Solo Whistle Digital Servo Drive Installation Guide March 2010 (Ver. 1.4) www.elmomc.
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 Solo Whistle servo drives in their 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.
Revision History: Ver. 1.0 Ver. 1.1 June 2008 November 2008 Ver. 1.2 February 2009 Ver. 1.3 March 2009 Ver. 1.4 March 2010 Initial release (MAN- SOLWHIIG.PDF) Changed: Front matter, P/N explanations, sticker & schematics in App. A.2, fig. 3-12 to 3-14, Section 3.7 and 3.8. Added information for auxiliary input features in ch 2, 3 and App. A.5.4. MTCR 00-100-33: Weight of product changed to 68.4 grams in Appendix A.2.1 MTCR 01-009-39: Section 3.7.
Solo Whistle Installation Guide i MAN-SOLWHIIG (Ver. 1.4) Contents Chapter 1: Safety Information .........................................................................................1-1 1.1 Warnings ..............................................................................................................1-2 1.2 Cautions................................................................................................................1-2 1.3 Directives and Standards....................................
Solo Whistle Installation Guide Contents MAN-SOLWHIIG (Ver. 1.4) 3.9.2 CANopen Communication...................................................................... 3-30 3.10 Powering Up ......................................................................................................3-33 3.11 Initializing the System.......................................................................................3-33 3.12 Heat Dissipation .........................................................................
Solo Whistle Installation Guide Contents MAN-SOLWHIIG (Ver. 1.4) A.9.4 A.9.5 A.9.6 A.9.7 A.9.8 A.9.9 EMC ........................................................................................................... A-15 Workmanship ........................................................................................... A-15 PCB............................................................................................................. A-15 Packing .......................................................
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Solo Whistle 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 Solo Whistle as well as the accompanying equipment. Please read this chapter carefully before you begin the installation process.
Solo Whistle Installation Guide Safety Information MAN-SOLWHIIG (Ver. 1.4) 1.1 Warnings Cleaning after soldering To avoid damage to the product’s acrylic coating, the Solo Whistle drive must not be cleaned after soldering with soluble solvents or water-based cleaners. For further details see: www.elmomc.com/applications/article/Soldering-and-Cleaning_ApplicationNote.
Solo Whistle Installation Guide Safety Information MAN-SOLWHIIG (Ver. 1.4) 1.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) Chapter 2: Introduction The Solo is an integrated solution designed to simply and efficiently connect Elmo’s Whistle servo drive directly to the application. The solution consists of the Whistle together with a convenient connection interface which either eliminates or reduces development time and resources when designing an application’s PCB board.
Solo Whistle Installation Guide Introduction MAN-SOLWHIIG (Ver. 1.4) The Solo Whistle drive is available in two models: The standard model is a basic servo drive which operates in current, velocity and position modes including PT & PVT. It operates simultaneously via RS-232 and CANopen DS 301, DS 305, DS 402 communications and features a third-generation programming environment.
Solo Whistle Installation Guide Introduction MAN-SOLWHIIG (Ver. 1.4) 2.2.5 Communication Options Solo Whistle users can use two communication options: RS-232 serial communication CANopen for fast communication in a multi-axis distributed environment 2.2.
Solo Whistle Installation Guide Introduction MAN-SOLWHIIG (Ver. 1.4) 2.3 System Architecture Figure 2-1: Solo Whistle System Block Diagram 2.4 How to Use this Guide In order to install and operate your Elmo Solo Whistle servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Solo Whistle Installation Guide Introduction MAN-SOLWHIIG (Ver. 1.4) Figure 2-2: Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure, this installation guide is an integral part of the Solo Whistle documentation set, comprising: The Composer Software Manual, which includes explanations of all the software tools that are part of Elmo’s Composer software environment.
Solo Whistle Installation Guide 3-1 MAN-SOLWHIIG (Ver. 1.4) Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Solo Whistle drive 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.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) The part number at the top gives the type designation as follows: Verify that the Solo Whistle model is the one that you ordered, and ensure that the voltage meets your specific requirements. Note: The catalog number suffix is 01 — 08, as shown above. The odd numbers are models with connectors and the even numbers are models with wires.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.3 Connector Types No. Pins Type Port Function 9 3.5 mm Pitch J1 Power Connector 12 2 mm Pitch J2 I/O 8 2 mm Pitch J3 Auxiliary Feedback 12 2 mm Pitch J4 Main Feedback 3 2 mm Pitch J5 RS232 3 2 mm Pitch J6 CANIN 3 2 mm Pitch J7 CANOUT 8 3.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.4.1 Installation 3-5 Connecting Motor Power Connect the M1, M2, M3 and PE pins on the Solo Whistle. The phase connection is arbitrary as the Composer will establish the proper commutation automatically during setup. However, if you plan to copy the setup to other drives, then the phase order on all copy drives must be the same.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.5 Main Power – J1 Pin Signal Function J1/1 VL+ J1/2 PR J1/3 VP+ Pos. power input J1/4 VP+ Pos. power input J1/5 PR Power return J1/6 PR Power return J1/7 PE Protective earth J1/8 N/C Not connected J1/9 N/C Not connected Auxiliary supply input Auxiliary supply input return Pin Positions When connecting several drives to several motors, all should be wired in the same motor phases and feedback sequences.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.5.1 3-7 Connecting Main Power Power to the Solo Whistle is provided by a 12 to 95 VDC source. A smart control-supply algorithm enables the Solo Whistle 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 additional backup supply can be connected by implementing "diode coupling" to the VL+.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.6 3-8 Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive. In order to copy the setup to other drives, the phase order on all copy drives must be the same.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.7 3-14 Auxiliary Feedback When using one of the Auxiliary Feedback options, the relevant functionality of the Auxiliary Feedback's ports are software- and hardware-selected for that option. Refer to the SimplIQ Command Reference Manual for detailed information about Auxiliary Feedback setup. 3.7.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.7.2 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 Solo Whistle has three bi-directional pins (CHA, CHB and INDEX).
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.7.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.7.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.7.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.8 I/Os The Solo Whistle has four digital inputs, two digital outputs and one analog input. 3.8.1 Digital Input The digital input level signal can be 5 V (TTL) or 24 V (PLC).
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.8.1.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.8.1.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.8.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) 3.8.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.9 3-29 Communications The communication interface may differ according to the user’s hardware. The Solo Whistle 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 Solo Whistle to a serial interface on the PC. The interface is selected and set up in the Composer software.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) Figure 3-20: RS-232 Connection Diagram 3.9.2 CANopen Communication Notes for connecting the CANopen communication cable: 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. Make sure to have a 120-Ohm resistor termination at each of the two ends of the network cable.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) Figure 3-21: CANopen Network Diagram Caution: When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.10 Powering Up After the Solo Whistle is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 3.11 Initializing the System After the Solo Whistle has been connected and mounted, the system must be set up and initialized.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.12.2 Heat Dissipation Data Heat dissipation is shown in graphically below: Solo Whistle - 60 Series Power Dissipation 50V 40V 30V 20V 10.0 Power Dissipation (Watts 9.0 8.0 7.0 External Heatsink Required 6.0 5.0 Standard 40 °C Ambient Temp. 4.0 Heatsink not Required 3.0 2.0 1.0 0.0 0 0. 75 1. 5 2. 25 3 3. 75 4. 5 5. 25 6. 75 6 7. 5 8. 25 9 9.
Solo Whistle Installation Guide Installation MAN-SOLWHIIG (Ver. 1.4) 3.12.3 3-35 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 heat sink: 1. Allow maximum heat sink temperature to be 80 °C or less. 2. Determine the ambient operating temperature of the Solo Whistle. 3.
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) A-1 Appendix: Solo Whistle Technical Specifications A.1 Features A.1.1 Motion Control Modes • Current/Torque - up to 14 kHz sampling rate • Velocity - up to 7 kHz sampling rate • Position - up to 3.5 kHz sampling rate A.1.2 Advanced Positioning Control Modes • • • • A.1.3 Advanced Filters and Gain Scheduling • • • • A.1.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.1.6 Input/Output • One Analog Input – up to 14-bit resolution • Six programmable Digital Inputs, optically isolated (two of which are fast event capture inputs).
Solo Whistle Installation Guide MAN-SOLWHIIG (Ver. 1.4) A.1.10 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 A.
Solo Whistle Installation Guide Technical Specifications A-4 MAN-SOLWHIIG (Ver. 1.4) Units Minimum supply voltage VDC 6 7.5 12 Nominal supply voltage VDC 42 50 85 Maximum supply voltage VDC 48 59 95 Maximum continuous power output W 600 800 50 120 240 480 720 960 Efficiency at rated power (at nominal conditions) % 200 400 VDC 11 – 95 VDC (up to 2.5 VA inc. 5 V/200 mA for encoder) A Sinusoidal continuous RMS current limit (Ic) A Peak current limit A 2 x Ic g (oz) 68.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.3 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 Maximum operating altitude Up to 10,000 m (30,000 ft) Protection level A.3.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.4.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.5 Feedbacks A.5.1 Feedback Supply Voltage The Solo Whistle has two feedback ports (Main and Auxiliary). The drive supplies voltage to the main feedback device only. Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum A.5.2 Main Feedback Options A.5.2.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.5.2.2 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): 3mA Source current: 1.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) Feature Details Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.5 Reference frequency 1/Ts (Ts = sample time in seconds) Reference voltage Supplied by the Solo Whistle Reference current Up to ±50 mA Encoder outputs See Auxiliary Encoder Output specifications (A.5.3) A-9 A.5.2.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.5.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.5.4 A-11 Auxiliary Feedback Port (input mode YA[4]= 2, 0) Feature Details Encoder input, pulse and direction input A, B, Index Differential Input voltage Vin Low: 0 V < VIL < 0.8 V Vin High: 2 V < VIH < 5 V Maximum absolute voltage: 0 < Vin < 5.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A-12 A.6 I/Os The Solo Whistle has 4 Digital Inputs, 2 Digital Outputs and 1 Analog Input. A.6.1 Digital Input Interfaces Feature Details Type of input Input current for 5V DI level Rin=1.43K, Iin = 2.8 mA @ Vin = 5 V Input current for 24V DI level Rin=10.52k, Iin = 2.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.6.2 Digital Output Interface Feature Details Type of output Optically isolated Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 10 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V RL External resistor RL must be selected to limit output current to no more than 10 mA.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A-14 A.7 Communications Specification Details RS-232 Signals: RxD , TxD , Gnd Full duplex, serial communication for setup and control. Baud Rate of 9,600 ~ 57,600 bit/sec. CANopen CANbus Signals: CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbit/sec. Version: DS 301 V4.01 Layer Setting Service and Protocol Support: DS 305 Device Profile (drive and motion control): DS 402 A.
Solo Whistle Installation Guide Technical Specifications MAN-SOLWHIIG (Ver. 1.4) A.9.3 A-15 Safety Specification Description 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 Safety of information technology equipment, including electrical business equipment In compliance with EN60204-1 Low voltage directive, 72/23/EEC A.9.
Solo Whistle Installation Guide I-1 MAN-SOLWHIIG (Ver. 1.
Solo Whistle Installation Guide Index MAN-SOLWHIIG (Ver. 1.
