Panther Digital Servo Drive Installation Guide July 2014 (Ver. 1.302) 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 Panther servo drive 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.
Revision History Version Details 1.0 Initial release 1.1 Formatted according to the new template 1.2 September 2012 Removal of the 700 V without 24V Aux. option Changes to Pinout J1 and J2 UL Approval inserted STO Option added “Metronome” was replaced by the “Composer” software. 1.201 February 2013 Added a caution and recommendation on the type of cleaning solution to use for the Elmo unit. 1.300 May 2013 Added 800 V version 1.301 June 2014 Document update 1.
Elmo Worldwide Head Office Elmo Motion Control Ltd. 64 Gisin St., P.O. Box 463, Petach Tikva 49103 Israel Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com North America Elmo Motion Control Inc. 42 Technology Way, Nashua, NH 03060 USA Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com Europe Elmo Motion Control GmbH Steinkirchring 1, D-78056, Villingen-Schwenningen Germany Tel: +49 (0) 7720-85 77 60 • Fax: +49 (0) 7720-85 77 70 • info-de@elmomc.
Panther Installation Guide MAN-PANIG (Ver. 1.302) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Panther Installation Guide Table of Contents MAN-PANIG (Ver. 1.302) 3.11. 3.12. 3.13. 3.14. 3.10.1. Main and Auxiliary Feedback Combinations ................................................. 47 3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)................. 49 3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 51 3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 53 User I/Os ...............................
Panther Installation Guide Table of Contents MAN-PANIG (Ver. 1.302) 4.10. 4.11. 4.12. 4.13. 4.9.2.4. Absolute Serial Encoder ................................................................ 80 4.9.2.5. Resolver ........................................................................................ 80 4.9.2.6. Tachometer................................................................................... 81 4.9.2.7. Potentiometer ...........................................................................
Panther Installation Guide 8 MAN-PANIG (Ver. 1.302) Chapter 1: Safety I nform ation In order to operate the Panther servo drive safely, 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 Panther and accompanying equipment. Please read this chapter carefully, before you begin the installation process.
Panther Installation Guide Safety Information MAN-PANIG (Ver. 1.302) 1.1. Warnings • To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source is on. • Disconnect the Panther from all voltage sources before it is opened for servicing. • The Panther servo drive contains grounding conduits for electric current protection. Any disruption to these conduits may cause the instrument to become hot (live) and dangerous.
Safety Information Panther Installation Guide MAN-PANIG (Ver. 1.302) 1.3.
Panther Installation Guide Safety Information MAN-PANIG (Ver. 1.302) 1.4. CE Marking Conformance The Panther servo drive is intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent versions of standards EN 60204-1 and EN 292-2 at the least.
Panther Installation Guide 12 MAN-PANIG (Ver. 1.302) Chapter 2: Product Description This installation guide describes the Panther servo drive and the steps for its wiring, installation and power-up. Following these guidelines ensures optimal performance of the drive and the system to which it is connected. 2.1. Ex trI Q Product Family Elmo Motion Control’s ExtrIQ product family is a set of durable motion control products for applications operating under extreme environmental conditions.
Panther Installation Guide Product Description MAN-PANIG (Ver. 1.302) • ISO-9001:2008 Based on Elmo Motion Control’s innovative ExtrIQ core technology, they support a wide range of motor feedback options, programming capabilities and communication protocols. 2.2. Drive Description The Panther series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence.
Panther Installation Guide Product Description MAN-PANIG (Ver. 1.302) 2.3. Product Features 2.3.1. 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 2.3.2.
Panther Installation Guide Product Description MAN-PANIG (Ver. 1.302) 2.3.4. Advanced Position Control • Position-based and time-based ECAM mode that supports a non-linear follower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory • Dual (position/velocity) loop 2.3.5.
Product Description Panther Installation Guide MAN-PANIG (Ver. 1.302) 2.3.7.
Panther Installation Guide Product Description MAN-PANIG (Ver. 1.302) 2.5. How to Use this Guide In order to install and operate the Panther servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Panther Installation Guide 18 MAN-PANIG (Ver. 1.302) Chapter 3: I nstallation The Panther must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 3.1. Site Requirements You can guarantee the safe operation of the Panther by ensuring that it is installed in an appropriate environment.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3. To ensure that the Panther you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Panther. It looks like this: 4. Verify that the Panther type is the one that you ordered, and ensure that the voltage meets your specific requirements. The part number at the top gives the type designation as follows: www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.3. Pinouts The Panther has 9 connectors. 3.3.1. Connector Types Pins Type Port 2x18 2 mm pitch Function J1 I/O, COMM, Auxiliary Feedback 17 J2 Main Feedback, Analog Input, LED 1x2 J3.1 24 VDC Auxiliary power input positive (Only in Panther models with the S option) J3.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.3.2.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Pin (J1) Signal Function 31 +5 V Encoder +5 V supply voltage Maximum output current: 200 mA 32 SUPRET Supply return 33 AUX PORT INDEX Auxiliary port index (bidirectional) 34 CAN_COMRET CAN communication return 35 CAN_L CAN_L bus line (dominant low) 36 CAN_H CAN_H bus line (dominant high) 3.3.3.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.4. Mounting the Panther The Panther (Figure 2) is designed for mounting on a printed circuit board (PCB). It is connected by 2 mm pitch 0.51 mm square pins and 2.54 mm pitch 0.64 mm square pins. When integrating the Panther into a PCB, be sure to leave about 1 cm (0.4") outward from the heat sink to enable free convection of the air around the Panther. We recommend that the Panther be soldered directly to the board.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.5. Integrating the Panther on a PCB The Panther is designed to be mounted on a PCB, by soldering its pins directly to the PCB. The following procedures apply. 3.5.1. Traces To implement Traces 1. The size of the traces on the PCB (thickness and width) is determined by the current carrying capacity required by the application.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.5.2. Grounds and Returns The “Returns” of the Panther are structured internally in a star configuration. The returns in each functional block are listed below: Functional Block Return Pin RS-232 Communications RS232_COMRET (J1/3) CAN Communications CAN_COMRET (J1/34) Control section COMRET (J1/6) Aux.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.6. Connection Diagrams The following three connection diagrams (Figure 3, Figure 4) show the three different ways of connecting the power supply: • 400 V, 700 V, and 800 V S models (the catalog number has an S option) that feature backup functionality and require an auxiliary 24 V backup supply. The drive will not be operative without the external 24 VDC supply. • 400 V model without backup functionality.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 3: Panther Connection Diagram – with Backup Functionality (S Suffix Drive) www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 4: Panther Connection Diagram – 400 V without Backup Functionality www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.7. Main Power and Motor Power The Panther receives power from main supply and delivers power to the motor. The table below describes the pinout connections to the main power and motor power cables.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.7.2. Connecting the DC Power The DC power for the Panther is delivered from a separated rectifying unit (supplied by the user). The following sections contain topology recommendations for implementing three-phase and a single-phase supply chains. Elmo offers the end-user, the option to purchase its Tambourine rectifier, which offers a range of versatile options.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.7.2.1.a Three-Phase Direct-to-Mains Connection topology Figure 6: Non-Isolated Three-Phase Connection Topology Caution: Do not connect VN- to PE. In a direct-to-mains connection, the VN- must not be connected to the PE, as this will cause irreparable damage to the system. Take care to note that in a direct-to-mains connection the Neutral point is not the most negative voltage level. It is the mid-point level of the rectified DC bus. www.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.7.2.1.b Single-Phase Direct-to-Mains Connection Topology Figure 7: Non-Isolated Single-Phase Connection Topology The Power Supply is connected directly to the Mains AC line. Caution: Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be connected to the PE, as this will cause irreparable damage to the system.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.7.2.1.c Multiple Connections Topology In a multi-axis application it is likely that a single power supply can feed several drives in parallel. This topology is efficient and cost saving, by reducing the number of power supplies and the amount of wiring. Most importantly it utilizes an energy sharing environment among all the drives that share the same DC bus network.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.7.2.2. Battery Power Supply Figure 9: Battery Connection Topology Caution: When using batteries, it is recommended to connect the negative pole to the PE. When doing so, the charger of the battery must be isolated from the mains by an isolation transformer. 3.8.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Figure 10: Auxiliary 24 VDC Backup Supply Connection Diagram Pin (J3) Function 1 +24V Auxiliary Supply Input Positive 2 24VRET Auxiliary Supply Input Return Pin Positions Table 1: Auxiliary 24 VDC Backup Supply Pins and Polarity 3.9. Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Table 2 and Table 3 describe the various options available for the main feedback pin assignments for Encoders, Resolver, and the Tachometer & Potentiometer.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Resolver Tachometer & Potentiometer PAN-XX/YYYR Pin Signal Function PAN-XX/YYYT Signal Function 1 +5V +5V Encoder/ Hall +5V supply 2 SUPRET SUPRET Supply return 3 ANALIN+ is used for Analog Input 4 ANALIN- is used for Analog Input 5 S1 Sine A+ Tac 1+ Tacho Input 1 Pos. (20V max) 6 S3 Sine A - Tac 1- Tacho Input 1 Neg. (20 V max) 7 S2 Cosine B+ Tac 2+ Tacho Input 2 Pos.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) The connection diagrams shown in Figure 11 through Figure 20 describe the main feedback connections for the pin assignments listed in Table 2 and Table 3. Figure 11: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 12: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 13: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder with Digital Hall Sensors Connection Diagram www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 14: Main Feedback – Heidenhain Absolute Encoder with Digital Hall Sensors Connection Diagram www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Figure 15: Main Feedback – Resolver Connection Diagram www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 16: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 17: Main Feedback – Tachometer Feedback with Digital Hall Sensors (Connection Diagram for Brushless Motors) Figure 18: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 19: Main Feedback – Potentiometer Feedback with Digital Hall Sensors (Connection Diagram for Brushless Motors) Figure 20: Main Feedback – Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.10. Auxiliary Feedback For auxiliary feedback, select one of the following options: a. Single-ended emulated encoder outputs, used to provide emulated encoder signals to another controller or drive. The Emulated Encoder Output option is only available when using a resolver, interpolated analog encoder, tachometer or potentiometer as the main feedback device.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.10.1. 47 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 Panther has three bidirectional pins (CHA, CHB and INDEX).
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 48 Main Feedback Auxiliary Feedback Software Setting YA[4] = 4 YA[4] = 2 YA[4] = 0 (Aux. Feedback: output) (Aux. Feedback: input) (Aux. Feedback: input) Absolute Encoder Input 3.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.10.2.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 22: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 23: Emulated Encoder Differential Output – Highly Recommended Connection Diagram www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.10.3. Pin (J1) Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) Signal Function 31 +5 V Encoder supply voltage 6 SUPRET Supply return 33 INDEX Auxiliary index input 5 CHB Auxiliary channel B input 4 CHA Auxiliary channel A input Pin Positions Note: The Panther‘s Auxiliary Feedback is single-ended (Figure 24, Figure 25 (recommended)).
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 25: Single-Ended Auxiliary Encoder Input - Recommended Connection Diagram www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) Figure 26: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram 3.10.4. Pin (J1) Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) Signal Function 32 COMRET Common return 5 DIR/CHB Direction input (push/pull 5 V or open collector) 4 PULS/CHA Pulse input (push/pull 5 V or open collector) Pin Positions Note: The Panther‘s Auxiliary Feedback is single-ended (Figure 27, Figure 28 (recommended)).
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 27: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram, Acceptable Figure 28: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram, Recommended www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 29: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram, Highly Recommended www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.11. User I/Os The Panther has 6 Digital Inputs, 4 Digital Outputs, and 1 Analog Input I/O J1 J2 Digital Input 6 - Digital Output 4 - Analog Input - 1 Table 7: Various I/O Distributions 3.11.1. Digital Input Each of the pins below can function as an independent input (Figure 30, Figure 31).
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 30: Digital Input Connection Diagram – 5V Level www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 31: Digital Input Connection Diagram -PLC www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.11.2.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 32: Digital Output Connection Diagram www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.11.3. Analog Input Pin (J2) Signal Function 3 ANLIN1+ Analog input 1+ 4 ANLIN1- Analog input 1- 2 ANLRET Analog ground Table 10: Analog Input Pin Assignments Figure 33: Analog Input with Single-Ended Source www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.12. Communications The communication interface may differ according to the user’s hardware. The Panther can communicate using the following options: a. RS-232, full duplex b. CAN RS-232 communication requires a standard, commercial 3-core null-modem cable connected from the Panther to a serial interface on the PC. The interface is selected and set up in the Composer software.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.12.2. CAN Communication Connecting the CAN 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. Ensure that the shield of the cable is connected to the shield of the connector used for communications. The drain wire can be used to facilitate the connection.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) Figure 35: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. www.elmomc.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.13. Powering Up After the Panther is connected to its peripheral devices, it is ready to be powered up. Caution: Before applying power, ensure that: 1. The DC supply is within the specified range. 2. The proper plus-minus connections are in order. 3. The VN- is not connected to the PE nor to the Neutral, when working with a non-isolated power supply. 3.13.1.
Panther Installation Guide Installation MAN-PANIG (Ver. 1.302) 3.14.2. Heat Dissipation Data Heat Dissipation is shown graphically below: Figure 36: Dissipation versus Current Graph for 560 and 680 VDC Figure 37: Dissipation versus Current Graph for 330 VDC www.elmomc.
Installation Panther Installation Guide MAN-PANIG (Ver. 1.302) 3.14.3. How to Use the Charts The power dissipation in the chart includes the losses of the rectifying bridge. Regarding Figure 36 and Figure 37, the following should be noted: DC Bus Voltage (VDC) Rectified Voltage (VAC) 560 3X400 680 3X480 330 3X230 The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation. To determine if your application needs a heat sink: 1.
Panther Installation Guide 68 MAN-PANIG (Ver. 1.302) Chapter 4: Technical Specifications This chapter provides detailed technical information regarding the Panther. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications. 4.1. Features The Panther's features determine how it controls motion, as well as how it processes host commands, feedback and other input. 4.1.1.
Panther Installation Guide Technical Specifications MAN-PANIG (Ver. 1.302) 4.1.5.
Panther Installation Guide Technical Specifications MAN-PANIG (Ver. 1.302) 4.1.7. Built-In Protection • Software error handling • Abort (hard stops and soft stops) • Status reporting • Protection against: 4.1.8. Shorts between motor power outputs Shorts between motor power outputs and power input/return Failure of internal power supplies Over-heating Continuous temperature measurement.
Panther Installation Guide Technical Specifications MAN-PANIG (Ver. 1.302) 4.2. Dimensions www.elmomc.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.3.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.4. Power Ratings for 700 V models Note: This model will not be used in new designs of the drive.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.5.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.6. Auxiliary Supply This table applies only to the models with an S option. See page 19 for further details on the part number. Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 18 to 30 VDC Auxiliary supply input power 7 VA Note: An S-option drive will not operate unless it has the Aux. supply (Mandatory). 4.7.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.8. Control Specifications 4.8.1.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.8.2.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9. Feedbacks The Panther can receive and process feedback input from diverse types of devices. 4.9.1. Feedback Supply Voltage The Panther has two feedback ports (Main and Auxiliary). It supplies voltage to the Main feedback device, and to the Auxiliary feedback device if needed. Feature Details Main encoder supply voltage 5 V ±5% @ 200 mA maximum Auxiliary encoder supply voltage 5 V ±5% @ 200 mA maximum 4.9.2.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9.2.2. Digital Halls Feature Details Halls inputs HA, HB, HC. 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: VInHigh > 2.5 V Low level input voltage: VInLow < 1 V Input current Sink current (when input pulled to the common): 5 mA Maximum frequency fMAX : 2 kHz 4.9.2.3.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9.2.4. Absolute Serial Encoder Feature Details Encoder format • NRZ (Panasonic) • EnDAT 2.21 (with analogue Sin/Cos) • Stegmann in DC-TRO/SOL-TRO • RS-485 • Clock – Differential output line • Data – Differential bidirectional line Interface Input Resistance Differential 120 Ω Transmission Rate Up to 2.5 MHz 4.9.2.5.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9.2.6.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9.3. Auxiliary Feedback Port (output mode YA[4]= 4) Feature Details Emulated output • A, B, Index • Single ended Output current capability Maximum output current: IOH (max) = 2 mA High level output voltage: VOH > 3.0 V Minimum output current: IOL = 2 mA Low level output voltage: VOL < 0.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.9.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0) Feature Details Encoder input, pulse and direction input Input voltage • A, B, Index • Single ended VIn Low: 0 V < VIL < 0.8 V VIn High: 2 V < VIH < 5 V Maximum absolute voltage: 0 < VIn < 5.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.10. I/Os The Panther has: • 6 Digital Inputs • 4 Digital Outputs • 1 Analog Input 4.10.1. Digital Input Interfaces The digital inputs are 5 V level compatible by default, but can be configured to PLC level, on the integration board. Feature Details Type of input • Optically isolated • Each input has its own return Input current for all inputs Iin = 4.7 mA @ Vin = 5 V High-level input voltage 3.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.10.2. Digital Output Interface Feature Details Type of output • Optically isolated • Open collector and open emitter • Each output has its own return Maximum supply output (VCC) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 8 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.4 V RL The external resistor RL must be selected to limit the output current to no more than 8 mA.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.11. Communications Specification Details RS-232 Signals: • RxD, TxD, GND • Full duplex, serial communication for setup and control • Baud Rate of 9,600 to 57,600 bit/sec CAN CAN bus 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 4.12.
Technical Specifications Panther Installation Guide MAN-PANIG (Ver. 1.302) 4.13. Compliance with Standards Specification Details Quality Assurance ISO 9001:2008 Quality Management Design Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.) MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.
Panther Installation Guide Technical Specifications MAN-PANIG (Ver. 1.
