Elmo Computer Drive 1 Users Manual Digital Servo Drum Installation Guide

Drum Digital Servo Drive to the manual d2b1321a-8fb8-438d-ad3a-b5acebaf02a1

2015-02-06

: Elmo Elmo-Elmo-Computer-Drive-1-Users-Manual-539750 elmo-elmo-computer-drive-1-users-manual-539750 elmo pdf

Open the PDF directly: View PDF .
Page Count: 78

Download
Open PDF In Browser	View PDF

Drum
Digital Servo Drive
Installation Guide

April 2008 (Ver. 1.0)

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 Drum
servo drive in its installation.

The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.

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

Information in this document is subject to change without notice.

Document No. MAN-DRUIG
Copyright  2008
Elmo Motion Control Ltd.
All rights reserved

DRU- A XX/YYY R

Drum Catalog
Number:

Version :
Blank = Standard
A = Advanced
Continuous Current
(Amps)
Maximum DC
Operating Voltage

Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
Q = Absolute
Encoder

Revision History:

Ver. 1.0

April 2008

Initial Release

(MAN-DRUIG.PDF)

Elmo Motion Control Ltd.

Elmo Motion Control Inc.

Elmo Motion Control GmbH

64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel

1 Park Drive, Suite 12
Westford, MA 01886
USA

Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany

Tel: +972 (3) 929-2300

Tel: +1 (978) 399-0034

Tel: +49 (0) 7720-85 77 60

Fax: +972 (3) 929-2322

Fax: +1 (978) 399-0035

Fax: +49 (0) 7720-85 77 70

info-il@elmomc.com

info-us@elmomc.com

info-de@elmomc.com

www.elmomc.com

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Contents
Chapter 1: Safety Information ........................................................................................ 1-1
1.1 Warnings.............................................................................................................. 1-2
1.2 Cautions ............................................................................................................... 1-2
1.3 Directives and Standards ................................................................................... 1-3
1.4 CE Mark Conformance....................................................................................... 1-3
1.5 Warranty Information ........................................................................................ 1-3
Chapter 2: Introduction.................................................................................................... 2-1
2.1 Drive Description................................................................................................ 2-1
2.2 Product Features ................................................................................................. 2-1
2.2.1 Current Control ...........................................................................................2-1
2.2.2 Velocity Control...........................................................................................2-2
2.2.3 Position Control...........................................................................................2-2
2.2.4 Communication Options............................................................................2-2
2.2.5 Feedback Options........................................................................................2-2
2.2.6 Fault Protection............................................................................................2-3
2.3 System Architecture............................................................................................ 2-3
2.4 How to Use this Guide ....................................................................................... 2-4
Chapter 3: Installation...................................................................................................... 3-1
3.1 Before You Begin................................................................................................. 3-1
3.1.1 Site Requirements........................................................................................3-1
3.1.2 Hardware Requirements ............................................................................3-1
3.2 Unpacking the Drive Components ................................................................... 3-3
3.3 Mounting the Drum............................................................................................ 3-4
3.4 Connecting the Cables........................................................................................ 3-5
3.4.1 Wiring the Drum .........................................................................................3-5
3.4.2 Connecting the Power Cables....................................................................3-8

3.4.3
3.4.4
3.4.5
3.4.6

3.4.7
3.4.8

3.4.2.1 Connecting the Motor Cable ................................................................ 3-10
3.4.2.2 Connecting the DC Power.................................................................... 3-10
3.4.2.3 Connecting the Optional Back-up Supply Cable ............................... 3-13

Feedback Control and Communication Cable Assemblies .................3-14
Main Feedback Cable (FEEDBACK A)...................................................3-15
Main and Auxiliary Feedback Combinations .......................................3-28
Auxiliary Feedback (FEEDBACK B).......................................................3-29

3.4.6.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option
on FEEDBACK B (YA[4]=4)............................................................................... 3-30
3.4.6.2 Differential Auxiliary Encoder Input Option on FEEDBACK B
(YA[4]=2) ........................................................................................................ 3-32
3.4.6.3 Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2). 3-34
3.4.6.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) ...... 3-36

I/O Cables ..................................................................................................3-40

3.4.7.1 General I/O Port (J3) ............................................................................ 3-40

Communication Cables ............................................................................3-42

3.4.8.1 RS-232 Communication ........................................................................ 3-42
3.4.8.2 CANopen Communication .................................................................. 3-43

3.5 DC Power Supply ............................................................................................. 3-45
3.5.1 Powering Up ..............................................................................................3-45

Drum Installation Guide

Contents

MAN-DRUIG (Ver. 1.0)

3.5.2

Initializing the System ..............................................................................3-45

3.6 Heat Dissipation................................................................................................ 3-46
3.6.1 Drum Thermal Data..................................................................................3-46
3.6.2 Heat Dissipation Data...............................................................................3-46
3.6.3 How to Use the Charts..............................................................................3-48
Appendix: Drum Technical Specifications.................................................................. A-1
A.1 Features............................................................................................................... A-1
A.1.1 Motion Control Modes ..............................................................................A-1
A.1.2 Advanced Positioning Control Modes....................................................A-1
A.1.3 Advanced Filters and Gain Scheduling...................................................A-1
A.1.4 Fully Programmable ..................................................................................A-1
A.1.5 Feedback Options.......................................................................................A-1
A.1.6 Input/Output..............................................................................................A-2
A.1.7 Built-In Protection ......................................................................................A-2
A.1.8 Accessories ..................................................................................................A-3
A.1.9 Automatic Procedures ...............................................................................A-3
A.2 Dimensions ......................................................................................................... A-4
A.3 Power Ratings .................................................................................................... A-5
A.4 Environmental Conditions................................................................................ A-5
A.4.1 Auxiliary Supply ........................................................................................A-6
A.5 Control Specifications........................................................................................ A-6
A.5.1 Current Loop...............................................................................................A-6
A.5.2 Velocity Loop ..............................................................................................A-7
A.5.3 Position Loop ..............................................................................................A-7
A.6 Feedbacks............................................................................................................ A-8
A.6.1 Feedback Supply Voltage..........................................................................A-8
A.6.2 Main Feedback Options.............................................................................A-8
A.6.2.1
A.6.2.2
A.6.2.3
A.6.2.4
A.6.2.5
A.6.2.6
A.6.2.7
A.6.2.8

Incremental Encoder Input ................................................................... A-8
Digital Halls............................................................................................ A-9
Interpolated Analog Encoder (Sine/Cosine)....................................... A-9
Resolver................................................................................................... A-9
Tachometer*.......................................................................................... A-10
Potentiometer ....................................................................................... A-11
Absolute Encoder................................................................................. A-11
Encoder Outputs .................................................................................. A-11

A.6.3 Auxiliary Port............................................................................................A-12
A.7

I/Os ......................................................................................................... A-13
A.7.1 Digital Input Interfaces............................................................................A-14
A.7.2 Digital Output Interface ..........................................................................A-15
A.7.3 Analog Input .............................................................................................A-15

A.8 Communications .............................................................................................. A-16
A.9 Pulse Width Modulation (PWM).................................................................... A-16
A.10
Standards Compliance.............................................................................. A-16
A.10.1 Quality Assurance....................................................................................A-16
A.10.2 Design ........................................................................................................A-16
A.10.3 Safety..........................................................................................................A-17
A.10.4 EMC............................................................................................................A-17
A.10.5 Workmanship ...........................................................................................A-17
A.10.6 PCB .............................................................................................................A-17

Drum Installation Guide

Contents

MAN-DRUIG (Ver. 1.0)

A.10.7 Packing.......................................................................................................A-18
A.10.8 WEEE* ........................................................................................................A-18
A.10.9 RoHS...........................................................................................................A-18

iii

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Chapter 1: Safety Information
In order to achieve the optimum, safe operation of the Drum servo drives, 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 Drum as well as the accompanying equipment.
Please read this chapter carefully before you begin the installation process.
Before you start, ensure 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 Drum servo drives contain 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:
Warning:
This information is needed to avoid a safety hazard, which might cause
bodily injury.
Caution:
This information is necessary for preventing damage to the product or
to other equipment.
Note:
This is auxiliary information that ensures the correct operation of the
equipment.

1-1

Drum Installation Guide

Safety Information

MAN-DRUIG (Ver. 1.0)

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.

Power cables can carry a high voltage, even when the motor is not in
motion. Disconnect the Drum from all voltage sources before it is
opened for servicing.
The Drum servo drives contain 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). Measuring the electrical contact points with a
meter, before touching the equipment, is recommended.

1.2

Cautions
The Drum servo drives contain 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 the Drum to an approved 12~195 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 Drum, verify that all safety precautions have
been observed and that the installation procedures in this manual have
been followed.

1-2

Drum Installation Guide

Safety Information

MAN-DRUIG (Ver. 1.0)

1.3

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 Distances of Electrical Equipment

In compliance with UL60950-1
(formerly UL1950)

Safety of Information Technology Equipment,
Including Electrical Business Equipment

In compliance with EN60204-1

Low Voltage Directive, 73/23/EEC

The Drum servo drives have 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 Mark Conformance

The Drum servo drives are 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 EN60204-1 and EN292-2 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 Drum meet 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.

Drum Installation Guide

Introduction

MAN-DRUIG (Ver. 1.0)

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 connected.

2.1

Drive Description

The Drum series are highly resilient digital servo drives designed to deliver “the highest
density of power and intelligence”. The Drum delivers up to 9.6 kW of continuous
power or 11.2 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 Drum 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
Windows-based application enables users to quickly and simply configure the servo drive
for optimal use with their motor. The Drum, as part of the SimplIQ product line, are fully
programmable with Elmo Metronome motion control language.
Power to the drives is provided by a 12 ~ 195 VDC isolated DC power source (not included
with the Drum). The power stage is fully isolated from the control stage. A “smart”
control-supply algorithm enables the Drum to operate with only one power supply with no
need for an auxiliary power supply for the logic.
If back-up functionality is required for storing control parameters in case of power-loss, an
external 12 ~ 195 VDC isolated supply should be connected (via the CAN connector on the
Drum) providing maximum flexibility and backup functionality when needed.
Note: This back-up functionality can operate from any voltage source within the
12 ~ 195 VDC range. This is much more flexible than to be restricted by only using a
standard 24 VDC power supply.
If back-up power is not needed, then the main power supply will also power the
control/logic supply. In this way there is no need for a separate control/logic supply.

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

2-1

Drum Installation Guide

Introduction

MAN-DRUIG (Ver. 1.0)

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 current loop
Fast event capturing inputs
PT and PVT motion modes
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
Fast output compare (OC)

2.2.4

Communication Options

Drum users can use two communication options:
RS-232 serial communication
CANopen for fast communication in a multi-axis distributed environment

2.2.5

Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) 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 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer

2-2

Drum Installation Guide

Introduction

MAN-DRUIG (Ver. 1.0)

• Absolute Encoder
o

Heidenhain 2.1

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 handling
• Status reporting for a large number of possible fault conditions
• Protection against conditions such as excessive temperature, under/over
voltage, loss of commutation signal, short circuits between the motor power
outputs and between each output and power input/return
• Recovery from loss of commutation signals and from communication errors

2.3

System Architecture

Figure 2-1: Drum System Block Diagram

2-3

Drum Installation Guide

Introduction

MAN-DRUIG (Ver. 1.0)

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 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 Drum.
The Appendix, Technical Specifications, lists all the drive ratings and specifications.
Upon completing the instructions in this guide, your Drum servo drives 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 following figure describes the accompanying documentation that you will require.

Figure 2-2: Elmo Digital Servo Drive Documentation Hierarchy

As depicted in the previous figure, this installation guide is an integral part of the Drum
documentation set, comprising:
The SimplIQ Software Manual, which describes the comprehensive software
used with the Drum.
The SimplIQ Command Reference Manual, which describes, in detail, each
software command used to manipulate the Drum motion controller.
The Composer Software Manual, which includes explanations of all the
software tools that are part of Elmo’s Composer software environment.

2-4

Drum Installation Guide

Installation

3-1

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-condensing

Operating area atmosphere

No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

The Drum dissipates its heat by convection. The maximum operating ambient
temperature of 0 °C to 40 °C (32 °F to 104 °F) must not be exceeded.

3.1.2

Hardware Requirements

The components that you will need to install the Drum are:

Component

Connector

Described
in Section

Main Power Cable

VP+ PR

3.4.2.2

M1 M2 M3

3.4.2.1

Motor Cable

Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Component

Main and Auxiliary
Feedbacks Cable

Digital I/O and Analog
Input Cable
(if needed)

RS232 Communication
Cable

CANopen
Communication cable(s)
(if needed)

PC for drive setup and
tuning

Motor data sheet or
manual

Connector

Described
in Section

FEEDBACK A and
FEEDBACK B

3.4.4

GENERAL I/O
J1

3.4.7.1

RS232

3.4.8.1

CAN (in),
CAN (out) and
Backup Option

3.4.8.2

Diagram

3-2

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.2

3-3

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 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 Drum you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Drum. It looks like this:

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

DRU- A XX/YYY R
Version :
Blank = Standard
A = Advanced
Continuous Current
(Amps)
Maximum DC
Operating Voltage

Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
Q = Absolute
Encoder

4. Verify that the Drum type is the one that you ordered, and ensure that the voltage meets
your specific requirements.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

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 diagram below).

Figure 3-1: Mounting the Drum

3-4

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4

3-5

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 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.

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.

Keep all wires and cables as short as possible.

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 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.

After completing the wiring, carefully inspect all wires to ensure tightness, good solder
joints and general safety.

The following connectors are used for wiring the Drum.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Type

Function

Port

Barrel
Connector +
M6 Spring
Washer + M6
Nut

Power

VP+, PR

Motor

M1, M2, M3

Barrel
Connector +
M5 Flat
Washer + M5
Spring Washer
+ M5 screw

Ground

PE, PE, PE,
PE

3-6

Connector Location

Table 3-1: Power Connectors on the Drum
Type

Function

Port

26-pin high
density DSub female

Feedbacks A
&B

15-pin high
density DSub male

Analog Input
and General
I/O

Connector Location
J3 Male: I/O

J4 Female: Feedbacks A & B

Table 3-2: Feedback and I/O Connectors on the Drum
Type

Function

Port

9-pin D-Sub
male

CANopen &
Optional
Backup
Supply

9-pin D-Sub
female

RS-232

Connector Location
J1 Male: CANopen & Optional
Backup Supply

J2 Female: RS-232

Table 3-3: Communication and Backup Connectors on the Drum

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-2: Drum Detailed Connection Diagram

3-7

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

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

Power return

Power

Protective earth

Power
3-Phase
Motor
Cable

DC Motor
Cable

Motor

M1 Motor phase

Motor

N/C

M2 Motor phase

Motor

M3 Motor phase

Motor

Protective earth

PE
When connecting several motors, all must be wired in an identical manner.
Table 3-4: Connector for Main Power and Motor Cables

3-8

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-9

M6 nut (available
with the drive)

M6 spring
washer
M5
screw

barrel
connector

M5 spring washer
barrel connector
M5 flat washer

Step 1: PE Connection

M5 screw

M5 spring washer

barrel connector

M5 flat washer

Step 2: Power and Motor Connection

M6 nut (available
with the drive)

M6 spring washer

barrel
connector

Table 3-5: Connecting the Main Power and Motor Cables

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.2.1

3-10

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
commutation automatically during setup.
Notes for connecting the motor cables:
For best immunity, it is highly recommended to use a shielded (not twisted) cable for
the motor connection. A 4-wire shielded cable should be used. The gauge is
determined by the actual current consumption of the motor.
Connect the shield of the cable to the closest ground connection at the motor end.
Connect the shield of the cable to the PE terminal on the Drum.
Be sure that the motor chassis is properly grounded.
To close the motor cable into the drive, use the barrel connector, M6 spring washer
and M6 nut (in the drive). The required torque is 3-4 Nm.
To close the PE wire into the drive, use the barrel connector, M5 flat washer, M5
spring washer and M5 screw to the heatsink. The required torque is 3-4 Nm.

Figure 3-3: AC Motor Power Connection Diagram

3.4.2.2

Connecting the DC Power

The Power stage of the Drum is fully isolated from other sections of the Drum, such as the
control stage and the heatsink. This contributes very significantly to the safety and the EMI
immunity of the Drum. In addition it simplifies the requirements of the DC power supply
used to power the DC bus of the Drum and allows also the operation with a non-isolated DC
power source.
Operation with an Isolated DC power Supply:
The PE (Protective Ground of the AC network) is connected to the PR terminal [The negative
power terminal (-)].

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-11

Drum

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.
Drum

Figure 3-5: Isolated Power Supply
In this case the isolation is achieved by using a battery.
It is highly recommended to connect the PE to the Return (negative terminal) of the Power
Supply.
Operation with a NON- Isolated DC power Supply:
The PE (Protective Ground of the AC network) MUST NOT be connected to the Return [PR
terminal, the negative power terminal (-)] of the Drum.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-12

Drum

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.

Drum

Figure 3-7: Non-Isolated DC Power Supply
The Power Supply is directly connected to the AC line through an Autotransformer.
The network PE MUST NOT be connected to the Return of the Power Supply.
Warning: Connecting the PE to the PR with a non- isolated power supply will cause damages
to the system (Any component that is connected to the system might be damaged).

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-13

Notes for connecting the DC power supply:
Be aware: The Drum can operate from either an:
o

isolated DC power supply
or

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 determined by
the actual current consumption of the motor.
Connect both ends of the cable shield to the closest ground connection, one end near
the power supply and the other end to the PE terminal on the Drum’s heatsink.
For safety reasons connect the PR of the power supply to the closest ground
connection.
To close the power supply cable into the drive, use the barrel connector, M6 spring
washer and M6 nut (in the drive). The required torque is 3-4 Nm.
To close the PE wire into the drive, use the barrel connector, M5 flat washer, M5
spring washer and M5 screw to the heatsink. The required torque is 3-4 Nm.

3.4.2.3

Connecting the Optional Back-up Supply Cable

Power to the Drum is provided by a 12 to 195 VDC source (depending on model type). A
“smart” control-supply algorithm enables the Drum to operate with the power supply only,
with no need for an auxiliary supply voltage. If backup functionality is required for storing
control parameters in case of power-outs, an external 12-195 VDC power supply can be
connected, providing maximum flexibility and optional backup functionality when needed.
To connect the back-up supply to the Auxiliary port, use the Drum's J1 connector (CAN
communication connector). Remember, you are working with DC power so be sure to exercise
caution.
Notes for back-up supply connections:
Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.
The source of the back-up supply must be isolated.
For safety reasons, connect the return of the back-up supply source to the closest
ground.
Connect the cable shield to the closest ground near the power source.
Before applying power, first verify the polarity of the connection.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Signal

Function

J1-9

+VDC Backup
Supply

+VDC back-up supply

J1-8

RET Backup
Supply

Return (common) of the back-up
supply

3-14

Pin Position

J1
Male

Table 3-6: Back-up Cable Plug

Figure 3-8: Back-up Supply Connection Diagram
“Smart” Control
Supply Options

Internal DC-to-DC converter allowing for operation from DC power (no
need for auxiliary external supply for normal operation).
12-195 VDC supply for backing up the control parameters if DC power is
shut off.

3.4.3
Feedback Control and Communication Cable
Assemblies
The Drum 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 results, the shield should have aluminum foil covered by copper braid.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-15

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 shield.

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

Figure 3-9: Feedback and Control Cable Assemblies
Note: All D-sub type connectors, used with the Drum, should be assembled in this way.

3.4.4

Main Feedback Cable (FEEDBACK A)

The main feedback cable is used to transfer feedback data from the motor to the drive.
The Drum accepts the following 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 & Potentiometer

Absolute Encoder

FEEDBACK A on the “front” of the Drum has a 26-pin high density D-sub socket. Connect the
Main Feedback cable from the motor to FEEDBACK A using a 26-pin, high density D-Sub
plug with a metal housing. When assembling the Main Feedback cable, follow the instructions
in Section 3.4.3 (Feedback Control and Communication Cable Assemblies).

Note: the Feedback connector also supports Feedbacks A and B.

J4 Female

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Pin
1

Port
A–

Incremental Encoder

Interpolated Analog
Encoder

Resolver

Tachometer and
Potentiometer

DRU XX/YYY_

DRU XX/YYYI

DRU XX/YYYR

DRU XX/YYYT

Signal
CHA

Function

Signal

Function

Signal

Channel A

A+

Sine A

Channel A

A-

Sine A

Function

Signal

Function

Sine A

Tac1+

Sine A

Tac1-

Tacho
Input 1
Pos. (20 V
max)
Tacho
Input 1
Neg.
(20 V
max)
Tacho
Input 2
Pos. (50 V
max)
Tacho
Input 2
Neg.
(50 V
max)

Main
Input
2

A–

CHA-

Main

Complement

Input
3

A–

CHB

Channel B

B+

Cosine B

Tac2+

CHB-

Channel B

B-

Cosine B

Tac2-

Main
Input
4

A–
Main

Complement

Input
5

A–

INDEX

Index

R+

Reference

Main

Vref f=1/TS,

POT

50mA Max.

A–

Potentiometer

Input
6

3-16

Input
INDEX-

Main

Index

R-

Complement

Reference

Complement

Vref

Hall

complement

Input

f= 1/TS,
50 mA Max.

Hall A

Hall sensor

A input

Hall sensor A

input

Hall sensor A
input

sensor A
input

Hall B

Hall sensor B

input

Hall sensor B

input

Hall sensor B

input

Hall
sensor B
input

Hall C

Hall sensor

C input
10

B2 –

CHAO

Aux./Main

Hall sensor C

input
CHAO

Aux./

Hall sensor C
input

CHAO

Aux./

Aux.

channel A

Emulated

Output

high output

channel A

high output

B2 –

CHAO-

Aux./Main

CHAO-

Aux./

CHAO-

Aux./

Hall
sensor C

CHAO

CHAO-

input
Aux./
Emulated
channel A
high
output
Aux./

Aux.

channel A

Emulated

Output

low output

channel A

low output

low
output

B2 –

CHBO

Aux./Main

CHBO

Aux./

CHBO

Aux./

CHBO

Aux./

Aux.

channel B

Emulated

Output

high output

channel B

high output

high
output

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Incremental Encoder

Interpolated Analog
Encoder

Resolver

Tachometer and
Potentiometer

DRU XX/YYY_

DRU XX/YYYI

DRU XX/YYYR

DRU XX/YYYT

Port

Signal

B2 – Aux.

CHBO-

Output

B2 – Aux.

INDEXO

Output

Function
Aux./Main

Signal
CHBO-

Function
Aux./

Signal
CHBO-

B2 – Aux.
Output

Aux./

Signal
CHBO-

Function
Aux./

Emulated

output

channel B low

channel B

output

low output

Aux./Main

INDEXO

INDEX high

INDEXO-

Function

channel B low

Aux. INDEX

INDEXO

high output

output
15

3-17

Aux./Main

INDEXO-

INDEX low

Aux./

INDEXO

Aux.

Emulated

INDEX

INDEX high

high

output

Aux. INDEX

INDEXO

Aux./

low output

Emulated

INDEX

INDEX low

low output

output

INDEXO-

Aux.

output
16

PWR

SUPRET

Supply return

SUPRET

Supply return

SUPRET

Supply return

SUPRET

PWR

SUPRET

Supply return

SUPRET

Supply return

SUPRET

Supply return

SUPRET

PWR

SUPRET

Supply return

SUPRET

Supply return

SUPRET

Supply return

SUPRET

Supply
return
Supply
return
Supply
return

B1 – Aux.

CHA

Main channel A

CHA

Emulated

CHA

Emulated

CHA

Emulated

Input/

high output/

channel A

channel A high

channel A

Output

Auxiliary

high output/

output/

high

channel A high

Auxiliary

output/

input

channel A

channel A high

Auxiliary

high input

input

channel A
high input

B1 – Aux.

CHA-

Main channel A

CHA-

Emulated

CHA-

Emulated

CHA-

Emulated

Input/

low output/

channel A low

channel A

Output

Auxiliary

output/

low

channel A low

Auxiliary

output/

input

channel A low

Auxiliary

input

channel A
low input

B1 – Aux.

CHB

Main channel B

CHB

Emulated

CHB

Emulated

CHB

Emulated

Input/

high output/

channel B

channel B high

channel B

Output

Auxiliary

high output/

output/

high

channel B high

Auxiliary

output/

input

channel B

channel B high

Auxiliary

high input

input

channel B
high input

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-18

Incremental Encoder

Interpolated Analog
Encoder

Resolver

Tachometer and
Potentiometer

DRU XX/YYY_

DRU XX/YYYI

DRU XX/YYYR

DRU XX/YYYT

Port

Signal

B1 – Aux.

CHB-

Function

Signal

Main channel

CHB-

Function
Emulated

Signal
CHB-

Function

Signal

Emulated

CHB-

Function
Emulated

Input/

B low output/

channel B low

channel B

Output

Auxiliary

output/

low

channel B low

Auxiliary

output/

input

channel B low

Auxiliary

input

channel B
low input

B1 – Aux.

INDEX

Main INDEX

INDEX

Auxiliary

INDEX

Emulated

INDEX

Auxiliary

Input/

high output/

INDEX high

INDEX

Output

Auxiliary

input

output/

high input

INDEX high

Auxiliary

input

INDEX high
input

B1 – Aux.

INDEX-

Main INDEX

INDEX-

Auxiliary

INDEX-

Emulated

INDEX-

Auxiliary

Input/

low output/

INDEX low

INDEX

Output

Auxiliary

input

output/

low input

INDEX low

Auxiliary

input

INDEX low
input

PWR

+5V

Encoder/

+5V

Hall +5V

Encoder/Hall

+5V

+5V supply

Encoder/

+5V

Hall +5V supply

supply
26

PWR

+5V

Encoder/
Hall +5V

Encoder/
Hall +5V
supply

+5V

Encoder/Hall
+5V supply

+5V

Encoder/
Hall +5V supply

supply

+5V

Encoder/
Hall +5V
supply

Table 3-7: Feedback Cable Pin Assignments

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-19

Absolute Encoders
DRU XX/YYY
Pin
1

Port
A– Main

Signal

Heidenhain 2.1

Signal

Stegmann

A+

Sine A

A-

Sine A Complement

A-

Sine A Complement

A+

Sine A

B+

Cosine B

B+

Cosine B

B-

Cosine B Complement

B-

Cosine B Complement

DATA+

Data

DATA+

Data

DATA-

Data Complement

DATA-

Data Complement

Hall sensor A

Input
2

A– Main
Input

Hall A

input
8

Hall B

Hall sensor B

input
HB

input
9

Hall C

Hall sensor C

input
10

B2– Aux.

CHAO

Output
11

B2– Aux.

CHAO-

B2– Aux.

CHAO

CHBO

Aux. / Emulated channel B high

Aux. channel A high output
/ Emulated channel A low output

CHAO-

output

Output

Aux. channel A low output /
Emulated channel A high output

CHBO

output

Aux. / Emulated channel B high
output

CHBO-

Aux. / Emulated channel B low

INDEXO

Aux. INDEX high output

INDEXO

Aux. INDEX high output

INDEXO-

Aux. INDEX low output

INDEXO-

Aux. INDEX low output

CLK+

Clock

N.A

Do not connect

CLK-

Clock Complement

N.A

Do not connect

Supply return

SUPRET

Supply return

Emulated channel A high

CHA

Emulated channel A low output /

B2– Aux.

Aux. / Emulated channel A low

Hall sensor C
input

output

Output
12

Aux. / Emulated channel A high

Hall sensor B
input

Output
14

B2– Aux.

CHBO-

output

Aux. / Emulated channel B low
output

Output
15

B2– Aux.
Output

PWR

SUPRET

B1– Aux.

CHA

Input/

output/Auxiliary channel A

Output
20

B1– Aux.

high input
CHA-

Emulated channel A low

Input/

output/Auxiliary channel A low

Output

input

B1– Aux.

Auxiliary channel A high input

CHB

Emulated channel B high

Input/

output/Auxiliary channel B high

Output

input

CHA-

Emulated channel A high output /
Auxiliary channel A low input

CHB

Emulated channel B high output/
Auxiliary channel B high input

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-20

Absolute Encoders
DRU XX/YYY
Pin
22

Port

Signal

B1– Aux.

CHB-

Input/

Heidenhain 2.1
Emulated channel B low output/

Signal
CHB-

Auxiliary channel B low input

Stegmann
Emulated channel B low output/
Auxiliary channel B low input

Output
23

B1– Aux.

INDEX

Auxiliary INDEX high input

INDEX

Auxiliary INDEX high input

INDEX-

Auxiliary INDEX low input

INDEX-

Auxiliary INDEX low input

+5V

Encoder/Hall +5V supply

+5V

+5V Hall

Input/
Output
24

B1– Aux.
Input/
Output

PWR

supply
26

PWR

+8V

Do not connect

+8V

+8V Encoder
supply

Table 3-7B: Feedback Cable Pin Assignments

Figure 3-10: Main Feedback- Incremental Encoder Connection Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-11: Main Feedback – Interpolated Analog Encoder Connection Diagram

Figure 3-12: Main Feedback – Resolver Connection Diagram

3-21

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-22

Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors

Figure 3-14: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors

Figure 3-16: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils

3-23

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-17: Main Feedback – Heidenhain (EnDat 2.1) Feedback with Hall Sensor
Connection Diagram

3-24

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Installation

3-25

Figure 3-18: Main Feedback – Heidenhain (EnDat 2.1) Feedback Connection Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-19: Main Feedback – Stegmann (Hiperface) Feedback with Hall Sensor
Connection Diagram

3-26

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-20: Main Feedback – Stegmann (Hiperface) Feedback Connection Diagram

3-27

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.5

3-28

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 Drum, “FEEDBACK B”
has two ports, Port B1 and Port B2. When used in combination with the Main Feedback port,
“FEEDBACK A”, the ports can be set, by software, as follows:

FEEDBACK B Ports B1 and B2

FEEDBACK A

YA[4] = 4

YA[4] = 2

YA[4] = 0

B1 - Output
Differential
and
Buffered
Main
Encoder
Signal

Incremental
Encoder
Input

A - input
Incremental
Encoder

B2 - output
same as B1

B1- Output

Interpolated
Analog
(Sin/Cos)
Encoder
Input

A-input
Analog
Encoder

Analog
Encoder
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)

B1- Input

B1- Input
Differential
or
Single-ended
Auxiliary
Incremental
Encoder

B2- Output
same as B1

Differential or
Single-ended
Pulse &
Direction
Commands

B2- Output

B1- Output

Resolver
Input
A-input
Resolver

Resolver
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)

B2- Output
same as B1

*
Tachometer
Input

B1- Output

A-input
Tachometer

Tachometer
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)

B2- Output
same as B1

Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder

B2- Output
Differential
and
Buffered
Auxiliary
Encoder
Signal

Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder

Differential
and Buffered
Pulse &
Direction
Signals

Drum Installation Guide

Installation

3-29

MAN-DRUIG (Ver. 1.0)

FEEDBACK B Ports B1 and B2

FEEDBACK A

YA[4] = 4

YA[4] = 2

B1- Output

Potentiometer
Input

A-input
Potentiometer

Potentiometer
Position Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential &
buffered)

B2- Output
same as B1

Typical
Any application where the
Applications
main encoder is used, not

only for the drive, but also
for other purposes such as
position controllers and/or
other drives.
Analog Encoder
applications where position
data is required in the
Encoder’s quadrature
format.
Resolver applications
where position data is
required in the Encoder’s
quadrature format.
Tachometer applications
where velocity data is
required in the Encoder’s
quadrature format.
Absolute Encoder
applications where position
data is required in the
Encoder’s quadrature
format.

YA[4] = 0

B1- Input

B1- Input
Differential
or
Single-ended
Auxiliary
Incremental
Encoder

Differential or
Single-ended
Pulse &
Direction
Commands

B2- Output
Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder

B2- Output
Differential
and
Buffered
Auxiliary
Encoder
Signal

Any application where two
feedbacks are used by the
drive.
Port B1 serves as an input for
the auxiliary incremental
encoder (differential or
single-ended).
Port B2 is used to output
differential buffered
Auxiliary Incremental
Encoder signals.
For applications such as
Follower, ECAM, or Dual
Loop.

Incremental
Encoder
or
Analog
Encoder
or
Resolver
or
Tachometer
or
Potentiometer
or
Absolute
Encoder

Differential
and Buffered
Pulse &
Direction
Signals

Port B1 serves as an input for
Pulse & Direction
commands (differential or
single-ended).
Port B2 is used to output
differential buffered Pulse &
Direction signals.

3.4.6

Auxiliary Feedback (FEEDBACK B)

When using one of the auxiliary feedback options, the relevant functionality of FEEDBACK B
ports are software selected for that option. Refer to the SimplIQ Command Reference Manual for
detailed information about FEEDBACK B setup. When assembling the Main Feedback cable,
follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable
Assemblies).
Note: the Feedback connector also supports Feedbacks A and B.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.6.1

3-30

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 current amplifier to provide position data to the position
controller.

The Drum is used in velocity mode, to provide position data to the position
controller.

The Drum is used as a master in Follower or ECAM mode.

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

Signal

Function

CHAO

CHAO-

CHBO

CHBO-

Buffered channel A output
Buffered channel A
complement output
Buffered channel B output
Buffered channel B
complement output

INDEXO

INDEXO-

SUPRET

CHA

CHA-

CHB

CHB-

B1
B1
PWR

23
24
25

INDEX
INDEX+5V

PWR

Pin Position

J4
Female

Buffered Index output
Buffered Index complement
output
Encoder supply voltage
return/COMRET
Auxiliary channel A high
output
Auxiliary channel A low
output
Auxiliary channel B high
output
Auxiliary channel B low
output
Auxiliary Index high output
Auxiliary Index low output
Encoder supply voltage

26 Pin high density
D-sub Socket

Note: In models not containing absolute encoder support, it is possible to use
terminals 16 and 17 for SUPRET connections.
Table 3-8: Main Encoder Buffered Outputs or Emulated Encoder Outputs on FEEDBACK B Pin Assignments

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Installation

3-31

FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the
Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 26-pin,
high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback
cable, follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable
Assemblies).

Figure 3-21: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B Connection Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.6.2

3-32

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

The Drum 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 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

Signal

Function

CHAO

Buffered channel A
output

CHAO-

Buffered channel A
complement output

CHBO

Buffered channel B
output

CHBO-

Buffered channel B
complement output

INDEXO

Buffered Index output

INDEXO-

Buffered Index
complement output

SUPRET

Encoder supply voltage
return/COMRET

CHA

Auxiliary channel A
high input

CHA-

Auxiliary channel A low
input

CHB

Auxiliary channel B
high input

CHB-

Auxiliary channel B low
input

INDEX

Auxiliary Index high
input

INDEX-

Auxiliary Index low
input

+5V

Encoder supply voltage

PWR

Pin Position

J4
Female

26 Pin high density
D-Sub Socket

Note: In models not containing absolute encoder support, it is possible to use
terminals 16 and 17 for SUPRET connections and use terminal 26 for +5V connection.
Table 3-9: Differential Auxiliary Encoder Input Option on FEEDBACK B – Pin Assignments

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-33

FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the
Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 26-pin, high
density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable,
follow the instructions in Section 3.4.3 (Feedback Control and Communication Cable
Assemblies).

Figure 3-22: Differential Auxiliary Encoder Input Option on FEEDBACK B Connection Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.6.3

3-34

Single-ended Auxiliary Input Option on FEEDBACK B
(YA[4]=2)

The Drum 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 for the next slave axis in Follower or ECAM mode.
Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended
auxiliary input:
Port

Signal

Function

CHAO

Channel A output

CHAO-

Channel A
complement output

CHBO

Channel B output

CHBO-

Channel B
complement output

INDEXO

Index output

INDEXO-

Index complement
output

SUPRET

Encoder supply
voltage return/
COMRET

CHA

Auxiliary channel A
high input

Do not connect this
pin

CHB

Auxiliary channel B
high input

Do not connect this
pin

INDEX

Auxiliary Index high
input

Do not connect this
pin

+5V

Encoder supply
voltage

Pin Position

J4
Female

26 Pin high density D-Sub Plug
PWR
B1

PWR

26 Pin high density
D-Sub Socket

Note: In models not containing absolute encoder support, it is possible to use
terminals 16 and 17 for SUPRET connections and use terminal 26 for +5V connection.
Table 3-10: Single-ended Auxiliary Encoder Option on FEEDBACK B - Pin Assignments

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Installation

3-35

Figure 3-23: Single-ended Auxiliary Input Option on FEEDBACK B - Connection Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.6.4

3-36

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

This mode is used for input of differential or single-ended pulse-and-direction position
commands on Port B1. In this mode Port B2 provides differential buffered pulse-anddirection outputs for another axis.
Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended
pulse-and-direction input:
Port

Signal

Function

CHAO

Channel A output

CHAO-

Channel A complement output

CHBO

Channel B output.

CHBO-

Channel B complement output

Do not connect this pin

SUPRET

Encoder supply voltage return/
COMRET

PULS/CHA

Pulse/Auxiliary channel A high
input

PWR
B1

Pin Position

J4
Female

26 Pin D-Sub
High Density Plug
B1

PWR

Do not connect this pin

DIR/CHB

Direction/Auxiliary channel B
high input

Do not connect this pin

+5V

Encoder supply voltage

26 Pin D-Sub Socket

Note: In models not containing absolute encoder support, it is possible to use
terminals 16 and 17 for SUPRET connections.
Table 3-11: Single Ended Pulse-and-Direction Auxiliary Encoder Pin Assignment on
FEEDBACK B

FEEDBACK B on the “top” of the Drum has a 26-pin high density D-sub socket. Connect the
Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a
26-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary
Feedback cable, follow the instructions in Section 3.4.3 (Feedback Control and
Communication Cable Assemblies).

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

Installation

3-37

Figure 3-24: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection
Diagram

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-38

Below are the signals on the Auxiliary Feedback ports when set up to run as a differential
pulse-and-direction input:
Port

Signal

Function

CHAO

Channel A output

CHAO-

Channel A complement output

CHBO

Channel B output.

CHBO-

Channel B complement output

Do not connect this pin

SUPRET

Encoder supply voltage return/
COMRET

PULS/CHA

Pulse/Auxiliary channel A high
input

PWR
B1

Pin Position

J4
Female

26 Pin D-Sub High Density
Plug
B1

PULS-/CHA- Pulse/Auxiliary channel A
complement high input

DIR/CHB

Direction/Auxiliary channel B
high input

DIR-/CHB-

Direction/Auxiliary channel B
complement high input

Do not connect this pin

+5V

Encoder supply voltage

PWR

26 Pin D-Sub Socket

Note: In models not containing absolute encoder support, it is possible to use
terminals 16 and 17 for SUPRET connections.
Table 3-12: Differential Pulse-and-Direction Auxiliary Encoder Pin Assignment on
FEEDBACK B

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-25: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection
Diagram

3-39

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.7

3-40

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.

3.4.7.1

I/O

J3 Port

Digital Input

Digital Output

Analog Input

General I/O Port (J3)

Port J3 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the
instructions in Section 3.4.3 (Feedback Control and Communication Cable Assemblies) using
a 15-pin high density metal case D-sub female connector (socket).
Pin

Signal

Function

ANLIN+

Analog input +

ANLIN-

Analog input -

ANLRET

Analog return

OUTRET2

Programmable output return 2

OUT2

Programmable output 2

IN6

Programmable input 6

INRET

General input return

INRET

General input return

OUTRET 1

Programmable output return 1

OUT1

Programmable output 1

IN1

Programmable input 1

IN2

Programmable input 2

IN3

Programmable input 3

IN4

Programmable input 4

IN5

Programmable input 5

Pin Position

J3
Male

Table 3-13: J3 I/O Cable - Pin Assignments

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-26: General J1 I/O Connection Diagram

3-41

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.4.8

3-42

Communication Cables

The communication cables use a 9-pin D-sub plug that connect to the RS-232 and 9-pin D-sub
socket that connects to the CANopen ports on the Drum.
The communication interface may differ according to the user’s hardware. The Drum can
communicate using the following options:
a. RS-232, full duplex
b. CANopen
RS-232 communication requires a standard, commercial 3-core null-modem cable connected
from the Drum to a serial interface on the PC. The interface is selected and set up in the
Composer software.
In order to benefit from CANopen communication, the user must have an understanding of
the basic programming and timing issues of a CANopen network. The interface is electrically
isolated by optocouplers.
For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used
simultaneously.

3.4.8.1

RS-232 Communication

Notes for connecting the RS-232 communication cable:
Use a 24, 26 or 28 AWG twisted pair shielded cable (24 AWG cable is recommended).
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.
Use only a D-sub connector with a metal housing.
Attach the braided shield tightly to the metal housing of the D-type connector.
When assembling the Communication cable, follow the instructions in Section 3.4.3
(Feedback Control and Communication Cable Assemblies).
Pin

Signal

Function

—

RS-232 transmit

RS-232 receive

—

COMRET

Communication return

—

Pin Location

J2
Female

Table 3-14: RS-232 Cable - Pin Assignments

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-43

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 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.
Use only a D-sub connector with a metal housing.
Attach the braid shield tightly to the metal housing of the D-type connector.
Connect a termination 120-ohm resistor at each of the two ends of the network cable.
When assembling the Communication cable, follow the instructions in Section 3.4.3
(Feedback Control and Communication Cable Assemblies).
Pin

Signal

Function

—

CAN_L

CAN_L busline (dominant low)

CAN_GND

CAN ground

—

CAN_SHLD

Shield, attach to the metal housing of
the D-type

CAN_GND

CAN Ground

CAN_H

CAN_H busline (dominant high)

—

Do not connect

—

Do not connect

Pin Position

J1
Male

Table 3-15: CANopen Cable - Pin Assignments

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

Figure 3-28: CANopen Connection Diagram

3-44

Caution:

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

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.5

3-45

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 equivalent Low Voltage Directive Standard, all according to the
applicable over-voltage category. If the power source to the power supply is the AC line
(through an isolated or a non-isolated transformer), safety margins must be considered, in
order to avoid activating the under/over voltage protection due to line variations and/or
voltage drop under load.
In addition to the above, the transformer must comply with the safety aspects of the relevant
requirements in accordance with the most recent version of the standard EN60742 (Isolating
and Safety Isolating Transformers). The nominal DC bus voltage should be in the following
range:
1.2 Vdcmin < Vdc < 0.9 Vdcmax
Where:
Vdcmin is the minimum DC bus
Vdcmax is the maximum DC bus
The transformer power should be calculated such that it will be able to deliver power to the
amplifier (including peak power) without significant voltage drops.
The power supply should be located as close as possible to the amplifier. While driving highinertia loads, the power supply must be equipped with a shunt regulator; otherwise, the
amplifier will be disabled whenever the capacitors are charged above the maximum voltage,
during motor break down.

3.5.1

Powering Up

After the Drum has been mounted, check that the cables are intact. The Drum 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 Drum and that the proper
plus-minus connections are in order.

3.5.2

Initializing the System

After the Drum 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.

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.6

3-46

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 dissipate around 12 W for 40 °C ambient temperature and not exceeding 80 °C on the
heatsink.
When “Free Air Convection” is sufficient for the application it is recommended to leave
approximately 10 mm of space between the Drum's heatsink and any other assembly.

3.6.1
•
•
•
•
•

Drum Thermal Data
Free air convection thermal resistance (θ): Approximately 3.6 – 4 °C/W.
Thermal time constant: Approximately 40 minutes/ 2400 seconds (thermal time
constant means that the Drum will reach 2/3 of its final temperature after 4 minutes).
Self heat dissipation capability (no external heatsink): 12W for 40 °C/W temperature
rise.
Shut-off temperature: 86 °C – 88 °C (measured on the heatsink).
The thermal resistance when connecting to an external heat sink:
o The surface of the external heatsink is 50um: 0.18 °C/W.
o Thermal conductive compound. By proper Smearing of the surface a
significant improvement of the thermal resistance is achieved: 0.13 °C/W

3.6.2

Heat Dissipation Data

Heat Dissipation is shown in graphically below:

Power Dissipation 60V series
100
90
80

Power Dissipation (W)

12VDC
20VDC
30VDC
40VDC

60
50

50VDC
56VDC

40
30

Heatsink
Required

20
10

Standard 40 °C Ambient Temp.

0
0

Motor's Current (Ampere)

Heatsink
not
Required

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3-47

Power Dissipation 100V series
120

Power Dissipation (W)

100

20VDC
40VDC
60VDC
80VDC

96VDC
40

0
0

8.3

16.7

25.0

33.3

41.7

50.0

58.3

66.7

75.0

Motor's Current (Ampere)

Power Dissipation 200V series
250

Power Dissipation (W)

200
40VDC
80VDC

150

120VDC
160VDC
196VDC

100

0
0

6.7

13.3

20.0

26.7

33.3

40.0

Motor's Current (Ampere)

46.7

53.3

60.0

Drum Installation Guide

Installation

MAN-DRUIG (Ver. 1.0)

3.6.3

3-48

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
higher).
2. Determine the ambient operating temperature of the Drum as ≤ 40 °C.
3. Calculate the allowable temperature increase as follows:
•

for an ambient temperature of 40°C , ∆T= 80 °C – 40 °C = 40 °C

4. Use the chart to find the actual dissipation power of the drive. Follow the voltage
curve to the desired output current and then find the dissipated power.
5. If the dissipated power is below 12 W the Drum needs no additional cooling.
Note: The chart above shows that no heatsink is needed when the heatsink temperature is
80 °C, ambient temperature is 40 °C and heat dissipated is 4 W.

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

Appendix: Drum Technical Specifications
A.1 Features
A.1.1

Motion Control Modes
• Current/Torque • Velocity • Position -

A.1.2

up to 3.5 kHz sampling rate

PTP, PT, PVT, ECAM, Follower, Dual Loop
Fast event capturing inputs
Fast output compare (OC)
Motion Commands: Analog, PWM, digital (SW) and Pulse and Direction

Advanced Filters and Gain Scheduling
•
•
•
•

A.1.4

up to 7 kHz sampling rate

Advanced Positioning Control Modes
•
•
•
•

A.1.3

up to 14 kHz sampling rate

“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

Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
• 32 KB memory

A.1.5

Feedback Options
•
•
•
•

Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
Digital Halls – up to 2 kHz
Tachometer and potentiometer (optional)
Incremental Encoder with Digital Halls for commutation – up to 20 MegaCounts per second for encoder
• Interpolated Analog Encoder (optional)
Sine/Cosine Encoder– up to 250 kHz
Internal Interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signal offset
Differential encoder buffered outputs
• Resolver (optional)
Programmable 10~15 bit resolution
Up to 512 revolution per seconds (RPS)
Encoder outputs
A, B, Index
Differential encoder buffered outputs
Quadrate

A-1

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A-2

• Absolute Encoder - Heidenhain 2.1 and Stegmann
Sine/Cosine Encoder– up to 250 kHz
Internal Interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signal offset
Differential encoder buffered outputs
• Auxiliary Encoder inputs (ECAM, follower, etc.)
A, B, Index
Differential encoder buffered outputs
Quadrate

A.1.6

Input/Output

•

Analog Input– up to 14-bit resolution

•

Six programmable Digital Inputs, optically isolated, PLC level

Inhibit/Enable motion
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
Homing
General-purpose

•

Fast event capture inputs, optically isolated

•

Two programmable Digital Outputs, optically isolated (open, emitter and collector)
Brake Control
Amplifier fault indication
General-purpose
Servo enable indication

•

Differential emulated outputs of the resolver, interpolated analog encoder,
tachometer and absolute encoder

•

Fast output compare (OC), optically isolated

•

Pulse and Direction inputs (single-ended and differential)

•

PWM current command output

A.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 temperature
Cont. temperature measurement. Temperature can be read on the fly,
Warning can be initiated X degrees before temp disable is activated.
Over/Under voltage
Loss of feedback

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

A.1.8
•

A.1.9

Following error
Current limits
Loss of commutation signals
Communication error

Accessories
Cable Kit

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

Drum Technical Specifications

A-3

Drum Installation Guide
MAN-DRUIG (Ver. 1.0)

A.2 Dimensions

Drum Technical Specifications

A-4

Drum Installation Guide

Drum Technical Specifications

A-5

MAN-DRUIG (Ver. 1.0)

A.3 Power Ratings
Feature

Units

70/48

Minimum supply voltage

VDC

Nominal supply voltage

VDC

Maximum supply voltage
Maximum continuous
power output
Efficiency at rated power
(at nominal conditions)

70/60

R90/60

50/100 R75/100

35/200 R60/200

18/400

170

340

VDC

195

390

2700

3400

4300

4000

6000

5600

9600

5600

> 97

Maximum output voltage

97% of DC bus voltage at f=22 kHz

Amplitude sinusoidal/DC
continuous current

Sinusoidal continuous
RMS current limit (Ic)

12.7

Peak current limit

2 x Ic

No Peak

2 x Ic

No Peak

2 x Ic

Weight
Dimensions

2 x Ic No Peak

g (oz)

700 g (24.7 oz)

mm (in)

134 x 95 x 60 (5.3" x 3.7" x 2.4")

Digital in/Digital
out/Analog in

6/2/1

Mounting method

Panel mount

A.4 Environmental Conditions
Feature

Details

Ambient operating temperature

0 °C – 40 °C (32 °F – 104°F)

Storage temperature

-20 °C – 85 °C (-4 °F – +185 °F)

Maximum humidity

90% non-condensing

Protection level

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

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 and feedback B)

A.5 Control Specifications
A.5.1

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

Moving coils

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 control

Current loop bandwidth

< 2.5 kHz

Current loop sampling time

Programmable 70 - 100 µsec

Current loop sampling rate

Up to 16 kHz; default 11 kHz

A-6

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A.5.2

Velocity Loop

Feature

Details

Controller type

Velocity control

Fully digital

Programmable PI and FFW control filters

"On-the-fly" gain scheduling

Automatic, manual and advanced manual tuning

Incremental Encoder

Absolute Encoder- Heidenhain and Stegmann

Digital Halls

Interpolated Analog (sin/cos) Encoder (optional)

Resolver (optional)

Tachometer and Potentiometer (optional)

Velocity and position feedback
options

Velocity loop bandwidth

< 350 Hz

Velocity loop sampling time

140 - 200 µsec (x2 current loop sample time)

Velocity loop 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.

A.5.3

Position Loop

Feature

Details

Controller type

“1-2-4” PIP

Position command options

Software

Pulse and Direction

Analog Potentiometer

Position loop bandwidth

< 80 Hz

Position loop sampling time

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

Position loop sampling rate

up to 4 kHz; default 2.75 kHz

A-7

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A.6 Feedbacks
A.6.1

Feedback Supply Voltage

The Drum has two feedback ports (main and auxiliary). The drives supply voltage to the
main and auxiliary feedback devices (200 mA to the main feedback and 200 mA to the
auxiliary feedback).
Feature

Details

Main encoder supply voltage

5 V +5% @ 200 mA

Auxiliary encoder supply voltage

5 V +5% @ 200 mA

A.6.2

Main Feedback Options

A.6.2.1 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 A-1: Main Feedback - Encoder Phase Diagram

A-8

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A.6.2.2 Digital Halls
Feature

Details

Halls inputs

H A , H B, H C .
Single ended inputs
Built in hysteresis of 1 V for noise immunity

Input voltage

Nominal operating range: 0 V < VIn_Hall < 5 V
Maximum absolute: -1 V < VIn_Hall < 15 V
High level input voltage: V InHigh > 2.5 V
Low level input voltage: V InLow < 1 V

Input current

Sink current (when input pulled to the
common): 3 mA

Maximum frequency

fMAX : 2 kHz

A.6.2.3 Interpolated Analog Encoder (Sine/Cosine)
Feature

Details

Analog encoder format

Sine and Cosine signals

Analog input signal level

Offset voltage: 2.2 V – 2.8 V

Differential, 1 V peak to peak

Input resistance

Differential 120 Ω

Maximum analog signal frequency

fMAX : 250 kHz

Interpolation multipliers

Programmable: x4 to x4096

Maximum “counts” frequency

80 mega-counts/sec “internally”

Automatic errors correction

Signal amplitudes mismatch
Signal phase shift
Signal offsets
See Auxiliary Encoder Outputs specifications (0)

Encoder outputs

A.6.2.4 Resolver
Feature

Details

Resolver format

Input resistance

Differential 2.49 kΩ

Resolution

Programmable: 10 ~ 15 bits

Maximum electrical frequency (RPS)

512 revolutions/sec

Resolver transfer ratio

0.5

Sine/Cosine
Differential

A-9

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

Feature

Details

Reference frequency

1/Ts (Ts = sample time in seconds)

Reference voltage

Supplied by the Drum

Reference current

up to ±50 mA

Encoder outputs

See Auxiliary Encoder Output specifications
(0)

A-10

A.6.2.5 Tachometer*
Feature

Details

Tachometer format

Differential

Maximum operating differential
voltage for TAC1+, TAC1-

±20 V

Maximum absolute differential input
voltage for TAC1+, TAC1-

±25 V

Maximum operating differential
voltage for TAC2+, TAC2-

±50 V

Maximum absolute differential input
voltage for TAC2+, TAC2-

±50 V

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 20V.
TAC2+/TAC2- is used in applications with having a Tachometer of between 20V and 50V.

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A.6.2.6 Potentiometer
Feature

Details

Potentiometer Format

Single-ended

Operating Voltage Range

0 ~ 5 V supplied by the Drum

Potentiometer Resistance

100 Ω ~ 1 kΩ … above this range, linearity is
affected detrimentally

Input Resistance

100 kΩ

Resolution

14 Bit

A.6.2.7 Absolute Encoder
Feature

Details

Analog encoder format

Sine and Cosine signals

Analog input signal level

Offset voltage: 2.2 V – 2.8 V

Differential, 1 V peak to peak

Input resistance

Differential 120 Ω

Maximum analog signal frequency

fMAX : 250 kHz

Interpolation multipliers

Programmable: x4 to x4096

Maximum “counts” frequency

80 mega-counts/sec "internally"

Automatic errors correction

Signal amplitudes mismatch
Signal phase shift
Signal offsets
See Encoder Outputs specifications (A.6.2.8)

Encoder outputs

A.6.2.8 Encoder Outputs
Feature

Details

Encoder output format

A, B, Index (not available in analog and
absolute encoders)
Differential outputs
Quadrature

Interface

RS-422

Port B1 output current capability

Driving differential loads of 200 Ω on
INDEX/INDEX-, CHB/CHB- and CHA/CHA- pairs

A-11

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

Feature

Details

Port B2 output current capability

INDEXO/INDEXO-, CHBO/CHBO- and
CHAO/CHAO- pairs are not loaded

Available as options

Two simultaneous buffered outputs of mainincremental encoder input
Two simultaneous emulated encoder outputs
of analog or absolute encoder input
Two simultaneous emulated encoder outputs
of resolver input
Buffered output of auxiliary input

Maximum frequency

fMAX : 5 MHz pulses/output

Index (marker)

Length of pulse is one quadrature (one quarter
of an encoder cycle) and synchronized to A&B

A.6.3

Auxiliary Port

Feature
Encoder input, emulated output,
pulse and direction
Output current capability
Available as options

Details

A, B, Index

Differential or single ended

Quadrature
120 Ω

Emulated encoder outputs of analog encoder
Emulated encoder outputs of the resolver
Emulated encoder outputs of the potentiometer
Emulated encoder outputs of the tachometer
Main encoder buffered output
P&D buffered output
Emulated encoder outputs of the absolute
encoder

Maximum frequency

fMAX : 5 MHz pulses/output

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

A-12

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A-13

Figure A-2: Auxiliary Feedback - Encoder Phase Diagram

A.7

I/Os

The Drum has:

6 Digital Inputs

2 Digital Outputs

1 Analog Input

Drum Installation Guide

Drum Technical Specifications

MAN-DRUIG (Ver. 1.0)

A.7.1

A-14

Digital Input Interfaces

Feature

Details

Type of input

Input current

Connector Location

Optically isolated
Single ended
PLC level

Iin =

Vin − 6.5V
2500Ω

* Iin = 2.2 mA @ Vin = 12 V
Input current
for high speed
inputs

Iin =

Vin − 6.5V
1250Ω

* Iin = 4.4 mA @ Vin = 12 V

High-level
input voltage

12 V < Vin < 30 V, 24 V typical

Low-level
input voltage

0 V < Vin < 6.5 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
Source Exif Data:
File Type : PDF
File Type Extension : pdf
MIME Type : application/pdf
PDF Version : 1.3
Linearized : No
Page Mode : UseNone
XMP Toolkit : 3.1-702
Create Date : 2008:04:07 14:06:50Z
Creator Tool : Microsoft Word 9.0
Modify Date : 2008:05:05 13:40:05+02:00
Metadata Date : 2008:05:05 13:40:05+02:00
Format : application/pdf
Creator : Elmo Motion Control
Title : Digital Servo Drive Drum Installation Guide
Producer : Acrobat Distiller 4.0 for Windows
Document ID : uuid:dfe67e1e-efc2-4192-9d69-48560b9fc81c
Instance ID : uuid:c9617139-5d82-4721-9bbc-8eec298f4f31
Page Count : 78
Author : Elmo Motion Control
Warning : [Minor] Ignored duplicate Info dictionary

EXIF Metadata provided by EXIF.tools

Elmo Computer Drive 1 Users Manual Digital Servo Drum Installation Guide

Drum Digital Servo Drive to the manual d2b1321a-8fb8-438d-ad3a-b5acebaf02a1

Navigation menu

Versions of this User Manual:

Views

Navigation