Elmo 95VDC - Manuals

1.3 Directives and Standards The Duo conforms to the following industry safety standards: Safety Standard Item In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electrical Equipment In compliance with ...

Duo Installation Guide Introduction MAN-DUOIG (Ver. 1.0) 2-1 Chapter 2: Introduction This installation guide describes the Duo and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the product and the system to which it is connected. 2.1...

Duo Installation Guide Introduction MAN-DUOIG (Ver. 1.0) 2-2 2.2 Product Features 2.2.1 Current Control ƒ Fully digital ƒ Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digital Hall sensors ƒ 12-bit current loop resolution ƒ Automatic gain scheduling, to co...

Duo Installation Guide Introduction MAN-DUOIG (Ver. 1.0) 2-3 • 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...

Duo Installation Guide Introduction MAN-DUOIG (Ver. 1.0) 2-4 Figure 2-1: Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure, this installation guide is an integral part of the Duo documentation set, comprising: ƒ The Duo Installation Guide contains information about ...

Duo User Guide 3-1 Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Duo by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 ° to 40 ° C (32 ° to 104 ° F) Maximum operating altitude 10,000m (30,000ft) M...

The part number at the top gives the type designation as follows: DUO- A XX A XX/YYY ZZ Axis 1 Version : Blank = Standard A = Advanced Axis 2 Version : Blank = Standard A = Advanced Axis 1 Continuous Current(Am ps) Axis 2 Continuous Current(Am ps) Axis 1 Feedbacks: E- Incremental Encoder and/or Hall...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-3 3.4 Connecting the Cables 3.4.1 Wiring the Duo Once the Duo 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 Duo. Follow these instructions to ensu...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-5 3.5 Duo Connectors type Type On Board Connector Qty Conn. 1 Main Power Phoenix 5-pin Header P/N:MSTBA 2.5HC/5-G Motor Power 2 Phoenix 4-pin Header P/N:MSTBA 2.5/4G-5.08 Main Feedback 2 12-pin Molex Header P/N:90130-3212 I/O 2 14-pin Molex Header P/N:90130-3214...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-6 3.6 Hardware Requirements The components that you will need to install your Duo are: Described in section Cable Drawing Qty Conn. Component Mating Connector Function VL, VP+, PR, PR, PE Phoenix 5-pin Plug P/N:MSTBT 2.5HC/5-ST Main Power 1 Plug PE VL Motor Powe...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-7 3.7 Duo Block Diagram Figure 3-2: Duo Block Diagram

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-8 3.8 The Main Power and Motor Power Connectors Pin Function Cable Pin Positions PE Protective earth Power PR Power return Power PR Aux. Supply Input Return Auxiliary VP+ Pos. Power input Power VL Aux. Supply Input Auxiliary AC Motor Cable DC Motor Cable M3 Moto...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-9 3.8.2 Connecting Main Power Connect the DC power supply cable to the VP+ and PR terminals of the Main power connector. Notes for connecting the DC power supply: ƒ The source of the 0 ~ 95 VDC Power Supply must be isolated. ƒ For the greatest immunity, it is hi...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-10 3.8.3 Low power Auxiliary Supply (optional) Notes for 12 ~ 95 VDC Auxiliary Supply connections: ƒ The source of the 12 ~ 95 VDC Auxiliary Supply must be isolated from the Main. the ƒ For safety reasons, connect the return (common) of Auxiliary Supply source t...

3.10 Auxiliary Feedback (bi-directional) When using one of the Auxiliary Feedback options, the relevant functionality of the Auxiliary Feedback's ports are software selected for that option. Refer to the SimplIQ Command Reference Manual for detailed information about Auxiliary Feedback setup. The Au...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-18 3.10.1 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but not always used. The Auxiliary Feedback connector has two ports (B1 and B2). When used in combination with Main...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-19 Auxiliary Feedback: Input Main Feedback YA[4] = 2 (Auxiliary Feedback: input) YA[4] = 0 (Auxiliary Feedback: input) Incremental Encoder Input Interpolated Analog (Sin/Cos) Encoder Input Resolver Input Potentiometer Tachometer Input M ain Feedback: Increm enta...

3.10.3 Auxiliary Feedback - Differential Encoder Input Option (YA[4]=2) The Whistle can be used as a slave by receiving the position data (on Port B1) of the master encoder in Follower or ECAM mode. In this mode Port B2 provides differential buffered Auxiliary outputs of B1 for the next slave axis i...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-23 Figure 3-6: Differential Auxiliary Input Option - Block Diagram

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-27 3.11 I/O Each Whistle on the Duo has 6 digital inputs, 2 digital outputs and a single analog input. The I/O port has a 14-pin Molex Header plug with the following pin-outs. Pin Signal Function 1 OUT1 Programmable Digital output 1 2 OUTRET1 Programmable Digita...

3.11.1 Digital Input The Default Digital Input level Signal is set to 24v (PLC). Note: 5v is also available (TTL). Figure 3-18: Digital Input Connection Diagram Duo User Guide MAN-DUOUG (Ver. 1.0) 3-28

3.11.2 Digital Output Figure 3-19: Digital Output Connection Diagram 3.11.3 Analog Input Figure 3-20: Analog Input with Single-ended Source Duo User Guide MAN-DUOUG (Ver. 1.0) 3-29

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-30 3.12 Communications The communication cables use an 8-pin RJ-45 plug that connect to the RS232 and CANopen ports on the Duo. The communication interface may differ according to the user’s hardware. The Duo can communicate using the following options: 1. RS232...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-31 Figure 3-21: RS232 Connection Diagram 3.12.2 CANopen Communication Notes for connecting the CANopen communication cable: ƒ Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should have aluminum foil and be covered by copper braid wit...

Duo User Guide MAN-DUOUG (Ver. 1.0) 3-33 3.13 Powering Up After the cables have been connected to their devices, the Duo is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 3.14 In...

Appendix A: Technical Specifications A.1 Features • Operating power o DC power supply: 12 - 95 VDC source • DC BUS o DC power supply • Control supply o A separate DC power supply 12 - 95 VDC serves as both the auxiliary supply and the backup supply (Option) • Operating modes o Current, velocity and ...

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-4 A.3 Duo Dimensions

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-5 A.4 Power Ratings Feature Unit 1/60 2.5/60 5/60 10/60 15/60 1/100 2.5/100 5/100 10/100 15/100 Minimum supply voltage VDC 8.5 12 Nominal supply voltage VDC 48 85 Maximum supply voltage VDC 59 95 Max. output power from the drive without heatsink W 50 120...

A.5 Control Specifications A.5.1 Current Loop Feature Details Controller type Vector, digital Current sampling time 70 - 100 μ sec Current loop bandwidth 1400 - 2500 Hz Compensation for bus voltage variations Gain scheduling Motor types ƒ AC brushless (sinusoidal) ƒ DC brushless (trapezoidal) ƒ DC b...

A.5.2 Velocity Loop Feature Details Controller type PI Speed sampling time 140 - 200 μ sec ( x2 current loop sample time) Velocity loop bandwidth Velocity control ƒ Fully digital ƒ Programmable PI and FFW control filters ƒ On-the-fly gain scheduling ƒ Automatic, manual and advanced manual tuning Vel...

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-8 A.6 Feedbacks A.6.1 Incremental Encoder Feature Details Encoder format ƒ A, B and Index ƒ Differential ƒ Quadrature Interface: RS-422 Input resistance: Differential: 120 Ω Maximum incremental encoder frequency: Maximum absolute: 5 MHz single, 20 MHz qu...

A.6.3 Digital Halls Feature Details Halls inputs ƒ HA, HB, HC. ƒ Single ended inputs ƒ Built in hysteresis for noise immunity. Input voltage Nominal operating range: 0V < V In_Hall < 5V Maximum absolute: -1V < V In_Hall < 15V High level input voltage: V InHigh > 2.5V Low level input v...

A.6.5 Resolver Feature Details Resolver format ƒ Sine/Cosine ƒ Differential Input resistance Differential 2.49 K Ω Resolution Programmable: 10 ~ 15 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.5 Reference frequency 1/Ts (Ts = sample time in seconds) Reference...

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-11 A.6.7 Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 ~ 5V supplied by the Whistle Potentiometer Resistance 100 Ω ~ 1 K Ω … above this range, linearity is affected detrimentally Input Resistance 100K Ω Resolut...

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-13 A.7 I/Os A.7.1 Digital Input Interface – 6 Digital Inputs Feature Details Connector Location Type of input ƒ Optically isolated ƒ All six inputs share one signal return line Input current for all inputs Iin = 6.5 mA @ Vin = 24 V Input voltage level 24...

Duo Installation Guide MAN-DUOIG (Ver. 1.0) A-14 A.7.2 Digital Output Interface – 2 Digital Outputs Feature Details Connector Location Type of output ƒ Optically isolated ƒ Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 10 mA...

A.8 Mechanical Specifications Feature Details Mounting The Duo designed for two standard mounting options: ƒ “Wall Mount” along the back (can also be mounted horizontally on a metal surface) ƒ “Book Shelf” along the side Overall dimensions 150 X 105 X 25.4 (5.9 X 4.13 X 1 in) Weight ~ 450 grams A.9 ...

A.10.2 Safety Specification Details Recognized UL508c Power conversion equipment In compliance with UL840 Insulation coordination, including clearance and creepage distances of electrical equipment In compliance with UL60950 Safety of information technology equipment, including electrical business e...

Duo Installation Guide B-1 Appendix B: Cables (Optional) B.1 Cable Photos Main Feedback: CBL- HDRFB-001 Auxiliary Feedback: CBL- HDRAUX-001 I/O: CBL- HDRIO-001 RS-232 Com.: CBL-RJ452321 CAN Com.: CBL-RJ45CAN1

B.2 Cable Kit The cables are all 2m in length. Each set contains the cables listed below. Additional cable kit and/or individual cables (in multiples of 10 each) are available from Elmo. Cable Application Cable Part. No. QTY Main Feedback CBL-HDRFB-001 2 Auxiliary Feedback CBL-HDRAUX-001 2 I/O CBL-H...

Duo Installation Guide MAN-DUO (Ver. 1.0) B-3 B.3 Main Feedback Cable (CBL-HDRFB-001) The Main Feedback cable (CBL-HDRFB-001) is made of a 24-AWG shielded cable with a 12-pin Molex Header socket. It connects to the Main Feedback port on the Duo. It is open on its other side so that it can be connect...

Duo Installation Guide MAN-DUO (Ver. 1.0) B-6 B.6 Communication Cables The communication cables use 26-AWG twisted pair shielded cable. They are connected using an 8-pin RJ-45 plug. Elmo drives can communicate using the following options: ƒ RS-232 full duplex ƒ CANopen B.6.1 RS-232 Option (CBL-RJ452...

Duo Installation Guide MAN-DUO (Ver. 1.0) B-7 B.6.2 CAN Open (CBL-RJ45CAN1) RJ45 Pin No. Color D-type Female Pin No. Signal Description 1 Green 7 CAN-H CAN_H bus line 2 Yellow 2 CAN_L CAN_L bus line 3 White 3 CAN_GND CAN ground 4 — — — — 5 — — — — 7 — — — — 8 — 1 — — — body Drain Wire body shield ca...

Duo Installation Guide MAN-DUO (Ver. 1.0) B-8 B.7 Guidelines for Making Your Own Cables Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Duo. If you do not plan to use cables provided by Elmo, follow the instructions below carefully....