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Tuba Digital Servo Drive Installation Guide April 2008 (Ver. 1.3) www.elmomc.com.
Notice This guide is de livered subject to th e following conditions and re strictions: This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such information is supplied so lely for the purpos e of assistin g users of th e Tuba servo drive in its ins tallation.
Contents Chapter 1: Safet y Inform ation ............................................................................................... 1-1 1.1 Warn ings ................................................................................................
3.4.7.4 Pulse-an d-Direction In put Optio n on FEEDBACK B (YA[4]= 0) .......... 3-31 3.4.8 I/O Cables.............................................................................................................. 3-33 3.4.8.1 Analog Inputs ............
A.14.7 Packing .................................................................................................................. A-18 A.14.8 Environmental ...............................................................................................
Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Tuba servo drive, it is imperative that you implement th e safety proce dures included in this installation gu ide. This information is provided to protect you and to keep your work area safe when operating the Tuba and accompanying 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 i s on. Power cables can carry a high voltage, even when t he motor i s not in motion. Disconnect the Tuba from all voltage sources before it is opened for servicin g.
1.3 Directives and Standards The Tuba conforms to the following industry safety standards: Safety Standard Item Recognized UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordin.
Tuba In stallation Gu ide MAN-TUBIG ( Ver. 1.3) 2-1 Chapter 2: Introduction This install ation guide d escribes the Tub a servo dri ve and the steps for i ts wiring, installation and powering up. Following the se guideline s ensure s maximum fun ctionality of the drive and the system to which it is connect ed.
Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-2 2.2.3 Position Control Programmable PIP cont rol filter Programmable not ch and low-pass filters Position follow er mode fo.
Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-3 Elmo drives provide suppl y voltage for all the feedback opt ions 2.2.7 Fault Protection The Tuba includes built-in protection agai.
Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-4 2.4 How to Use this Guide In order to install and ope rate your Elmo Tuba servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment.
3.1.2.3 Power Connectors C o m p o n e n t Connector Described in Section Photo External DC Link Cable B1, B2 on External DC Link Cable 3.4.2.3 Main Power Cable PE, AC1, AC2, and AC3 on Power Connector 3.4.2.2 Motor Cable M1, M2, M3, PE on Power Connector 3.
3.1.2.5 Feedback and I/O Connectors Component P o r t o n Tuba Described in Section Diagram Analog Inputs (if needed) ANALOG I/O 3.4.8.1 CEL0040A-DWG COR016A Digital Outputs Cable (if needed) COMMITTED I/O 3.4.8.2 Digital Inputs Cable (if needed) GENER AL I/O 3.
3.1.2.6 Other Items Needed Component Described in Section Diagram PC for drive setup and tuning Motor data sheet or manual 3.2 Unpacking th e Drive Components Before you begin working with the Tuba sy.
3.3 Mounting the Tuba The Tuba has been designed for two st andard mount ing opt ions: Attaching directly to th e wall with s crews Mounting on a DIN rail With either type of mounting, be sure to leave about 10 cm (4 in) above and below the instrument for heat dissipation.
3.3.2 Mount ing on a D IN Rail At the top rear of the Tuba, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area. To mount the T uba on a DIN rail: 2. Be sure that the vertical mounting strip (with the hole at the top) is pressed down fully and does not protrude f rom the top of the in strument.
Press the Tuba down to a vertical position until it clicks onto th e DIN rail. Figure 3-4: Tuba Mounted on DIN Rail 3.4 Connecting the Cables 3.4.1 Wiring the Tuba Once the Tuba is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are e ssential f or ensuring s afe, immune and optimal servo performan ce of the Tuba.
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.
Figure 3-5: Tuba Detailed Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-9.
3.4.2 Connecting the Power Cables Access th e power terminal conn ections on the Tuba servo drive by removing the front safety cover located at the bottom of the front panel of th e unit, as show n be.
3.4.2.1 Connecting the Motor Cable Connect the motor power cable to the M1, M2, M3 and PE terminals of the main power connector. Th e phase con nection order is arbitrary because the Composer w ill establish the proper commutation automatically during setup.
3.4.2.2 Connecting the Main Power Cable Connect the main power supply cable to the AC1, AC2 and A C3 terminals of the main power connector. Conne ct the Protective Earth wire to the neare st PE terminal on th e terminal block.
3.4.3 Conne cting th e Auxiliary Supply Ca ble (24v) Connect th e auxiliary supply to the 24VDC terminal block on th e bottom of the Tuba. R emember, you are working with DC pow er; so be sure to exercise caution. Notes for 24 VDC auxiliary supply connections: Us e a 24 AWG twis ted pair shielde d cable.
3.4.4 Feedback and Co ntrol Ca ble Assemblies The Tuba features easy-to-use D-sub ty pe connections for al l Cont rol and Feedb ack cabl es. Below are instructions and diagrams describing how to assemble those cables. Use 24, 26 or 28 A WG twisted-pair shielded cables (24 AWG cable is recommended).
3.4.5 Main Feedback Ca ble (Feedback A) The main feedback cable i s used to transfer feedb ack data from the motor t o the driv e. The Tuba accepts the following as a main feedback mechanism: Incr.
Absolute Encoders TUB XX/YYY Q Pin Signal Hei denhain Stegmann 1 HC Hal l C Hall C 2 HA Hall A Hall A 3 S UP RET Supply return Supply ret urn 4 + 5V EnDat (Heidenhain) Encoder +5 supply Halls supply +.
10 15 14 8 7 Incremental Encoder with Hall Se ns o r Tuba Feedback A 1 Hal l C Hal l B CHB CHB - INDEX INDEX- CHA CHA- 2 5 12 Encoder / Hall +5v Supply Hall / Encoder Supply / V oltage Return 3 HC HB .
5 8 7 4 3 Sine / Cosine Enco der Feedback A 6 TUB0005A 15 14 Encoder +5v S upply Encoder Supply Return B+ B- R+ R- A+ A- +5v SUPRET Tuba B+ B- R+ R- A+ A- Figure 3-14: Main Feedback – Interpolated A.
only one tachom et er port is a v ailable at a time Figure 3-16: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3-17: Main Feedback – Tachometer Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver.
Figure 3-18: Main Feedback – Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3-19: Main Feedback – Potentiometer Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.
Figure 3-20: Main Feedback – Stegmann Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-21.
Figure 3-21: Main Feedback – Heidenhain Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-22.
3.4.6 Main an d Auxiliary Feedbac k Combina tion s The Main Fe edback is always u sed in motion con trol devices wh ereas Aux iliary Feedback is often, but not alw ays used. The A uxiliary Feedback co nnector on the Tuba, “FEED BACK B” has two ports, Port B1 and Port B2.
FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 Potentiometer Input B1 - output B2 - output same as B1 A - input Potentiom eter Potentiometer Position Data Emulated in Incrementa.
3.4.7 Auxiliary Feedbac k (FEEDBACK B ) When using on e of the aux iliary feedback options, th e relevant func tionality of FEEDBACK B ports are software selected for that option. Refer to the Tuba Command Reference Manual for detailed information about FEEDBAC K B setup.
Tuba Tuba Tuba Tuba Figure 3-22: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver.
3.4.7.2 Differentia l Auxiliary Enco der Input Opt ion on FEEDBACK B (YA[4] =2) The Tuba can be used as a slave by recei ving t he positi on of the mast er encoder data (on Port B1) in Follower or EC AM mode. In this mode Port B2 provides differential bu ffered auxiliary outputs for the next slave axis in follower or ECAM mode.
Tuba Tuba Tuba Tuba Figure 3-23: Differential Auxiliary Encoder Input Option on FEEDBA CK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver.
3.4.7.3 Single-ended Auxiliary Inpu t Optio n on FEEDB ACK B (YA[4]=2) The Tuba can be used as a slave by recei ving t he positi on data of the m aster encoder (on Port B1) in Follower or EC AM mode. In this mode Port B2 provides differential bu ffered auxiliary outputs for the next slave axis in Follower or ECAM mode.
Tuba Tuba Tuba Tuba Figure 3-24: Single-ended Auxiliary Input Option on FEEDBA CK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver.
3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) This mode is us ed for input of differential or s ingle-ende d pulse-and- direction position commands on Port B1. In this mode Port B2 provides different ial buff ered pulse-and- directi on outputs for another axis.
Tuba Tuba Tuba Tuba Figure 3-25: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Figure 3-26: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver.
3.4.8 I/O Cables The Tuba has three I/O ports ( ANALOG INPUTS, D IGITAL IN PUTS AND D IGITAL OUTPU TS ) which can be used to connect 2 analog inputs, 10 separate digital inputs and 6 separate digital outputs: LABEL I/O ANALOG INPUTS GENERAL I/O COMMITTED I/O To tal Analog Input 2 - - 2 Digital Input - 10 - 10 Digital Output - - 6 6 3.
3.4.8.2 Digital Inputs (on GENERAL I/O Port) The Tuba servo drive is equipped with a 25-pin D-sub plug for digital inputs. When assembling an I/O cable for digital input follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 25-pin D-sub socket with a metal case.
Figure 3-28: Digital Inputs (on General I/O port) Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-35.
3.4.8.3 Digital Outputs (on COMMITTED I/O Port) The Tuba servo drive is equipped with a 15-pin, high-density, D-sub socket for digital outputs. When assembling an I/ O cable for digital ou tputs follow th e instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high density D-sub plug with a metal case.
Tuba Digital Outputs Figure 3-29: Digital Outputs (on COMMITTED I/O port) Connection D iagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.
3.4.9 Communication Cables The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen ports on the front of the Tuba. The communication interface may diffe r according to the user’s ha rdware. The Tuba can communicate using the f ollowing options: a.
Figure 3-30: RS-232 Connection Diagram 3.4.9.2 CANopen Communication (on the COMM.2 Ports) Notes for connecting the C ANopen commun ication cable: Us e 26 or 28 AWG twis ted pair shielded c ables.
7 1 2 3 CAN_GND 120 Ω CAN - Contro ller 6 CAN_H CAN_L Drain Wir e 7 1 2 3 6 7 1 2 3 CAN - Inte rf a c e CAN_GND 6 CAN_H CAN_L 7 1 2 3 6 CAN_H CAN_L CAN_GND Drain Wire Drain Wire 7 1 2 3 6 7 1 2 3 6 .
3.5 Powering Up After the Tuba has been mounted, check t hat the cabl es are int act. The Tuba servo dri ve i s then ready to be powered up. Caution: Before applying power, ensure that the AC supply is within the range specified f or your specific type of Tuba.
Appendix: Technical Specifications A.1 Features A.1.1 Mot ion Cont rol Modes • Current/ Torque - up to 14 kHz sampling rate • Velocity - up to 7 kHz sampling rate • Position - up to 3.
A.1.6 Inpu t/Output • Analog Inputs – up to 14-bit resolution • Programmable digital inputs, optically isolate d Inhibit Enable motion Software and analog reference stop Motion limi.
A.2 Tuba Dimensions Rear Vi ew Front V iew Side V iew Tuba In stallation Gu ide Tech nical Sp ecifications MAN-TUBIG ( Ver. 1.3) A-3.
A.3 Mounting Dimensions Rear View A.4 Mechanical Specifications Feature Details Mounting Method Wall Mount ("Bookshelf") DIN Rail Overall Dimensions 247 x 190 x 92 mm (9.7" x 7.5" x 3.6") Weight 2.7 kg (5.9 lbs) Tuba In stallation Gu ide Tech nical Sp ecifications MAN-TUBIG ( Ver.
A.5 Power Ratings Feature Units 12/230 15/230 20/230 12/460 15/460 20/460 Minim um suppl y volt age VAC 60 140 Nomi nal suppl y voltag e VAC 1 x 115, 1 x 230, 3 x 230 3 x 400, 3 x 460 Maximum supply v.
A.7 Tuba Connections The following connectors are used for wi ring the Tuba. Pins Type Maker & Part No. Port 5 Motor M1, M2, M3 2 Ground PE, PE 3 P o w e r AC1, AC2, A C3 2 DC Lin k 10 pole 8 mm pitch Molex terminal block B1, B2 2 Auxiliary Powe r 2 p o l e 0.
A.7.1 Auxiliary Supply Feature Details Auxiliary powe r supply DC source only Auxiliary su pply input voltage 24 V + 15% Auxiliary su pply input power 20 W The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply Be sure to maintain p ower within the 24 V + 15% range as higher voltages will damage the fan.
A.8.2 Velocit y Loop Feature Details Controller type PI Velocity control Fully digital Program mable PI and FFW control filters On-the-fly gain scheduling Automatic, manual and advance.
A.9 Feedbacks A.9.1 Feedback Supply Vo ltage Feature Details Main encoder supply voltage 5 V + 5% @ 200 mA maximum Auxiliary en coder supply voltage 5 V + 5% @ 200 mA maximum A.
A.9.3 Digital Ha lls Feature Details Halls inpu ts H A , H B , H C . Single ended inputs Built in hyste resis fo r noise immun ity. Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level inpu t voltage: V InHigh > 2.
A.9.5 R esolver Feature Details Resolver format Sine/Cosine Differential Input resistance Differential 2.49 k Ω Resolution Programmable: 10 ~ 15 bits Maximum elect rical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.
A.9.7 Potentiometer Feature Details Potentiomete r Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Tuba Potentiometer Resistance 100 Ω ~ 1 k Ω … ab ove this range, linearity may be affec ted detrimentally Input Resistance 100 k Ω Resolution 14 Bit A.
A.10 I/Os The Tuba has: 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs A.10.1 Digital I nput I nterfaces (on GENERAL I /O por t) Feature Details Co nn ec to r Lo ca tio n Type of input Optically isolate d Single ended PLC level Input current Ω − = 2500 5 .
A.10.2 Di gi tal Outp ut Interf ace (on COMM ITTED I/ O port) Feature Details Con ne cto r Lo ca tio n Type of output Optically isolated Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (V out = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (o n) ≤ 0.
A.10.3 Analog Input Feature Details Maximum operating differen tial voltage ± 10 V Maximum absolute differen tial input voltage ± 16 V Differe ntial input resistance 3 k Ω Analog input command resolution 14-bit A.
A.12 Pulse Width Modulation (PWM) Feature Details PWM resolution 12-bit PWM switching frequency on the load 2/Ts (factory default 22 kHz on the motor) A.13 Single-phase Operation When operating with a single-phase supply (TUB-x/230 only), the voltage drop must be considered.
A.14 Standards Compliance A.14.1 Qualit y Assurance Specification Details ISO 9001:2000 Quality Management A.14.2 Design Specification Details MIL-HDBK- 217F Reliability prediction of e lectronic equipme nt (rating, de-rating, stress, etc.
A.14.6 PCB Specification Details In compliance with IPC-A-600 , leve l 2 Acceptability of printed circuit boards A.14.7 Packing Specification Details In compliance with EN100015 Protection of electrost atic sensitiv e devices A.
Index 2 24v Auxiliary Power Connector · 3-8 A AC Motor Power Connection Diagram · 3- 11 Advanced position cont rol · 2-2 Advanced Positioning Motion Cont rol Modes · A-1 Ambient operati ng tempera.
Digital Outputs · 3- 8 Digital Outputs · 3-36 Dimensions · A-3 DIN rail m ounting · 3-6 Docum entation Hierarch y · 2- 4 E Environm ental conditions · A-5 External Resistor (BR1) Regenerati on O.
COMMITTED I/O · 3-8 FEEDBAC K A · 3-8 FEEDBAC K B · 3- 8 GENERAL I/O · 3- 8 Position control · 2-2 Potentiometer · 3-15, 3-20 Power cables · 3-10 Power Ratings · A-5 Powering up the Tuba · 3-.
Een belangrijk punt na aankoop van elk apparaat Elmo Tuba Digital Servo (of zelfs voordat je het koopt) is om de handleiding te lezen. Dit moeten wij doen vanwege een paar simpele redenen:
Als u nog geen Elmo Tuba Digital Servo heb gekocht dan nu is een goed moment om kennis te maken met de basisgegevens van het product. Eerst kijk dan naar de eerste pagina\'s van de handleiding, die je hierboven vindt. Je moet daar de belangrijkste technische gegevens Elmo Tuba Digital Servo vinden. Op dit manier kan je controleren of het apparaat aan jouw behoeften voldoet. Op de volgende pagina's van de handleiding Elmo Tuba Digital Servo leer je over alle kenmerken van het product en krijg je informatie over de werking. De informatie die je over Elmo Tuba Digital Servo krijgt, zal je zeker helpen om een besluit over de aankoop te nemen.
In een situatie waarin je al een beziter van Elmo Tuba Digital Servo bent, maar toch heb je de instructies niet gelezen, moet je het doen voor de hierboven beschreven redenen. Je zult dan weten of je goed de alle beschikbare functies heb gebruikt, en of je fouten heb gemaakt die het leven van de Elmo Tuba Digital Servo kunnen verkorten.
Maar de belangrijkste taak van de handleiding is om de gebruiker bij het oplossen van problemen te helpen met Elmo Tuba Digital Servo . Bijna altijd, zal je daar het vinden Troubleshooting met de meest voorkomende storingen en defecten #MANUAl# samen met de instructies over hun opplosinge. Zelfs als je zelf niet kan om het probleem op te lossen, zal de instructie je de weg wijzen naar verdere andere procedure, bijv. door contact met de klantenservice of het dichtstbijzijnde servicecentrum.
