User manual

Duo Installation Guide
MAN-DUO (Ver. 1.0)
B-8
B.7 Guidelines for Making Your Own Cables
Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal
servo performance of the Duo. If you do not plan to use cables provided by Elmo, follow the
instructions below carefully.
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 by a copper braid
and should contain a drain wire.
The drain wire is a non-insulated wire that is in contact with parts of the cable,
usually the shield. It is used to terminate the shield and as a grounding connection.
 The impedance of the wire must be as low as possible. The size of the wire must be thicker
than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and
feedback cables is satisfactory although 24 AWG is recommended.
 Use shielded wires for motor connections as well. If the wires are long, ensure that the
capacitance between the wires is not too high: C < 30 nF is satisfactory for most
applications.
 Keep all wires and cables as short as possible.
 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.
The only time these conductors carry current is under abnormal conditions, when
electrical equipment has become a potential shock or fire hazard while conducting
external EMI interferences directly to ground, in order to prevent them from affecting the
drive. Failing to meet this requirement can result in drive/controller/host failure.
 After completing the wiring, carefully inspect all wires to ensure tightness, good solder
joints and general safety.
B.7.1 Recommended Wire Cross Sections
Function Connection Details
Motor PE, M1, M2, M3 14 AWG
24 AWG twisted pair shielded
cables
Feedback and Control Main Feedback
Auxiliary Feedback
I/O
Communications RS232
CANopen
26 AWG twisted pair shielded
cables