.8 oz) for L shape fins and fan

Dimensions mm

(in)

140 x 105 x 43 (5.51" x 4.13" x 1.7")

for standard L shape

Digital in/Digital out/ Analog in 6/4/1

Mounting method Panel / Wall Mounted

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.4. Power Ratings for the 800 V Type

Feature Units 8/800 12/800 R11/800 R16/800

Minimum supply voltage VDC S option in P/N: 95+

Nominal supply voltage VDC 560 for 400 VAC

680 for 480 VAC

Maximum supply voltage VDC 780

Maximum continuous power

kW 5 7.5 7 10

output

Efficiency at rated power (at

% > 98

nominal conditions)

Auxiliary supply voltage option

VDC 18 V to 30 V

Only for Control Supply S option Model

Auxiliary power supply VA ≤5 VA without external loading

≤7 VA with full external loading

Continuous current limit (Ic)

A 8 12 11 16 Amplitude sinusoidal/DC trapezoidal commutation

Sinusoidal continuous RMS

A 5.7 8.5 7.8 11.3 current limit (Ic)

Peak current limit A 2 x Ic No peak

Weight g (oz)

650 g (22.9 oz) for standard L shape

1100 g (38.8 oz) for L shape fins and fan

Dimensions mm

(in)

140 x 105 x 43 (5.51" x 4.13" x 1.7")

for standard L shape

Digital in/Digital out/ Analog in 6/4/1

Mounting method Panel / Wall Mounted

The following note applies to Power Ratings of both the 400 and 800 V drive types.

Note: Current rating: The current ratings of the DC 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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.4.1. Auxiliary Supply (only for S Type Drive)

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 18 VDC to 30 VDC

Auxiliary supply input power < 5 VA (this includes the 5 V/200 mA load for the

main encoder only)

< 7 VA (this includes the 5 V/400 mA load on the main encoder and feedback B)

Note: An S type drive will not be operative if not having the Aux. supply (Mandatory).

4.5. Environmental Conditions

Feature Details

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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.6. Control Specifications

4.6.1. Current Loop

Feature Details

Controller type Vector, digital

Compensation for bus voltage variations “On-the-fly” automatic gain scheduling

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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.6.2. Velocity Loop

Feature Details

Controller type PI

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 (sin/cos) Encoder (optional)

• Resolver (optional)

• Tachometer and Potentiometer (optional)

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

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

Velocity loop bandwidth < 350 Hz

Velocity sampling time

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

Velocity sampling rate Up to 8 kHz; default 5.5 kHz

Velocity command options

• Analog

• Internally calculated by either jogging or step

Note: All software-calculated profiles support

on-the-fly changes.

4.6.3. Position Loop

Feature Details

Controller type “1-2-4” PIP

Position command options

Position loop bandwidth < 80 Hz

Position sampling time

Position sampling rate Up to 4 kHz; default 2.75 kHz

• Software

• Pulse and Direction

• Analog Potentiometer

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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.7. Feedbacks

4.7.1. Feedback Supply Voltage

The DC Trombone has two feedback ports (Main and Auxiliary). The DC Trombone supplies voltage to the main feedback device and to the auxiliary feedback device if needed.

Feature Details

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

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

4.7.2. Main Feedback Options

4.7.2.1. Incremental Encoder Input

Feature Details

Encoder format

• A, B and Index

• Differential

• Quadrature

Interface RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency Maximum absolute: 5 MHz pulses

Minimum quadrature input period (PIN) 112 nsec

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

Minimum quadrature phase period (PPH) 28 nsec

Maximum encoder input voltage range

Common mode: ±7 V

Differential mode: ±7 V

Figure 32: Main Feedback - Encoder Phase Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

Signal offsets

DC Trombone Installation Guide Technical Specifications

4.7.2.2. Digital Halls

Feature Details

Halls inputs

• H

• Single ended inputs

• Built in hysteresis of 1 V for noise immunity

, HB, HC.

Input voltage Nominal operating range: 0 V < V

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

In_Hall

InHigh

InLow

> 2.5 V

< 1 V

< 5 V

In_Hall

< 15 V

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

Maximum frequency f

: 2 kHz

MAX

4.7.2.3. Absolute Encoder

Feature Details

Encoder format

Interface

Input Resistance

• NRZ (Panasonic)

• EnDAT 2.21 (with analogue Sin/Cos)

• 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

4.7.2.4. Interpolated Analog Encoder (Sine/Cosine)

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

Input resistance

Maximum analog signal frequency f

Interpolation multipliers Programmable: x4 to x4096

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

Automatic errors correction

Encoder outputs

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Differential 120 Ω

: 250 kHz

MAX

Signal amplitudes mismatch Signal phase shift

See Auxiliary Encoder Outputs specifications ( 4.7.3)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.7.2.5. 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 DC Trombone

Reference current up to ±50 mA

Encoder outputs

See Auxiliary Encoder Output specifications ( 4.7.3)

4.7.2.6. Tachometer*

Feature Details

Tachometer format Differential

Maximum operating differential voltage

±20 V

for TAC1+, TAC1-

Maximum absolute differential input

±25 V

voltage for TAC1+, TAC1-

Maximum operating differential voltage

±50 V

for TAC2+, TAC2-

Maximum absolute differential input

±60 V

voltage for TAC2+, TAC2-

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.

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.7.2.7. Potentiometer

Feature Details

Potentiometer Format Single-ended

Operating Voltage Range 0 to 5 V supplied by the DC Trombone

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

affected detrimentally

Input Resistance 100 kΩ

Resolution 14 bit

4.7.3. Main Encoder Buffered Output

The main encoder buffered output is only functioning when Feedback A is a Digital Incremental Encoder.

Feature Details

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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

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

Feature Details

Emulated output

• A, B, Index

• Differential outputs

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

> 3.0 V

= 2 mA

< 0.4 V

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder outputs of analog encoder

• Emulated encoder outputs of the resolver

• Emulated encoder outputs of the tachometer

• Emulated encoder outputs of the

potentiometer

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 33: Auxiliary Feedback - Encoder Phase Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

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

Feature Details

Encoder input, pulse and direction input

• A, B, Index

• Differential

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

High: 2 V < VIH < 5 V

Maximum absolute voltage: 0 < V

< 5.5 V

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 34: Auxiliary Feedback - Encoder Phase Diagram

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.8. I/Os

The DC Trombone has:

• 6 Digital Inputs

• 4 Digital Outputs

• 1 Analog Input

4.8.1. Digital Input Interfaces

Feature Details

Type of input

Input current for all inputs

• Optically isolated

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.

Figure 35: Digital Input Schematic

when configured as Common Cathode

• 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 36: Digital Input Schematic

when configured as Common Anode

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.8.2. Digital Output Interface

Feature Details

Type of output

• Optically isolated

• Powerful Source capability

Maximum supply output (VDD) 30 V

Max. output current I

(max) (V

out

= Low)

out

VOH at maximum output voltage

Source mode

VOL at maximum output voltage

Sink mode

(max) ≤ 500 mA for output 4

out

(max) ≤ 250 mA for outputs 1 to 3

out

VDO ≥ VOH ≥ VDO – 1.25

VOH at 250 mA

0 V ≤ VOL ≤ 1.25

VOL at 250 mA

RL The external resistor RL must be selected to limit the

output current to no more than 500 mA (output 4) or 200 mA (outputs 1 to 3).

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

Schematic Diagram

SINK

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

SOURCE

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

4.8.3. 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

4.9. Communications

Specification Details

RS-232 Signals:

• RxD , TxD , Gnd

• Full duplex, serial communication for setup and control.

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

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

4.10. 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)

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

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.)

• 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

www.elmomc.com

MAN-DCTROIG (V er. 1.601)

DC Trombone Installation Guide Technical Specifications

EMC

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

systems

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)

www.elmomc.com

ElmoMC SimplIQ Digital Servo Drives-Trombone DC User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: Safety Information

1.1. Warnings

1.2. Cautions

1.3. Directives and Standards

1.4. CE Marking Conformance

1.5. Warranty Information

Chapter 2: Product Description

2.1. Drive Description

2.2. Product Features

2.2.1. Current Control

2.2.2. Velocity Control

2.2.3. Position Control

2.2.4. Advanced Position Control

2.2.5. Communication Options

2.2.6. Feedback Options

2.2.7. Fault Protection

2.2.8. Built-in Protection

2.3. System Architecture

2.4. How to Use this Guide

Chapter 3: Installation

3.1. Before You Begin

3.1.1. Site Requirements

3.1.2. Hardware Requirements

3.2. Unpacking the Drive Components

3.3. Connectors

3.3.1. Connector Types

3.4. Mounting the DC Trombone

3.5. Connections

3.5.1. Wiring the DC Trombone

3.5.2. Connection Diagrams

3.6. Connecting the Power Cables

3.6.1. For S type drives

3.6.2. For Non-S 400 VDC Type Drives

3.6.3. Connecting the Motor Cable

3.6.4. Connecting the DC Power

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

3.6.5.1. Three-Phase Direct-to-Mains Connection Topology

3.6.5.2. Single-Phase Direct-to-Mains Connection Topology

3.6.5.3. Multiple Connections Topology

3.6.6. Battery Power Supply

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

3.7. Feedback and Control Cable Assemblies

3.7.1. Main Feedback Cable (FEEDBACK A)

3.7.2. Main and Auxiliary Feedback Combinations

3.7.3. FEEDBACK B (Auxiliary Feedback)

3.7.3.1. Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4)

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

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

3.8. I/O Cables

3.8.1. General I/O Port (P1)

3.8.1.1. Digital Output (as Source Configuration) & Input (as Sink Configuration)

3.8.1.2. Digital Output (as Sink Configuration) & Input (as Source Configuration)

3.8.2. General I/O Port (P2)

3.9. Communication Cables

3.9.1.1. RS-232 Communication

3.9.1.2. CAN Communication

3.10. Powering Up

3.11. Initializing the System

Chapter 4: Technical Specifications

4.1. Features

4.1.1. Motion Control Modes

4.1.2. Advanced Positioning Control Modes

4.1.3. Advanced Filters and Gain Scheduling

4.1.4. Fully Programmable

4.1.5. Feedback Options

4.1.6. Input/Output

4.1.7. Built-In Protection

4.1.8. Accessories

4.1.9. Status Indication

4.1.10. Automatic Procedures

4.2. Dimensions

4.3. Power Ratings for the 400 V Type

4.4. Power Ratings for the 800 V Type

4.4.1. Auxiliary Supply (only for S Type Drive)

4.5. Environmental Conditions

4.6. Control Specifications