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Drum
Digital Servo Drive
Installation Guide
April 2008 (Ver. 1.0)
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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 Co
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Drum Installation Guide i 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 ..........................
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Drum Installation Guide Contents ii 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...............................................................
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Drum Installation Guide Contents iii MAN-DRUIG (Ver. 1.0) A.10.7 Packing.......................................................................................................A-18 A.10.8 WEEE*........................................................................................................A-18 A.10.9 RoHS...........................................................................................................A-18
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Drum Installation Guide 1-1 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, ensu
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Drum Installation Guide Safety Information 1-2 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
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Drum Installation Guide Safety Information 1-3 MAN-DRUIG (Ver. 1.0) 1.3 Directives and Standards The Drum conforms to the following industry safety standards: Safety Standard Item Quality Management In compliance with ISO-9001:2000 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 Safety of Information Technology Equipment, (form
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Drum Installation Guide Introduction 2-1 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 k
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Drum Installation Guide Introduction 2-2 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 Pro
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Drum Installation Guide Introduction 2-3 MAN-DRUIG (Ver. 1.0) Absolute Encoder o Heidenhain 2.1 o Stegmann Elmo drives provide supply voltage for all the feedback options 2.2.6 Fault Protection The Drum includes built-in protection against possible fault conditions, including: Software error handling Status reporting for a large number of possible fault conditions Protection against conditions such as excessive temperature, under/over voltage, loss of commutation sig
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Drum Installation Guide Introduction 2-4 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,
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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
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Drum Installation Guide Installation 3-2 MAN-DRUIG (Ver. 1.0) Described Component Connector in Section Diagram Main and Auxiliary FEEDBACK A and 3.4.4 Feedbacks Cable FEEDBACK B Digital I/O and Analog GENERAL I/O Input Cable 3.4.7.1 J1 (if needed) RS232 Communication Cable RS232 3.4.8.1 CANopen CAN (in), Communication cable(s) CAN (out) and 3.4.8.2 (if needed) Backup Option PC for drive setup and tuning Motor data sheet or manual
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Drum Installation Guide Installation 3-3 MAN-DRUIG (Ver. 1.0) 3.2 Unpacking the Drive Components Before you begin working with the Drum system, verify that you have all of its components, as follows: The Drum servo drive The Composer software and software manual The Drum is shipped in a cardboard box with styrofoam protection. To unpack the Drum: 1. Carefully remove the servo drive from the box and the Styrofoam. 2. Check the drive to ensure that there is no visible damage to
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Drum Installation Guide Installation 3-4 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
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Drum Installation Guide Installation 3-5 MAN-DRUIG (Ver. 1.0) 3.4 Connecting the Cables 3.4.1 Wiring the Drum Once the Drum is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Drum. Follow these instructions to ensure safe and proper wiring: Use twisted pair shielded cables for control, feedback and communication connections. For best results, the cable should have an a
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Drum Installation Guide Installation 3-6 MAN-DRUIG (Ver. 1.0) Type Function Port Connector Location Barrel Power VP+, PR Connector + Motor M1, M2, M3 M6 Spring Washer + M6 Nut PE PE Barrel Ground PE, PE, PE, Connector + PE M5 Flat Washer + M5 Spring Washer + M5 screw Table 3-1: Power Connectors on the Drum Type Function Port Connector Location J4 Female: Feedbacks A & B J3 Male: I/O 26-pin high Feedbacks A J4 density D- & B Sub female 15-pin high Analog Input J3
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Drum Installation Guide Installation 3-7 MAN-DRUIG (Ver. 1.0) Figure 3-2: Drum Detailed Connection Diagram
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Drum Installation Guide Installation 3-8 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 PR Power return Power PE Protective earth Power 3-Phase DC Motor Motor Cable Cable PE Protective earth Motor Motor M1 Motor phase Motor N/C PE PE M2 Motor phase Motor Motor M3 Motor phase Motor Motor PE PE When connecting several motors, all mus
