Page 2 - Notice
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 Tuba servo drive in its installation. The text and grap...
Page 3 - Contents
Contents Chapter 1: Safety Information ............................................................................................... 1-1 1.1 Warnings .................................................................................................................... 1-2 1.2 Cautions .................
Page 6 - Chapter 1: Safety Information; The following safety symbols are used in this manual:
Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Tuba servo drive, 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 Tuba an...
Page 8 - Directives and Standards; The Tuba conforms to the following industry safety standards:; Safety Standard; Power Conversion Equipment; In compliance with UL840; CE Mark Conformance
1.3 Directives and Standards The Tuba conforms to the following industry safety standards: Safety Standard Item Recognized UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electrical Equipment In compliance with UL60950...
Page 9 - Chapter 2: Introduction; Description; and; Features; Control
Tuba Installation Guide MAN-TUBIG (Ver. 1.3) 2-1 Chapter 2: Introduction This installation guide describes the Tuba servo drive and the steps for its wiring, installation and powering up. Following these guidelines ensures maximum functionality of the drive and the system to which it is connected. 2...
Page 11 - Elmo drives provide supply voltage for all the feedback options; Software error handling; Architecture; Controller; Incremental Encoder; Communication; Figure
Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.3) 2-3 Elmo drives provide supply voltage for all the feedback options 2.2.7 Fault Protection The Tuba includes built-in protection against possible fault conditions, including: Software error handling Status reporting for a large number of poss...
Page 12 - How to Use this Guide; Installation; Programming; Composer User Manual; SimplIQ
Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.3) 2-4 2.4 How to Use this Guide In order to install and operate your Elmo Tuba 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 instructio...
Page 13 - Chapter 3: Installation; Before You Begin; Feature Value; Requirements; Circuit Breakers & Contacts
Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C – 40 °C (32 °F – 104 °F) Maximum relative humidity 90% non-condensing...
Page 14 - Main Power Cable; Connectors
3.1.2.3 Power Connectors Component Connector Described in Section Photo External DC Link Cable B1, B2 on External DC Link Cable 3.4.2.3 Main Power Cable PE, AC1, AC2, and AC3 on Power Connector 3.4.2.2 Motor Cable M1, M2, M3, PE on Power Connector 3.4.2.1 Auxiliary Power Cable 24v +, - 0 3.1.2.4 Com...
Page 15 - Feedback and I/O Connectors; Main Feedback Cable
3.1.2.5 Feedback and I/O Connectors Component Port on Tuba Described in Section Diagram Analog Inputs (if needed) ANALOG I/O 3.4.8.1 CEL0040A-DWG COR016A Digital Outputs Cable (if needed) COMMITTED I/O 3.4.8.2 Digital Inputs Cable (if needed) GENERAL I/O 3.4.8.3 Main Feedback Cable FEEDBACK A 3.4.5 ...
Page 16 - Other Items Needed; Component; Unpacking the Drive Components; The Tuba servo drive; The Composer software and software manual; your specific requirements.
3.1.2.6 Other Items Needed Component Described in Section Diagram PC for drive setup and tuning Motor data sheet or manual 3.2 Unpacking the Drive Components Before you begin working with the Tuba system, verify that you have all of its components, as follows: The Tuba servo drive The Composer softw...
Page 17 - Mounting the Tuba; The Tuba has been designed for two standard mounting options:; Mounting Directly onto Wall
3.3 Mounting the Tuba The Tuba has been designed for two standard mounting options: Attaching directly to the wall with screws Mounting on a DIN rail With either type of mounting, be sure to leave about 10 cm (4 in) above and below the instrument for heat dissipation. 3.3.1 Mounting Directly onto Wa...
Page 18 - Mounting on a DIN Rail; and does not protrude from the top of the instrument.
3.3.2 Mounting on a DIN Rail At the top rear of the Tuba, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area. To mount the Tuba on a DIN rail: 2. Be sure that the vertical mounting strip (with the hole at the top) is pressed down fully and does not protr...
Page 19 - Connecting the Cables; Wiring the Tuba; Keep all wires and cables as short as possible.
Press the Tuba down to a vertical position until it clicks onto the DIN rail. Figure 3-4: Tuba Mounted on DIN Rail 3.4 Connecting the Cables 3.4.1 Wiring the Tuba Once the Tuba is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immun...
Page 20 - The Tuba has the following connectors:; Type; Function; Port on Tuba; Table
Keep the motor wires as far away as possible from the feedback, control and communication cables. 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...
Page 22 - Connecting the Power Cables
3.4.2 Connecting the Power Cables Access the power terminal connections on the Tuba servo drive by removing the front safety cover located at the bottom of the front panel of the unit, as shown below: Figure 3-6: Removable Bottom Panel After removing the safety cover, the power terminal connections ...
Page 23 - Connecting the Motor Cable; Notes for connecting the motor cables:; determined by the actual current consumption of the motor.; Tuba
3.4.2.1 Connecting the Motor Cable Connect the motor power cable to the M1, M2, M3 and PE terminals of the main power connector. The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup. However, if you plan to copy the set-up to o...
Page 24 - Connecting the Main Power Cable; Notes for connecting the AC power cable:; Connect the four wires to the AC power leads of the source.; Connecting the DC Link Cable
3.4.2.2 Connecting the Main Power Cable Connect the main power supply cable to the AC1, AC2 and AC3 terminals of the main power connector. Connect the Protective Earth wire to the nearest PE terminal on the terminal block. Notes for connecting the AC power cable: For best noise immunity, a shielded ...
Page 25 - Connecting the Auxiliary Supply Cable (24v); Notes for 24 VDC auxiliary supply connections:; For safety reasons, connect the return of; the; 4 VDC source to the closest ground.; Pin Signal; TUBA
3.4.3 Connecting the Auxiliary Supply Cable (24v) Connect the auxiliary supply to the 24VDC terminal block on the bottom of the Tuba. Remember, you are working with DC power; so be sure to exercise caution. Notes for 24 VDC auxiliary supply connections: Use a 24 AWG twisted pair shielded cable. For ...
Page 26 - Feedback and Control Cable Assemblies; Use only a D-sub connector with a metal housing.; Make sure that the braid shield is in
3.4.4 Feedback and Control Cable Assemblies The Tuba 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. Use 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended). For best...
Page 35 - Feedback Ports B1 and B2 are not to be
3.4.6 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 on the Tuba, “FEEDBACK B” has two ports, Port B1 and Port B2. When used in combination with the Main Fe...
Page 36 - FEEDBACK B Ports B1 and B2; Typical
FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 Potentiometer Input B1 - output B2 - output same as B1 A - input Potentiometer PotentiometerPositionData Emulatedin IncrementalEncoder Format(signals arequadrature,differential &buffered) B1 - input B2 - output Differential or...
Page 41 - input
3.4.7.3 Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2) The Tuba can be used as a slave by receiving the position data of the master encoder (on Port B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered auxiliary outputs for the next slave axis in Follower or...
Page 45 - Cables; Inputs; Signal
3.4.8 I/O Cables The Tuba has three I/O ports (ANALOG INPUTS, DIGITAL INPUTS AND DIGITAL OUTPUTS) which can be used to connect 2 analog inputs, 10 separate digital inputs and 6 separate digital outputs: LABEL I/O ANALOG INPUTS GENERAL I/O COMMITTED I/O Total Analog Input 2 - - 2 Digital Input - 10 -...
Page 50 - Communication Cables; Pin
3.4.9 Communication Cables The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen ports on the front of the Tuba. The communication interface may differ according to the user’s hardware. The Tuba can communicate using the following options: a. RS-232, full duplex b. ...
Page 54 - Appendix: Technical Specifications; Motion Control Modes
Appendix: 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 Motion Control Modes • PTP, PT, PVT, ECAM, Follower, Pulse and Direction...
Page 56 - Dimensions; Rear View
A.2 Tuba Dimensions Rear View Front View Side View Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.3) A-3
Page 57 - Specifications; Feature Details; Mounting Method
A.3 Mounting Dimensions Rear View A.4 Mechanical Specifications Feature Details Mounting Method Wall Mount ("Bookshelf") DIN Rail Overall Dimensions 247 x 190 x 92 mm (9.7" x 7.5" x 3.6") Weight 2.7 kg (5.9 lbs) Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.3...
Page 58 - Ratings; Feature; Conditions; Ambient operating temperature
A.5 Power Ratings Feature Units 12/230 15/230 20/230 12/460 15/460 20/460 Minimum supply voltage VAC 60 140 Nominal supply voltage VAC 1 x 115, 1 x 230, 3 x 230 3 x 400, 3 x 460 Maximum supply voltage VAC 1 x 270 or 3 x 270 3 x 505 Maximum continuous power output W 3600 4500 6000 6800 8500 11300 Eff...
Page 59 - Connections
A.7 Tuba Connections The following connectors are used for wiring the Tuba. Pins Type Maker & Part No. Port 5 Motor M1, M2, M3 2 Ground PE, PE 3 Power AC1, AC2, AC3 2 DC Link 10 pole 8 mm pitch Molex terminal block B1, B2 2 Auxiliary Power 2 pole 0.325” (8 mm) pitch Molex terminal strip +, - (24...
Page 60 - Auxiliary Supply; DC source only; Loop
A.7.1 Auxiliary Supply Feature Details Auxiliary power supply DC source only Auxiliary supply input voltage 24 V +15% Auxiliary supply input power 20 W The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply Be sure to maintain power within the 24 V +15% range as higher voltages will damage...
Page 62 - Incremental Encoder Input
A.9 Feedbacks A.9.1 Feedback Supply Voltage Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum Auxiliary encoder supply voltage 5 V +5% @ 200 mA maximum A.9.2 Incremental Encoder Input Feature Details Encoder format A, B and Index Differential Quadrature Interface: RS-422 Input res...
Page 63 - Digital Halls
A.9.3 Digital Halls Feature Details Halls inputs H A , H B , H C . Single ended inputs Built in hysteresis for noise immunity. Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level input voltage: V InHigh > 2.5 V Low level in...
Page 65 - Outputs
A.9.7 Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Tuba Potentiometer Resistance 100 Ω ~ 1 k Ω … above this range, linearity may be affected detrimentally Input Resistance 100 k Ω Resolution 14 Bit A.9.8 Encoder Outputs Feature Detai...
Page 66 - Digital Input Schematic
A.10 I/Os The Tuba has: 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs A.10.1 Digital Input Interfaces (on GENERAL I/O port) 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 curr...
Page 67 - Type of output; Io; Executable time; Digital Output Schematic
A.10.2 Digital Output Interface (on COMMITTED I/O port) 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 ...
Page 69 - PWM resolution
A.12 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) A.13 Single-phase Operation When operating with a single-phase supply (TUB-x/230 only), the voltage drop must be considered. Voltage drop can be calc...
Page 70 - A.14 Standards Compliance; Assurance; Specification Details
A.14 Standards Compliance A.14.1 Quality Assurance Specification Details ISO 9001:2000 Quality Management A.14.2 Design Specification Details MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.) IPC-D-275 IPC-SM-782 IPC-CM-770 UL508c UL840 Printed wiring fo...
Page 72 - Index
Index 2 24v Auxiliary Power Connector · 3-8 A AC Motor Power Connection Diagram · 3- 11 Advanced position control · 2-2 Advanced Positioning Motion Control Modes · A-1 Ambient operating temperature · 3-1 ANALOG I/O · 3-8 ANALOG I/O port · 3-3 Analog input Specifications · A-15 A nalog Input · 3-8 An...
