Elmo Drum Digital Servo Drive - Manual

1.3 Directives and Standards The Drum conforms to the following industry safety standards: Safety Standard Item In compliance with ISO-9001:2000 Quality Management In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage ...

Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) 2-1 Chapter 2: Introduction This installation guide describes the Drum servo drives and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the drive and the system to which it is c...

Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) 2-3 • Absolute Encoder o Heidenhain 2.1 o Stegmann • Elmo drives provide supply voltage for all the feedback options 2.2.6 Fault Protection The Drum includes built-in protection against possible fault conditions, including: • Software error h...

Drum Installation Guide Introduction MAN-DRUIG (Ver. 1.0) 2-4 2.4 How to Use this Guide In order to install and operate your Elmo Drum servo drives, you will use this manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully reading the safety instructi...

Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Drum by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 ° C to 40 ° C (32 ° F to 104 ° F) Maximum relative humidity 90% non-cond...

3.2 Unpacking the Drive Components Before you begin working with the Drum system, verify that you have all of its components, as follows: The Drum servo drive The Composer software and software manual The Drum is shipped in a cardboard box with styrofoam protection. To unpack the Drum: 1. Carefully ...

3.3 Mounting the Drum The Drum 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 M5 round head screws, one through each opening in the heat sink, are used to mount the Drum (see the diagr...

3.4 Connecting the Cables 3.4.1 Wiring the Drum Once the Drum 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 Drum. Follow these instructions to ensure safe and proper wiring: Use twiste...

Type Function Port Connector Location Power VP+, PR Barrel Connector + M6 Spring Washer + M6 Nut Motor M1, M2, M3 Barrel Connector + M5 Flat Washer + M5 Spring Washer + M5 screw Ground PE, PE, PE, PE Table 3-1: Power Connectors on the Drum Type Function Port Connector Location 26-pin high density D-...

3.4.2 Connecting the Power Cables The main power connector located at the bottom of the Drum, as follows: Pin Function Cable Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protective earth Power 3-Phase Motor Cable DC Motor Cable PE Protective earth Motor Motor M1 Motor phase Moto...

Step 1: PE Connection Step 2: Power and Motor Connection Table 3-5: Connecting the Main Power and Motor Cables M5 screw M5 spring washer M5 flat washer M6 nut (available with the drive) M6 spring washer barrel connector M5 screw M5 spring washer M6 nut (available with the drive) M5 flat washer barre...

3.4.2.1 Connecting the Motor Cable Connect the motor power cable to the M1, M2, and M3 terminals of the main power connector and the fourth wire to the PE (Protective Earth) on the heat sink (see diagram above). The phase connection order is arbitrary because the Composer will establish the proper c...

Figure 3-4: Isolated DC Power Supply In this case the isolation is achieved by the isolation transformer. It is highly recommended to connect the network PE to the Return (negative terminal) of the Power Supply. Figure 3-5: Isolated Power Supply In this case the isolation is achieved by using a batt...

Figure 3-6: Non-Isolated DC Power Supply The Power Supply is directly connected to the AC line (The AC must be limited to 135 VAC not to exceed the max 190 VDC in case of 200 VDC drive). The network PE MUST NOT be connected to the Return of the Power Supply. Figure 3-7: Non-Isolated DC Power Supply ...

Notes for connecting the DC power supply: Be aware: The Drum can operate from either an: o isolated DC power supply or o non-isolated DC power supply 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 ...

Pin Signal Function Pin Position J1-9 +VDC Backup Supply +VDC back-up supply J1-8 RET Backup Supply Return (common) of the back-up supply Table 3-6: Back-up Cable Plug Figure 3-8: Back-up Supply Connection Diagram Internal DC-to-DC converter allowing for operation from DC power (no need for auxiliar...

Use only a D-sub connector with a metal housing . Attach the braid shield tightly to the metal housing of the D-type connector. On the motor side connections, ground the shield to the motor chassis. On controller side connections, follow the controller manufacturer’s recommendations concerning the s...

FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 Potentiometer Input A -inpu t Po tentiom eter Potentiom eterPosition D ataEm ulated inIncrem entalEncoderForm at(signals arequadratu re,differential &buffered) B1- Output B 2- O utp ut sam e as B1 Differen tialorSing le-end ed...

3.4.6.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4) Through FEEDBACK B (Ports B1 and B2) the Drum can provide two simultaneous buffered main, or emulated, encoder signals to other controllers or drives. This option can be used when: The Drum is used as a ...

3.4.7 I/O Cables The Drum has one I/O port, J3. J3 is a general I/O which can be used to connect 6 digital inputs, 2 digital outputs and 1 analog input. I/O J3 Port Digital Input 6 Digital Output 2 Analog Input 1 3.4.7.1 General I/O Port (J3) Port J3 has a 15-pin high density D-Sub plug. When assemb...

Figure 3-27: RS-232 Connection Diagram 3.4.8.2 CANopen Communication Notes for connecting the CANopen communication cable: Use 24, 26 or 28 AWG twisted pair shielded cables (24 AWG cable is recommended). For best results, the shield should have aluminum foil and covered by copper braid with a drain ...

3.5 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications (the Appendix of this guide). The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the standard EN60950 or e...

3.6 Heat Dissipation For full power output capability the Drum is designed to be mounted on an external heatsink. It is highly recommended that the “Wall” on which the Drum is mounted will have heat dissipation capabilities. The Drum at “free air convection” (without an additional heatsink) can diss...

3.6.3 How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% - 50% better power dissipation. To determine if your application needs a heatsink: 1. Allow maximum heatsink temperature to be 80 ° C or less (shunt down is 6 ° C – 8 ° C highe...

Appendix: Drum Technical Specifications A.1 Features A.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 A.1.2 Advanced Positioning Control Modes • PTP, PT, PVT, ECAM, Follower, Dual Loop • Fast even...

A.3 Power Ratings Feature Unit s 70/48 70/60 R90/60 50/100 R75/100 35/200 R60/200 18/400 Minimum supply voltage VDC 11 14 23 46 92 Nominal supply voltage VDC 42 50 85 170 340 Maximum supply voltage VDC 48 59 95 195 390 Maximum continuous power output W 2700 3400 4300 4000 6000 5600 9600 5600 Efficie...

A.4.1 Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 12 VDC ~ 195 VDC Auxiliary supply input power < 4 VA (this includes the 5V/200 mA load for the main encoder only) < 5.5 VA (this includes the 5V/400 mA load on the main encoder ...

A.7.1 Digital Input Interfaces Feature Details Connector Location Type of input Optically isolated Single ended PLC level Input current Ω − = 2500 5 . 6 V Vin Iin * Iin = 2.2 mA @ Vin = 12 V Input current for high speed inputs Ω − = 1250 5 . 6 V Vin Iin * Iin = 4.4 mA @ Vin = 12 V High-level input v...

A.7.2 Digital Output Interface Feature Details Connector Location Type of output Optically isolated Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V + 0.02 * Iou...

A.8 Communications Specification Details RS-232 Signals: RxD , TxD , Gnd Full duplex, serial communication for setup and control Baud Rate of 9,600 ~ 57,600 bit/sec CANopen CANbus Signals: CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbit/sec Version: DS 301 V4.01 Device Profile (drive and motion co...

A.10.7 Packing Specification Description In compliance with EN100015 Protection of electrostatic sensitive devices A.10.8 WEEE* Specification Description In compliance with 2002/96/EC Waste Electrical and Electronic Equipment regulations * Please send out-of-service Elmo drives to the nearest Elmo s...