Elmomc AC Input Digital Servo Drives-Tuba Manual de usuario

Tuba Digital Servo Drive Installation Guide July 2014 (Ver. 1.502) www.elmomc.com

Tuba Installation Guide Safety Information MAN-TUBIG (Ver. 1.502) www.elmomc.com 10 1.3. Directives and Standards The Tuba conforms to the followi

Tuba Installation Guide MAN-TUBIG (Ver. 1.502) www.elmomc.com 11 Chapter 2: Introduction This installation guide describes the Tuba servo drive a

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) www.elmomc.com 12 2.2.2. Velocity Control • Fully digital • Programmable PI and FFW

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) www.elmomc.com 13 2.2.6. Feedback Options • Incremental Encoder – up to 20 Mega-Count

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) www.elmomc.com 14 2.3. System Architecture AuxiliaryPowerSupplyPWMControllerPower Stag

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) www.elmomc.com 15 2.4. How to Use this Guide In order to install and operate your Elmo

Tuba Installation Guide MAN-TUBIG (Ver. 1.502) www.elmomc.com 16 Chapter 3: Installation The Tuba must be installed in a suitable environment and

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 17 3.1.2.3. Power Connectors Component Connector Described in Section

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 18 3.1.2.5. Feedback and I/O Connectors Component Port on Tuba Descri

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 19 3.1.2.6. Other Items Needed Component Diagram PC for drive setup an

Notice This guide is delivered subject to the following conditions and restrictions: • This guide contains proprietary information belonging to Elmo

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 20 3.3. Mounting the Tuba The Tuba has been designed for two standard m

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 21 3.3.2. Mounting on a DIN Rail At the top rear of the Tuba, a horizon

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 22 3. Press the Tuba down to a vertical position until it clicks onto t

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 23 • Keep the motor wires as far away as possible from the feedback, co

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 24 Type Function Port on Tuba Connector Location Table 1: Connectors

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 25 Figure 7: Tuba Detailed Connection Diagram

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 26 3.4.2. Connecting the Power Cables Access the power terminal connect

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 27 3.4.2.1. Connecting the Motor Cable Connect the motor power cable to

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 28 3.4.2.2. Connecting the Main Power Cable Connect the main power supp

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 29 3.4.3. Connecting the Auxiliary Supply Cable (24 V) Connect the auxi

Revision History Version Date Details 1.0 April 2005 Initial release 1.1 September 2005 BR1 and BR2 connected to DC Link 1.11 September 2006

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 30 3.4.4. Feedback and Control Cable Assemblies The Tuba features easy-

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 31 FEEDBACK A on the front of the Tuba has a 15-pin D-Sub socket. Connec

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 32 Absolute Encoders TUB-XX/YYYQ Pin Signal Heidenhain Stegmann 1

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 33 10151487Incremental Encoderwith Hall SensorTubaFeedback A1Hall CHall

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 34 58743Sine / CosineEncoderFeedback A6TUB0005A1514Encoder +5v SupplyEnc

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 35 only one tachometer port is available at a time Figure 18: Main Feedb

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 36 Figure 20: Main Feedback – Potentiometer Feedback with Digital Hall

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 37 Figure 22: Main Feedback – Stegmann Feedback Connection Diagram

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 38 Figure 23: Main Feedback – Heidenhain Feedback Connection Diagram

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 39 3.4.6. Main and Auxiliary Feedback Combinations The Main Feedback is

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) 9

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 40 FEED- BACK A FEEDBACK B Ports B1 and B2 YA[4] = 4 YA[4] = 2 YA[4]

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 41 3.4.7. Auxiliary Feedback (FEEDBACK B) When using one of the auxilia

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 42 FEEDBACK B, on the front of the Tuba, has a 15-pin D-Sub plug. Connec

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 43 3.4.7.2. Differential Auxiliary Encoder Input Option on FEEDBACK B (

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 44 TubaTubaTubaTuba Figure 25: Differential Auxiliary Encoder Input Opti

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 45 3.4.7.3. Single-Ended Auxiliary Input Option on FEEDBACK B - (YA[4]

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 46 TubaTubaTubaTuba Figure 26: Single-Ended Auxiliary Input Option on FE

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 47 3.4.7.4. Pulse-and-Direction Input Option on FEEDBACK B - (YA[4]=0)

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 48 FEEDBACK B on the front of the Tuba has a 15-pin D-Sub plug. Connect

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 49 Figure 28: Differential Pulse-and-Direction Input Option on FEEDBACK

Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 5 Table of Contents Chapter 1: Safety Information ...

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 50 3.4.8. I/O Cables The Tuba has three I/O ports (ANALOG INPUTS, DIGIT

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 51 Tuba - Figure 29: Analog Inputs Connection Diagram 3.4.8.2. Digital

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 52 Pin Signal Function Pin Positions 11 IN3 Programmable input 3 1

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 53 Figure 30: Digital Inputs (on the General I/O port) Connection Diagr

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 54 3.4.8.3. Digital Outputs (on the COMMITTED I/O Port) The Tuba servo

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 55 Tuba Digital Outputs Figure 31: Digital Outputs (on the COMMITTED I/O

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 56 3.4.9. Communication Cables The communication cables use an 8-pin RJ

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 57 Figure 32: RS-232 Connection Diagram 3.4.9.2. CAN Communication (on

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 58 7123CAN_GND120ΩCAN - Controller6CAN_HCAN_LDrainWire712367123CAN - I

Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) www.elmomc.com 59 3.5. Powering Up After the Tuba has been mounted, check that the cab

Tuba Installation Guide Table of Contents MAN-TUBIG (Ver. 1.502) 6 3.4.4. Feedback and Control Cable Assemblies ...

Tuba Installation Guide MAN-TUBIG (Ver. 1.502) www.elmomc.com 60 Chapter 4: Technical Specifications This chapter provides detailed technical inf

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 61 4.1.5. Feedback Options • Incremental Encoder – up to 2

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 62 • Emulated output of the resolver, interpolated analog e

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 63 4.2. Tuba Dimensions Rear View Front ViewSide View

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 64 4.3. Mounting Dimensions Rear View 4.4. Mechanical Spec

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 65 4.5. Power Ratings Feature Units 12/230 15/230 20/23

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 66 4.7. Tuba Connections The following connectors are used

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 67 4.7.1. Auxiliary Supply Feature Details Auxiliary power

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 68 4.8.2. Velocity Loop Feature Details Controller type P

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 69 4.9. Feedbacks The Tuba can receive and process feedback

Tuba Installation Guide Table of Contents MAN-TUBIG (Ver. 1.502) 7 4.9.5. Resolver ...

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 70 4.9.3. Digital Halls Feature Details Halls inputs • HA

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 71 4.9.5. Resolver Feature Details Resolver format • Sine

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 72 4.9.7. Potentiometer Feature Details Potentiometer Form

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 73 4.10. I/Os The Tuba has: • 10 Digital Inputs • 6 Digit

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 74 Feature Details Connector Location High-speed inputs 5

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 75 4.10.2. Digital Output Interface (on the COMMITTED I/O p

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 76 4.10.3. Analog Input Feature Details Maximum operatin

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 77 4.11. Communications Specification Details Connector L

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 78 4.14. Compliance with Standards Specification Details Q

Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) www.elmomc.com 79 Specification Details EMC Approved IEC/EN 61800-3, EMC

Tuba Installation Guide MAN-TUBIG (Ver. 1.502) www.elmomc.com 8 Chapter 1: Safety Information In order to achieve the optimum, safe operation of

Tuba Installation Guide Safety Information MAN-TUBIG (Ver. 1.502) www.elmomc.com 9 1.1. Warnings • To avoid electric arcing and hazards to person