Elmo Cello Bedienungsanleitung

Cello

Digital Servo Drive

Installation Guide

March 2010 (Ver. 1.5)

www.elmomc.com

Notice

This guide is delivered subject to the following conditions and restrictions:

This guide contains proprietary information belonging to Elmo Motion

Control Ltd. Such information is supplied solely for the purpose of assisting

users of the Cello 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-CELIG

Elmo Motion Control Ltd.

Cello Catalog

Number:

Maximum DC

Operating Voltage

Continuous Current

(Amps)

Version :

Blank = Standard

A = Advanced

Feedback:

Blank = Incremental

Encoder

and/or Halls

R=Resolver

CEL- AXX/YYYR

T=Tachometer &

Potentiometer

I = Interpolated

Analog

Encoder

Q=Encoder

Absolute

Cable Kit Catalog No. CBL-CELKIT01 & CBL-CELKIT02 (kit available upon request)

Related Document MAN-CBLKIT-CEL (available on our website)

Elmo Motion Control Ltd.

64 Gissin St., P.O. Box 463

Petach Tikva 49103

Israel

Tel: +972 (3) 929-2300

Fax: +972 (3) 929-2322

[email protected]

Elmo Motion Control Inc.

42 Technology Way

Nashua, NH 03060

USA

Tel: +1 (603) 821-9979

Fax: +1 (603) 821-9943

[email protected]

Elmo Motion Control GmbH

Steinkirchring 1

D-78056, Villingen-Schwenningen

Germany

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

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

info-de@elmomc.com

www.elmomc.com

Revision History:

Version Release Date Changes/Remarks

Ver. 1.5 March 2010 MTCR 07-009-56: Added note to 3.4.8.2

Ver. 1.4 August 2008 Added 3.4.7.4: Differential pulse-and–direction input

Ver. 1.3 April 2008 Updated Power Ratings Table in Appendix

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.........................................................................................2-1

2.2.3 Position Control.........................................................................................2-2

2.2.4 Advanced Position Control (Advanced model only)................................2-2

2.2.5 Communication Options..........................................................................2-2

2.2.6 Feedback Options......................................................................................2-2

2.2.7 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 Cello ........................................................................................ 3-4

3.4 Connecting the Cables ................................................................................... 3-4

3.4.1 Wiring the Cello.........................................................................................3-4

3.4.2 Connecting the Power Cables..................................................................3-8

3.4.2.1 Connecting the Motor Cable.......................................................... 3-8

3.4.2.2 Connecting the Main Power Cable................................................ 3-9

3.4.3 Connecting the Optional Back-up Supply Cable (24v) ......................3-10

3.4.4 Feedback and Control Cable Assemblies.............................................3-11

3.4.5 Main Feedback Cable (FEEDBACK A).................................................3-11

3.4.6 Main and Auxiliary Feedback Combinations......................................3-20

3.4.7 Auxiliary Feedback (FEEDBACK B).....................................................3-22

3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder

Outputs Option on FEEDBACK B (YA[4]=4)............................. 3-22

3.4.7.2 Differential Auxiliary Encoder Input Option on FEEDBACK B

(YA[4]=2)........................................................................................ 3-24

3.4.7.3 Single-ended Auxiliary Input Option on FEEDBACK B

(YA[4]=2)........................................................................................ 3-26

3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)3-28

3.4.8 I/O Cables ................................................................................................3-31

3.4.8.1 General I/O Port (J1) .................................................................... 3-32

3.4.8.2 General Input Port (J2) ................................................................. 3-34

3.4.9 Communication Cables ..........................................................................3-36

3.4.9.1 RS-232 Communication ................................................................ 3-36

Cello Installation Guide Contents

MAN-CELIG (Ver. 1.5)

3.4.9.2 CANopen Communication .......................................................... 3-37

3.5 Powering Up ................................................................................................. 3-39

3.6 Initializing the System ................................................................................. 3-39

Appendix: Technical Specifications.................................................................................... A-1

A.1 Features .......................................................................................................... A-1

A.1.1 Motion Control Modes ........................................................................... A-1

A.1.2 Advanced Positioning Motion 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.2 Cello Dimensions........................................................................................... A-3

A.3 Power Ratings................................................................................................ A-4

A.4 Environmental Conditions ........................................................................... A-4

A.5 Cello Connections.......................................................................................... A-5

A.5.1 Backup Supply (Optional)...................................................................... A-6

A.6 Control Specifications ................................................................................... A-6

A.6.1 Current Loop............................................................................................ A-6

A.6.2 Velocity Loop........................................................................................... A-7

A.6.3 Position Loop ........................................................................................... A-7

A.7 Feedbacks ....................................................................................................... A-8

A.7.1 Feedback Supply Voltage....................................................................... A-8

A.7.2 Incremental Encoder Input .................................................................... A-8

A.7.3 Digital Halls ............................................................................................. A-9

A.7.4 Interpolated Analog Encoder (Sine/Cosine)....................................... A-9

A.7.5 Resolver .................................................................................................. A-10

A.7.6 Tachometer* ........................................................................................... A-10

A.7.7 Potentiometer......................................................................................... A-11

A.7.8 Encoder Outputs.................................................................................... A-11

A.8 I/Os............................................................................................................... A-12

A.8.1 Digital Input Interfaces......................................................................... A-12

A.8.2 Digital Output Interface ....................................................................... A-13

A.8.3 Analog Input .......................................................................................... A-13

A.9 Communications.......................................................................................... A-14

A.10 Pulse Width Modulation (PWM) ............................................................... A-14

A.11 Mechanical Specifications........................................................................... A-14

A.12 Standards Compliance ................................................................................ A-15

A.12.1 Quality Assurance................................................................................. A-15

A.12.2 Design ..................................................................................................... A-15

A.12.3 Safety....................................................................................................... A-15

A.12.4 EMC......................................................................................................... A-15

A.12.5 Workmanship ........................................................................................ A-15

A.12.6 PCB .......................................................................................................... A-16

A.12.7 Packing.................................................................................................... A-16

A.12.8 WEEE*..................................................................................................... A-16

A.12.9 RoHS ....................................................................................................... A-16

Index...........................................................................................................................................I-1

Cello Installation Guide Contents

MAN-CELIG (Ver. 1.5)

Cello Installation Guide

MAN-CELIG (Ver. 1.5)

1-1

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Cello 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 Cello and 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 Cello servo drive contains electrostatic-sensitive components that can be damaged

if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly

insulating materials, such as plastic film and synthetic fabrics. Place the product on a

conductive surface and ground yourself in order to discharge any possible static

electricity build-up.

To avoid any potential hazards that may cause severe personal injury or damage to

the product during operation, keep all covers and cabinet doors shut.

The following safety symbols are used in this manual:

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 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 Cello from all voltage sources before it is

opened for servicing.

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 Cello servo drive contains hot surfaces and electrically-charged

components during operation.

The maximum DC power supply connected to the instrument must

comply with the parameters outlined in this guide.

The Cello can operate only through an isolated power source, using an

isolated transformer and a rectifier circuit. Power to this device must

be supplied by DC voltage, within the boundaries specified for the

Cello. High voltages may damage the drive.

The DC power supply voltage range is defined in Table A.3.

Safety margins must be considered in order to avoid activating the

under- or over-voltage protection against line variations and/or

voltage drop under load. The transformer should be able to deliver the

required power to the drive (including peak power) without

significant voltage drops (10% maximum). While driving high-inertia

loads, the power supply circuit must be equipped with a shunt

regulator; otherwise, the drive will be disabled whenever the

capacitors are charged above the maximum voltage.

Before switching on the Cello, verify that all safety precautions have

been observed and that the installation procedures in this manual

have been followed.

Cello Installation Guide Safety Information

MAN-CELIG (Ver. 1.5)

1-2

1.3 Directives and Standards

The Cello conforms to the following industry safety standards:

Safety Standard Item

In compliance with UL508c

In compliance with UL840

Conformance to the following safety standards:

Power Conversion Equipment

Insulation Coordination, Including

Clearance and Creepage Distances of

Electrical Equipment

In compliance with UL60950

(formerly UL1950)

Safety of Information Technology Equipment,

Including Electrical Business Equipment

In compliance with EN60204-1 Low Voltage Directive, 73/23/EEC

The Cello servo drive has been developed, produced, tested and documented in

accordance with the relevant standards. Elmo Motion Control is not responsible for

any deviation from the configuration and installation described in this documentation.

Furthermore, Elmo is not responsible for the performance of new measurements or

ensuring that regulatory requirements are met.

1.4 CE Mark Conformance

The Cello servo drive is intended for incorporation in a machine or end product. The

actual end product must comply with all safety aspects of the relevant requirements of

the European Safety of Machinery Directive 98/37/EC as amended, and with those of

the most recent versions of standards 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 Cello meets the provisions outlined in Council Directive

73/23/EEC. The party responsible for ensuring that the equipment meet 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.

Cello Installation Guide Safety Information

MAN-CELIG (Ver. 1.5)

1-3

Cello Installation Guide Introduction

MAN-CELIG (Ver. 1.5)

2-1

Chapter 2: Introduction

This installation guide describes the Cello 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.

2.1 Drive Description

The Cello is a powerful servo drive that operates in digital current, velocity, position

and advanced position modes, in conjunction with a permanent-magnet synchronous

brushless motor or DC brush motor. The Cello features flexible sinusoidal and

trapezoidal commutation, with vector control. The Cello can operate as a stand-alone

device or as part of a multi-axis network in a distributed configuration.

The Cello drive is set up and tuned using Elmo’s Composer software. This Windows-

based application enables users to quickly and simply configure the servo drive for

optimal use with their motor.

Power to the Cello is provided by a 10 to 195 VDC source. A “smart” control-supply

algorithm enables the Cello to operate with the power supply only, with no need for an

auxiliary 24 Volt supply. If backup functionality is required for storing control

parameters in case of power-outs, an external 24 VDC power supply can be connected,

providing maximum flexibility and optional backup functionality when needed.

Two variations of the Cello are available: the Standard version and the Advanced

version, which features advanced positioning capabilities. Both versions operate with

RS-232 and/or CANopen communication.

2.2 Product Features

2.2.1 Current Control

Fully digital

Sinusoidal commutation with vector control or trapezoidal commutation

with encoder and/or digital Hall sensors

12-bit current loop resolution

Automatic gain scheduling, to compensate for variations in the DC bus

power supply

2.2.2 Velocity Control

Fully digital

Programmable PI and FFW (feed forward) control filters

Sample rate two times current loop sample time

“On-the-fly” gain scheduling

Automatic, manual and advanced manual tuning and determination of

optimal gain and phase margins

Cello Installation Guide Introduction

MAN-CELIG (Ver. 1.5)

2-2

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

2.2.4 Advanced Position Control (Advanced model only)

Position-based and time-based ECAM mode that supports a non-linear

follower mode, in which the motor tracks the master motion using an

ECAM table stored in flash memory

PT and PVT motion modes

Dual (position/velocity) loop

Fast output compare (OC)

2.2.5 Communication Options

Depending on the application, Cello users can select from two communication options:

RS-232 serial communication

CANopen for fast communication in a multi-axis distributed environment

2.2.6 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 Mega-

Counts per second for encoder

Absolute Encoder

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

•Internal Interpolation – programmable up to x4096

•Automatic Correction of:

♦amplitude mismatch

♦phase mismatch

♦signals offset

•Encoder outputs, buffered, differential.

Resolver

•Programmable 10~15 bit resolution

•Up to 512 Revolutions Per Second (RPS)

•Encoder outputs, buffered, differential

Tachometer and Potentiometer

Two inputs for Tachometer Feedback:

•Up to ±50 VDC

•Up to ±20 VDC

Potentiometer Feedback:

•0 ~ 5 V voltage range

•Resistance: 100 Ωto 1000 Ω

Elmo drives provide supply voltage for all the feedback options

Inhaltsverzeichnis

Andere Elmo Servoantrieb Handbücher

Elmo

Elmo SimplIQ Series Bedienungsanleitung

Elmo

Elmo 30/60 Bedienungsanleitung

Elmo

Elmo SimplIQ Series Bedienungsanleitung

Elmo

Elmo Gold Whistle Series Bedienungsanleitung

Elmo

Elmo Gold DC Whistle Series Bedienungsanleitung

Elmo

Elmo Gold Drum HV Bedienungsanleitung

Elmo

Elmo Gold Series Bedienungsanleitung

Elmo

Elmo SimplIQ Series Installationshandbuch

Elmo

Elmo Gold Solo Whistle Bedienungsanleitung

Elmo

Elmo Gold DC Trombone Bedienungsanleitung

Elmo

Elmo Gold Bell Bedienungsanleitung

Elmo

Elmo Gold DC Bell Bedienungsanleitung

Elmo

Elmo SimpliQ Line Bedienungsanleitung

Elmo

Elmo TUB Series Bedienungsanleitung

Beliebte Servoantrieb Handbücher anderer Marken

Mitsubishi Electric

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Bedienungsanleitung

Robotis

Robotis XH430-W350-T Bedienungsanleitung

NTI AG

NTI AG LinMot C1250 Series Bedienungsanleitung

Parallax

Parallax 900-00005 Bedienungsanleitung

Festo

Festo TP 1410 Bedienungsanleitung

Axor

Axor MAGNUM 400 Bedienungsanleitung

Siemens

Siemens SINAMICS S120 Bedienungsanleitung

Danfoss

Danfoss 176F6494 Bedienungsanleitung

THORLABS

THORLABS TDC001 Bedienungsanleitung

TECO

TECO JSDAP Series Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Kinetix 6000 Bedienungsanleitung

GSK

GSK DA98D Bedienungsanleitung

Lenze

Lenze m850 Leitfaden

Baumuller

Baumuller b maXX 3000 Handbuch

Baumuller

Baumuller b maXX 5000 Handbuch

Baumuller

Baumuller b maXX 5500 Handbuch

Danfoss

Danfoss VLT HVAC Drive FC 102 Bedienungsanleitung

Omron

Omron CK5M-CPU 1 Series Benutzerhandbuch