Summary of the content on the page No. 1
Duo
Integrated Solution
Installation Guide
June 2007 (Ver. 1.0)
Summary of the content on the page No. 2
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 Duo 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 El
Summary of the content on the page No. 3
Duo Installation Guide i MAN-DUOIG (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..............................
Summary of the content on the page No. 4
Duo Installation Guide Contents ii MAN-DUOIG (Ver. 1.0) 3.11.2 Digital Output....................................................................................................... 3-29 3.11.3 Analog Input ......................................................................................................... 3-29 3.12 Communications............................................................................................... 3-30 3.12.1 RS232 Communication................................
Summary of the content on the page No. 5
Duo Installation Guide Contents iii MAN-DUOIG (Ver. 1.0) B.5 I/O (CBL-HDRIO-001)....................................................................................... B-5 B.6 Communication Cables...................................................................................... B-6 B.6.1 RS-232 Option (CBL-RJ452321)............................................................................. B-6 B.6.2 CAN Open (CBL-RJ45CAN1) ...........................................................
Summary of the content on the page No. 6
Duo Installation Guide 1-1 MAN-DUOIG (Ver. 1.0) Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Duo, 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 Duo and accompanying equipment. Please read this chapter carefully before you begin the installation process. Before you start, ensure that all system componen
Summary of the content on the page No. 7
Duo Installation Guide Safety Information 1-2 MAN-DUOIG (Ver. 1.0) 1.1 Warnings To avoid electric arcing and hazards to personnel or electrical damage, never connect/disconnect any plug or cable from 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 Duo from all voltage sources before it is opened for servicing. The Duo contains grounding conduits for electric current protection. Any disr
Summary of the content on the page No. 8
Duo Installation Guide Safety Information 1-3 MAN-DUOIG (Ver. 1.0) 1.3 Directives and Standards The Duo conforms to the following industry safety standards: Safety Standard Item 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, (formerly UL1950) Including Electrical Business Equipment In
Summary of the content on the page No. 9
Duo Installation Guide Introduction 2-1 MAN-DUOIG (Ver. 1.0) Chapter 2: Introduction This installation guide describes the Duo and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the product and the system to which it is connected. 2.1 Product Description The Duo series of servo drives enhances Elmo’s range of digital servo drives, recognized for having the highest power density and intelligence. The Duo is a highly com
Summary of the content on the page No. 10
Duo Installation Guide Introduction 2-2 MAN-DUOIG (Ver. 1.0) 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
Summary of the content on the page No. 11
Duo Installation Guide Introduction 2-3 MAN-DUOIG (Ver. 1.0) • 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 Revolution Per Second (RPS) Auxiliary emulated, unbuffered, single-ended, encoder output • Tachometer, Potentiometer
Summary of the content on the page No. 12
Duo Installation Guide Introduction 2-4 MAN-DUOIG (Ver. 1.0) Figure 2-1: Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure, this installation guide is an integral part of the Duo documentation set, comprising: The Duo Installation Guide contains information about how to use the Duo and Cable Kit The Composer Software Manual, which includes explanations of all the software tools that are part of Elmo’s Composer software environment The SimplIQ C
Summary of the content on the page No. 13
Duo User Guide 3-1 MAN-DUOUG (Ver. 1.0) Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Duo by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 ° to 40 °C (32 ° to 104 °F) Maximum operating altitude 10,000m (30,000ft) Maximum relative humidity 90% non-condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are
Summary of the content on the page No. 14
Duo User Guide 3-2 MAN-DUOUG (Ver. 1.0) The part number at the top gives the type designation as follows: DUO- AXXAXX/YYYZZ Axis 1 Version : Axis 2 Feedbacks: Blank = Standard E- Incremental Encoder and/or Halls A = Advanced R- Resolver Axis 1 I- Interpolated Analog Encoder Continuous Current(Amps) T- Tachometer and Potentiometer Axis 2 Version : Axis 1 Feedbacks: Blank = Standard A = Advanced E- Incremental Encoder and/or Halls R- Resolver Axis 2 Continuous Current(Amps) I- Interpolated
Summary of the content on the page No. 15
Duo User Guide 3-3 MAN-DUOUG (Ver. 1.0) 3.4 Connecting the Cables 3.4.1 Wiring the Duo Once the Duo 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 Duo. 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
Summary of the content on the page No. 16
Duo User Guide 3-4 MAN-DUOUG (Ver. 1.0) Type Function Connector Location Main Feedback Feedback I/O I/O Auxiliary Auxiliary Auxiliary Main Auxiliary Main Feedback Feedback I/O I/O Feedback Feedback Feedback Feedback Axis 2 Axis 1 Table 3-2: Connectors on the “Front” of the Duo Type Function Connector Location CANopen CANopen IN CANopen CANopen OUT RS232 RS232-1 CANopen CANopen RS232-2 RS232-1 RS232-2 IN OUT Table 3-3: Connectors on the “Top” o
Summary of the content on the page No. 17
Duo User Guide 3-5 MAN-DUOUG (Ver. 1.0) 3.5 Duo Connectors type Type Qty Conn. On Board Connector 1 Main Power Phoenix 5-pin Header P/N:MSTBA 2.5HC/5-G Motor 2 Phoenix 4-pin Header P/N:MSTBA 2.5/4G-5.08 Power Main 2 12-pin Molex Header P/N:90130-3212 Feedback I/O 2 14-pin Molex Header P/N:90130-3214 2 Auxiliary 16-pin Molex Header P/N:90130-3216 Feedback 2 8-pin RJ-45 Socket CANopen Comm. RS232 2 8-pin RJ-45 Socket Comm. Connector Loc
Summary of the content on the page No. 18
Duo User Guide 3-6 MAN-DUOUG (Ver. 1.0) 3.6 Hardware Requirements The components that you will need to install your Duo are: Qty Described Cable Component Mating Connector Function Conn. in section Drawing VL, VP+, PR, PR, PE Phoenix 5-pin Plug PE Main Power 1 P/N:MSTBT 2.5HC/5-ST VL Plug PE, M1, M2, M3 Phoenix 4-pin Plug Motor M3 2 P/N:MSTBT 2.5/4-ST-5.08 Power PE Plug 12-pin Molex Plug Main Feedback P/N:90142-0012 2 B.3 Feedback Pin
Summary of the content on the page No. 19
Duo User Guide 3-7 MAN-DUOUG (Ver. 1.0) 3.7 Duo Block Diagram Figure 3-2: Duo Block Diagram
Summary of the content on the page No. 20
Duo User Guide 3-8 MAN-DUOUG (Ver. 1.0) 3.8 The Main Power and Motor Power Connectors Pin Function Cable Pin Positions PE Protective earth Power PR Power return Power PR Aux. Supply Input Return Auxiliary VP+ Pos. Power input Power VL Aux. Supply Input Auxiliary AC DC Motor Motor Cable Cable M3 Motor phase Motor Motor M2 Motor phase Motor Motor M1 Motor phase Motor N/C PE Protective earth Motor Motor Table 3-6: Connectors for Main Power and Moto
