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Tuba Installation Guide

Introduction

MAN-TUBIG (Ver. 1.503)

www.elmomc.com

2.3.

System Architecture

Auxiliary

Power

Supply

PWM

Controller

Power Stage

Protection

Current

Feedback

Incremental

Encoder

24 VDC

I/Os

Incremental Encoder

Buffered Output

Emulated Output

Resolver

Analog

Encoder

Auxiliary

Encoder

Potentiometer

Tachometer

Communication

RS 232 and CANopen

Figure 1: Tuba System Block Diagram

Summary of Contents for TUB Series

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...Tuba Digital Servo Drive Installation Guide October 2017 Ver 1 503 www elmomc com...

Page 3: ...The specifications on which they are based are subject to change without notice Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion Control Ltd Information in this docu...

Page 4: ...Added Absolute Encoder information 1 3 April 2008 Updated Power Ratings Table in Section 4 5 1 4 March 2010 MTCR 07 009 56 Added note to Section 3 4 8 1 1 5 July 2012 Formatted according to the new te...

Page 5: ...ntrol 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 com China Elmo Motion Control Technology Shanghai Co Ltd Room 1414 Huawe...

Page 6: ...Use this Guide 15 Chapter 3 Installation 16 3 1 Before You Begin 16 3 1 1 Site Requirements 16 3 1 2 Hardware Requirements 16 3 1 2 1 AC Input Requirements 16 3 1 2 2 Recommended Wire Cross Sections A...

Page 7: ...Communication Cables 56 3 4 9 1 RS 232 Communication on the COMM 1 Port 56 3 4 9 2 CAN Communication on the COMM 2 Ports 57 3 5 Powering Up 59 3 6 Initializing the System 59 Chapter 4 Technical Specif...

Page 8: ...iometer 72 4 9 8 Encoder Outputs 72 4 10 I Os 73 4 10 1 Digital Input Interfaces on the GENERAL I O port 73 4 10 2 Digital Output Interface on the COMMITTED I O port 75 4 10 3 Analog Input 76 4 11 Com...

Page 9: ...alified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Tuba servo drive contains electrostatic sensitive...

Page 10: ...r supply connected to the instrument must comply with the parameters outlined in this guide The TUB x 230 series is designed to operate from a single phase 115 VAC source or from a single or three pha...

Page 11: ...Marking Conformance The Tuba 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 Europ...

Page 12: ...software This Windows based application enables users to quickly and simply configure the servo drive for optimal use with their motor Power to the various models of Tuba is provided by a 115 230 3 x...

Page 13: ...on of the slave axis relative to a master axis via an auxiliary encoder input Pulse and direction inputs Sample time four times that of current loop Fast event capturing inputs 2 2 4 Advanced Position...

Page 14: ...lution Up to 512 revolutions per second RPS Encoder outputs buffered differential Tachometer and Potentiometer Two inputs for Tachometer Feedback Up to 50 VDC Up to 20 VDC Potentiometer Feedback 0 to...

Page 15: ...ary Power Supply PWM Controller Power Stage Protection Current Feedback Incremental Encoder 24 VDC I Os Incremental Encoder Buffered Output or Emulated Output Resolver Analog Encoder Auxiliary Encoder...

Page 16: ...instructions in this guide your Tuba servo drive should be successfully mounted and installed From this stage you need to consult higher level Elmo documentation in order to set up and fine tune the s...

Page 17: ...available Caution The Tuba dissipates its heat by forced ventilation fan The maximum operating ambient temperature of 0 C to 40 C 32 F to 104 F must not be exceeded 3 1 2 Hardware Requirements 3 1 2 1...

Page 18: ...nk Cable B1 B2 on External DC Link Cable 3 4 2 3 Main Power Cable PE AC1 AC2 and AC3 on Power Connector 3 4 2 2 Motor Cable M1 M2 M3 PE on Power Connector 3 4 2 1 Auxiliary Power Cable 24V 3 4 3 3 1 2...

Page 19: ...ponent Port on Tuba Described in Section Diagram Analog Inputs if needed ANALOG I O 3 4 8 1 CEL0040A DWG COR016A Digital Outputs Cable if needed COMMITTED I O 3 4 8 2 Digital Inputs Cable if needed GE...

Page 20: ...drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 To ensure that the Tuba you have unpacked...

Page 21: ...e instrument for heat dissipation 3 3 1 Mounting Directly onto a Wall The vertical mounting strip at the back of the Tuba enables you to screw the drive directly into a wall To mount the Tuba with the...

Page 22: ...snap the drive onto a DIN rail in your work area To mount the Tuba on a DIN rail 1 Be sure that the vertical mounting strip with the hole at the top is pressed down fully and does not protrude from th...

Page 23: ...unication connections For best results the cable should have an aluminum foil shield covered by copper braid and should contain a drain wire The drain wire is a non insulated wire that is in contact w...

Page 24: ...ling 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 The Tuba has...

Page 25: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 24 Type Function Port on Tuba Connector Location Table 1 Connectors on the Tuba...

Page 26: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 25 Figure 7 Tuba Detailed Connection Diagram...

Page 27: ...Power Connectors The main power connector which is located at the bottom of the Tuba has the following pins Pin Function Cable Pin Positions B1 DC Link DC Link B2 DC Link DC Link AC3 Phase 3 Power AC2...

Page 28: ...ame Notes for connecting the motor cables For best noise immunity it is highly recommended to use a shielded not twisted cable for the motor connection A 4 wire shielded cable should be used The gauge...

Page 29: ...h connection connected to the PE terminal AC3 AC1 TUB00020B Tuba Figure 11 Main Power Supply Connection Diagram 3 4 2 3 Connecting the DC Link Cable Each Tuba contains a shunt Its purpose is to absorb...

Page 30: ...braid The 24 VDC auxiliary power supply must meet all safety standards and must be separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety stan...

Page 31: ...tor side connections ground the shield to the motor chassis On controller side connections follow the controller manufacturer s recommendations concerning the shield Figure 14 Feedback and Control Cab...

Page 32: ...5V Encoder Hall 5V supply 5V Encoder Hall 5V supply 5 CHA Channel A complement A Sine A complement S3 Sine A complement Tac 1 Tacho Input 1 Neg 20 V max 6 CHA Channel A A Sine A S1 Sine A Tac 1 Tacho...

Page 33: ...Heidenhain Encoder 5 supply Halls supply 5V 5 A Sine A complement Sine A 6 A Sine A Sine A complement 7 DATA Data complement Data complement 8 DATA DATA DATA 9 SUPRET Supply return Supply return 10 HB...

Page 34: ...ith Hall Sensor Tuba Feedback A 1 Hall C Hall B CHB CHB INDEX INDEX CHA CHA 2 5 12 Encoder Hall 5v Supply Hall Encoder Supply Voltage Return 3 HC HB CHB CHB INDEX INDEX CHA CHA 5V SUPRET TUB0004A 6 Ha...

Page 35: ...6 TUB0005A 15 14 Encoder 5v Supply Encoder Supply Return B B R R A A 5v SUPRET Tuba B B R R A A Figure 16 Main Feedback Interpolated Analog Sine Cosine Encoder Connection Diagram TUB0006A 5 8 7 Feedb...

Page 36: ...Ver 1 503 www elmomc com 35 only one tachometer port is available at a time Figure 18 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 19 Main...

Page 37: ...tallation MAN TUBIG Ver 1 503 www elmomc com 36 Figure 20 Main Feedback Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 21 Main Feedback Potentiometer F...

Page 38: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 37 Figure 22 Main Feedback Stegmann Feedback Connection Diagram...

Page 39: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 38 Figure 23 Main Feedback Heidenhain Feedback Connection Diagram...

Page 40: ...Incremental Encoder or Analog Encoder or Resolver or Tachometer or Potentiometer B1 input B2 output Differential or Single ended Pulse Direction Commands Differential and Buffered output of B1 A input...

Page 41: ...ication where the main encoder is used not only for the drive but also for other purposes such as position controllers and or other drives Analog Encoder applications where position data is required i...

Page 42: ...as a master in Follower or ECAM mode Below are the signals on the Auxiliary Feedback ports when set up to run as a buffered outputs or emulated outputs of the main feedback on FEEDBACK A Port Pin Sig...

Page 43: ...Feedback cable from the controller or other device to FEEDBACK B using a 15 pin D Sub socket with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section 3 4 4...

Page 44: ...ncoder supply voltage PWR 5 SUPRET Encoder Supply return B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output B2 8 INDEXO Buffered Index output B1 9 INDEX Auxiliary Index low input...

Page 45: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 44 Tuba Tuba Tuba Tuba Figure 25 Differential Auxiliary Encoder Input Option on FEEDBACK B Connection Diagram...

Page 46: ...R 4 5V Encoder Supply Voltage PWR 5 SUPRET Encoder Supply return B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output B2 8 INDEXO Buffered Index output 9 Do not connect this pin 8 1...

Page 47: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 46 Tuba Tuba Tuba Tuba Figure 26 Single Ended Auxiliary Input Option on FEEDBACK B Connection Diagram...

Page 48: ...upply voltage PWR 5 SUPRET Encoder supply return B2 6 CHAO Buffered Channel A output B2 7 CHBO Buffered Channel B output 8 N C Do not connect this pin 9 N C Do not connect this pin 8 15 1 9 Port B1 Po...

Page 49: ...ry Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a 15 pin D Sub socket with a metal housing When assembling the Auxiliary Feedback cable follow the instructions in Section...

Page 50: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 49 Figure 28 Differential Pulse and Direction Input Option on FEEDBACK B Connection Diagram...

Page 51: ...uts The ANALOG INPUTS port has a 9 pin D Sub socket When assembling an I O cable for analog input follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies using a 9 pin D Sub plu...

Page 52: ...O cable for digital input follow the instructions in Section 3 4 4 Feedback and Control Cable Assemblies using a 25 pin D Sub socket with a metal case The pins are described below Pin Signal Function...

Page 53: ...ogrammable inputs return 9 16 INRET8 Programmable inputs return 8 17 INRET7 Programmable inputs return 7 18 N C Not Connected 19 INRET6 Programmable inputs return 6 20 N C Not Connected 21 INRET5 Prog...

Page 54: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 53 Figure 30 Digital Inputs on the General I O port Connection Diagram...

Page 55: ...lug with a metal case The pins are described below Pin Signal Function Pin Positions 1 OUT1 Programmable output 1 2 OUT2 Programmable output 2 3 OUT3 Programmable output 3 4 OUT4 Programmable output 4...

Page 56: ...Tuba Installation Guide Installation MAN TUBIG Ver 1 503 www elmomc com 55 Tuba Digital Outputs Figure 31 Digital Outputs on the COMMITTED I O port Connection Diagram...

Page 57: ...lectrically isolated by optocouplers For ease of setup and diagnostics of CAN communication RS 232 and CAN can be used simultaneously 3 4 9 1 RS 232 Communication on the COMM 1 Port Notes for connecti...

Page 58: ...ernally inside the connector at the PC end You can use the drain wire to facilitate connection The male RJ plug must have a shield cover Ensure that the shield of the cable is connected to the shield...

Page 59: ...CAN_H CAN_L CAN_GND Drain Wire Drain Wire 7 1 2 3 6 7 1 2 3 6 CAN_GND CAN_GND Drain Wire Drain Wire 120 Drain Wire Shield of RJ connector Shield of RJ connector Shield of RJ connector Tuba 2 CAN Inte...

Page 60: ...pplying power ensure that the AC supply is within the range specified for your specific type of Tuba 3 6 Initializing the System After the Tuba has been connected and mounted the system must be set up...

Page 61: ...er input 4 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 4 1 2 Advanced Positioning Motion Control Modes PT...

Page 62: ...512 revolutions per second RPS Encoder outputs buffered differential Tachometer inputs for 20 V max voltage and for 20 V max voltage Potentiometer 0 to 5 V input voltage provided by the Tuba Elmo dri...

Page 63: ...error handling Abort hard stops and soft stops Status reporting Protection against Shorts between motor power outputs Shorts between motor power output and power input return Failure of internal powe...

Page 64: ...Tuba Installation Guide Technical Specifications MAN TUBIG Ver 1 503 www elmomc com 63 4 2 Tuba Dimensions Rear View Front View Side View...

Page 65: ...ions MAN TUBIG Ver 1 503 www elmomc com 64 4 3 Mounting Dimensions Rear View 4 4 Mechanical Specifications Feature Details Mounting Method Wall Mount Bookshelf DIN Rail Overall Dimensions 247 x 190 x...

Page 66: ...20 12 15 20 Sinusoidal continuous RMS current limit Ic A 8 5 10 6 14 1 8 5 10 6 14 1 Peak current limit A 2 x Ic Built in shunt peak power kW 6 11 Weight kg lbs 2 7 kg 5 9 lbs Dimensions mm in 247 x...

Page 67: ...2 2 Auxiliary Power 2 pole 0 325 8 mm pitch Molex terminal strip 24v Connector Location Table 16 Connectors on the Bottom of the Tuba Pins Type Port Connector Location 8 RJ 45 x 2 COMM 1 9 D Sub Socke...

Page 68: ...l damage the fan 4 8 Control Specifications 4 8 1 Current Loop Feature Details Controller type Vector digital Compensation for bus voltage variations On the fly gain scheduling Motor types AC brushles...

Page 69: ...Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative Velocity loop bandwidth 350 Hz Velocity sampling time 140 200 sec x2 current loop sample time...

Page 70: ...upply voltage 5 V 5 200 mA maximum 4 9 2 Incremental Encoder Input Feature Details Encoder format A B and Index Differential Quadrature Interface RS 422 Input resistance Differential 120 Maximum incre...

Page 71: ...n input pulled to the common 3 mA Source current 1 5 mA designed to also support open collector Halls Maximum frequency fMAX 2 kHz 4 9 4 Interpolated Analog Sine Cosine Encoder Feature Details Analog...

Page 72: ...4 9 6 Tachometer Feature Details Tachometer format Differential Maximum operating differential voltage for TAC1 TAC1 20 V Maximum absolute differential input voltage for TAC1 TAC1 25 V Maximum operati...

Page 73: ...ing differential loads of 200 on INDEX INDEX CHB CHB and CHA CHA pairs Port B2 output current capability INDEXO INDEXO CHBO CHBO and CHAO CHAO pairs are not loaded Available as options Two simultaneou...

Page 74: ...n 4 4 mA Vin 12 V High level input voltage 12 V Vin 30 V 24 V typical Low level input voltage 0 V Vin 6 5 V Minimum pulse width 4 x TS where TS is sampling time Execution time all inputs the time from...

Page 75: ...Location High speed inputs 5 6 minimum pulse width in high speed mode T 5 sec Notes Home mode is high speed mode and can be used for fast capture and precise homing High speed input has a digital filt...

Page 76: ...t max Vout Low Iout max 15 mA VOL at maximum output voltage low level Vout on 0 3 V 0 02 Iout mA RL External resistor RL must be selected to limit output current to no more than 15 mA max Io VOL Vcc R...

Page 77: ...N TUBIG Ver 1 503 www elmomc com 76 4 10 3 Analog Input Feature Details Maximum operating differential voltage 10 V Maximum absolute differential input voltage 16 V Differential input resistance 3 k A...

Page 78: ...te of 1 Mbit sec Version DS 301 V4 01 Device Profile drive and motion control DS 402 4 12 Pulse Width Modulation PWM Feature Details PWM resolution 12 bit PWM switching frequency on the load 2 Ts fact...

Page 79: ...950 IPC D 275 IPC SM 782 IPC CM 770 UL 508C UL 840 Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc In compliance with VDE0160 7 IEC 68 Type testing Safety Reco...

Page 80: ...IEC 61000 4 11 criteria B C Electromagnetic compatibility EMC Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies PCB In compliance with IPC A 600 level 2 Acceptab...

Page 81: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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