Raven Current Mode Servo Amplifiers for Brushless Motors with Sinusoidal Commutation in Extended Environmental Conditions Installation Guide April 2008 (Ver. 1.1) 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 Raven 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.
Raven Installation Guide Contents MAN-RAVIG (Ver. 1.1) Contents Chapter 1: Safety Information ............................................................................................... 1-1 1.1 Warnings ......................................................................................................................... 1-1 1.2 Cautions .......................................................................................................................... 1-2 1.3 Conformance to Standards........
Raven Installation Guide Contents MAN-RAVIG (Ver. 1.1) A.5.3 A.5.4 A.5.5 A.5.6 A.5.7 A.5.8 A.5.9 Safety ....................................................................................................................A-3 EMC......................................................................................................................A-4 Workmanship......................................................................................................A-4 PCB ......................................
Raven Installation Guide MAN-RAVIG (Ver. 1.1) Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Raven servo amplifier, it is imperative that you implement the safety procedures included in this user guide. This information is provided to protect you and to keep your work area safe when operating the Raven and accompanying equipment. Read this chapter carefully before you begin the installation process. Ensure that all system components are connected to earth ground.
Raven Installation Guide Safety Information MAN-RAVIG (Ver. 1.1) To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo amplifier while the power source is on. Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Raven from all voltage sources before it is opened for servicing.
Raven Installation Guide 2-1 MAN-RAVIG (Ver. 1.1) Chapter 2: Introduction This user guide is intended for the design engineer who is integrating an Elmo Motion Control Raven servo amplifier into a machine. 2.1 ExtrIQ Product Family Elmo Motion Control's ExtrIQ product family is a set of durable motion control products for applications operating under extreme environmental conditions.
Raven Installation Guide Introduction MAN-RAVIG (Ver. 1.1) 2.2 Product Description The Raven is a series of miniature ExtrIQ current mode servo amplifiers for brushless motors with sinusoidal commutation. Although highly compact, the Raven can withstand extended environmental conditions and support up to 35 Amps. This high power density servo amplifier can deliver up to 4800 W of peak power or 2400 W of continuous power in a miniature package.
Raven Installation Guide Introduction MAN-RAVIG (Ver. 1.1) 10.5K 10K 20K CREF1+ (J1,2) 20K - CREF1- (J1,1) 20K + 10nF 100K AS 44.2K AD Current Loop Amp.
Raven Installation Guide Introduction MAN-RAVIG (Ver. 1.1) 2.5 How to Use this Guide Installation is the first step in integrating and operating the Elmo Raven servo amplifier. 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 and connecting the Raven.
Raven Installation Guide 3-1 MAN-RAVIG (Ver. 1.1) Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Raven by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature -40 °C ~ 70 °C (- 40 °C ~ 160 °F) Maximum case temperature 87 °C (188 °F) Note: Models for extended environmental conditions are available. 3.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) 3.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) 3.4 Mounting the Raven 3.4.1 Mounting the Heatsink The Raven dissipates its heat by natural convection, up to loads of 500W. For higher output loads, the amplifier should be mounted on an additional heatsink or cooled by fan. There are two 4.5-mm holes in the base plate for mounting an additional heatsink (see Figure 3-1). 3.4.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) 3.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) 3.6 Connections 3.6.1 Pin Functions The Raven connections are described in the following figure and tables.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) Pin #/ Short Form 1 CREF1- Function Remarks Current command Negative input of a differential amplifier: input ( - ) Input operating voltage range: ±3.75 V Maximum input voltage: ±20 V (see section 4.1) Maximum common mode voltage: ±6 V (referred to as CMRET) Differential input impedance: 40 kΩ 2 CREF1+ 3 CREF24 Current command Positive input of a differential amplifier. input ( + ) Specification as for pin J1/1.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) Pin #/ Short Form 1 ELCL Function Remarks External current limit - continuous External voltage scales down rated value. Voltage range: 0 V to 3.75 V (3.75 V = rated Ic) Internally limited to rated value 2 ECLRET 3 ECLP Current limits return Return for current limits signals. External current limit - peak External voltage scales down rated value. Voltage range: 0 V to 3.75 V (3.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) Pin #/ Short Form Function Remarks 1 Amplifier OK “Amplifier OK” indication output pin. When the amplifier is at normal operating conditions, this output is in “active low “ state. When a failure occurs, this output is changed to “open” state. Opto isolated, open collector NPN type. See Figure 2-1. AOK Maximum voltage = 30 V Maximum current = 8 mA. “On” voltage: V OUT(On) < 0.8 V 2 Status output 1 Status indication output 1.
Raven Installation Guide Installation MAN-RAVIG (Ver. 1.1) 3.7 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications (Appendix of this guide). The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard, all according to the applicable over-voltage category.
Raven Installation Guide 4-1 MAN-RAVIG (Ver. 1.1) Chapter 4: Servo Control Operation 4.1 Current Command Input The Raven has two differential inputs. The input operating voltage range is ± 3.75 V, meaning that a 3.75 V signal will result in a fully rated peak current. The current limit circuits will override this signal if the peak duration exceeds 2.7 seconds and/or the required current exceeds the values set by the ECLC and ECLP signals. If the input command voltage exceeds 3.
Raven Installation Guide Servo Control Operation MAN-RAVIG (Ver. 1.1) 4.3 Current Gain Control (CGC) The Raven amplifier is equipped with Current Gain Control (CGC) for improved performance of low induction motors. Connecting pin J2/5 to J2/4 reduces the gain of the current loop, thus enabling the use of low inductance motors without the insertion of an additional inductor. The default (pin J2/5 left open) is high gain.
Raven Installation Guide Servo Control Operation MAN-RAVIG (Ver. 1.1) 4.4 External Current Limit - Continuous (ECLC) The continuous current limit of the Raven amplifier can be scaled down by an external voltage or by an external resistor connected from pin J2/1 (ECLC) to pin J2/2 (ECLRET). 4.4.1 External Voltage An external positive voltage (0 to 3.75 V) to terminal J2/1 (ECLC) in reference to terminal J2/2 (ECLRET) will control the continuous current limit from zero to Ic(nom). IC(new) = VECLC 3.
Raven Installation Guide Servo Control Operation MAN-RAVIG (Ver. 1.1) 4.5.2 External Resistor Connect an external resistor between terminal J2/3 (ECLP) and terminal J2/2 (ECLRET). The resistor value is given by: RECLP (Kohm) = 12.5 * Ip(new) Ip(nom) -1 0 < RECLP < 11.4 K (1/8 Watt) At RECLP greater than 11.4K, the current limit will be internally clamped to the nominal value. IP(nom) is the nominal peak current limit of the amplifier. 4.
Raven Installation Guide Servo Control Operation MAN-RAVIG (Ver. 1.1) 4.8 4-5 Status Indications The following table lists the Raven amplifier status indications.
Raven Installation Guide A-1 MAN-RAVIG (Ver.1.1) Appendix: Technical Specifications Feature Units Minimum supply voltage VDC 10 20 40 Nominal supply voltage VDC 50 85 170 Maximum supply voltage VDC 59 95 195 Maximum continuous power output W Efficiency at rated power (at nominal conditions) % 240 480 720 1200 260 800 1200 1600 360 15/200 10/200 6/200 2/200 20/100 15/100 10/100 3/100 25/60 15/60 10/60 5/60 A.
Raven Installation Guide Technical Specifications MAN-RAVIG (Ver.1.1) A.3 Mechanical Specifications Feature Details Size 82 x 62 x 25.4 mm (3.228 x 2.440 x 1.000 in) Weight 250 g (8.8 oz) Power pin material Brass with tin plating Power pin size 1.14 mm (0.45 in) square Power pin PCB layout 1.8 ± 0.05 mm (0.071 ± 0.002 in) Signal pin (J1, J2) material Phosphor bronze with 10µ gold plating Signal pin (J1, J2) size 0.5 ± 0.1 mm (0.02 ± 0.004 in) square Signal pin (J1, J2) PCB layout 1 ± 0.
Raven Installation Guide Technical Specifications MAN-RAVIG (Ver.1.1) A-3 A.5 Standards Compliance A.5.1 Quality Assurance Specification Details ISO 9001:2000 Quality Management A.5.
Raven Installation Guide Technical Specifications MAN-RAVIG (Ver.1.1) A.5.4 A-4 EMC Specification Details In compliance with Electromagnetic compatibility (EMC) EN55011 Class A with EN61000-6-2: Immunity for industrial environment, according to: IEC61000-4-2 / criteria B IEC61000-4-3 / criteria A IEC61000-4-4 / criteria B IEC61000-4-5 / criteria B IEC61000-4-6 / criteria A IEC61000-4-8 / criteria A IEC61000-4-11 / criteria B/C A.5.
Raven Installation Guide MAN-RAVIG (Ver.1.
