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A.5

Control Specifications

A.5.1

Current Loop

Feature Details

Controller type

Vector, digital

Current sampling time

70 - 100

sec

Current loop bandwidth

1400 - 2500 Hz

Compensation for bus voltage
variations

Gain scheduling

Motor types

AC brushless (sinusoidal)

DC brushless (trapezoidal)

DC brush

Linear brushless motor

Current control

Fully digital

Sinusoidal with vector control

Programmable PI control filter based on a pair of
PI controls of AC current signals and constant
power at high speed

Current loop step response
(including settling time)

300 - 400

sec

Current rise time

150 - 200

sec

Duo Installation Guide

MAN-DUOIG (Ver. 1.0)

A-6

Содержание 95VDC

Страница 1: ...Duo Integrated Solution Installation Guide June 2007 Ver 1 0...

Страница 2: ...mber DUO AXXAXX YYYZZ Axis 1 Version Blank Standard A Advanced Axis 2 Version Blank Standard A Advanced Axis 1 Continuous Current Amps Axis 2 Continuous Current Amps Axis 1 Feedbacks E Incremental Enc...

Страница 3: ...ents 3 1 3 3 Mounting the Duo 3 2 3 4 Connecting the Cables 3 3 3 4 1 Wiring the Duo 3 3 3 5 Duo Connectors type 3 5 3 6 Hardware Requirements 3 6 3 7 Duo Block Diagram 3 7 3 8 The Main Power and Moto...

Страница 4: ...Interpolated Analog Encoder Sine Cosine A 9 A 6 5 Resolver A 10 A 6 6 Tachometer A 10 A 6 7 Potentiometer A 11 A 6 8 Auxiliary Feedback Port output mode YA 4 4 A 11 A 6 9 Auxiliary Feedback Port inpu...

Страница 5: ...munication Cables B 6 B 6 1 RS 232 Option CBL RJ452321 B 6 B 6 2 CAN Open CBL RJ45CAN1 B 7 B 7 Guidelines for Making Your Own Cables B 8 B 7 1 Recommended Wire Cross Sections B 8 Duo Installation Guid...

Страница 6: ...o perform tasks such as transporting assembling installing commissioning and operating motors The Duo contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent...

Страница 7: ...acts Measuring the electrical contact points with a meter before touching the equipment is recommended 1 2 Cautions The Duo contains hot surfaces and electrically charged components during operation T...

Страница 8: ...ts 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 EN60204 1 and EN292 2 at the least According t...

Страница 9: ...Nopen based networking operating simultaneously via RS 232 and CANopen DS 301 DSP 305 DSP 402 communications and featuring a third generation programming environment Current velocity and position cont...

Страница 10: ...r monitoring the motion of the slave axis relative to a master axis via an auxiliary encoder input Pulse and direction inputs Sample rate four times current loop sample time Fast event capturing input...

Страница 11: ...ircuits between the motor power outputs and between each output and power input return Recovery from loss of commutation signals and from communication errors 2 3 How to Use this Guide In order to ins...

Страница 12: ...Installation Guide contains information about how to use the Duo and Cable Kit The Composer Software Manual which includes explanations of all the software tools that are part of Elmo s Composer softw...

Страница 13: ...04 F must not be exceeded Refer to the Heat Dissipation section of the Whistle Installation Guide for more information 3 2 Unpacking the Drive Components Before you begin working with the Duo verify t...

Страница 14: ...dbacks E Incremental Encoder and or Halls R Resolver I Interpolated Analog Encoder T Tachometer and Potentiometer Verify that the Duo type is the one that you ordered and ensure that the voltage meets...

Страница 15: ...lthough 26 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 appl...

Страница 16: ...liary Feedback Table 3 2 Connectors on the Front of the Duo Type Function Connector Location CANopen CANopen IN CANopen CANopen OUT RS232 RS232 1 RS232 2 Table 3 3 Connectors on the Top of the Duo Aux...

Страница 17: ...Main Feedback 2 12 pin Molex Header P N 90130 3212 I O 2 14 pin Molex Header P N 90130 3214 2 Auxiliary Feedback 16 pin Molex Header P N 90130 3216 2 8 pin RJ 45 Socket CANopen Comm RS232 Comm 2 8 pi...

Страница 18: ...VL Motor Power 2 Phoenix 4 pin Plug P N MSTBT 2 5 4 ST 5 08 PE M1 M2 M3 Plug M3 PE 12 pin Molex Plug P N 90142 0012 Main Feedback Feedback 2 B 3 Pin P N 90119 2121 I O 2 14 pin Molex Plug P N 90142 0...

Страница 19: ...Duo User Guide MAN DUOUG Ver 1 0 3 7 3 7 Duo Block Diagram Figure 3 2 Duo Block Diagram...

Страница 20: ...he phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup If several motor drive combinations are designed to operate in an identical...

Страница 21: ...se twisted and shielded cables for the DC power supply cable A 3 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connect the cable shield to t...

Страница 22: ...ground near the Auxiliary Supply source Connect the cable shield to the closest ground near the Auxiliary Supply source Before applying power first verify the polarity of the connection Caution Power...

Страница 23: ...Figure 3 6 Shared Supply Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 11...

Страница 24: ...T Supply return SUPRET Supply return SUPRET Supply return 3 CHA Channel A A Sine A S1 Sine A Tac 1 Tacho Input 1 Pos 20V max 4 CHA Channel A complement A Sine A complement S3 Sine A complement Tac 1 T...

Страница 25: ...Figure 3 7 Main Feedback Incremental Encoder With Digital Halls Sensors Connection Diagram Figure 3 8 Main Feedback Incremental Encoder Only Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 13...

Страница 26: ...Figure 3 9 Main Feedback Interpolated Analog Encoder Connection Diagram Figure 3 10 Main Feedback Resolver Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 14...

Страница 27: ...MAN DUOUG Ver 1 0 3 15 Figure 3 11 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3 12 Main Feedback Tachometer Feedback Connection Diagram f...

Страница 28: ...Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3 14 Main Feedback Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils Duo User Gu...

Страница 29: ...re two modes of operation for this interface Mode 1 Composer Command YA 4 4 see 3 10 2 When the Auxiliary port of the Whistle is set by the software to act as an emulated encoder output this is practi...

Страница 30: ...os Encoder Input B2 output Analog Encoder position data emulated in Differential buffered incremental Encoder format Main Feedback Analog Encoder B1 not available Resolver Input B2 output Resolver pos...

Страница 31: ...Resolver or Tachometer or Potentiometer Input B1 Buffered Differential Pulse Direction Commands Input B2 Buffered Differential Pulse Direction Commands Output of B1 Auxiliary Feedback B1 Buffered Diff...

Страница 32: ...Encoder only The Auxiliary Feedback on the Duo has a 16 pin Molex Header plug Port Pin Signal Function PWR 1 5V Encoder supply voltage PWR 2 COMRET Common return B1 3 NA When YA 4 4 the B1 port is no...

Страница 33: ...Figure 3 15 Emulated Encoder Outputs of the Resolver or Analog Encoder Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 21...

Страница 34: ...return B1 3 CHA Auxiliary channel A input B1 4 CHA Auxiliary channel A complement input B1 5 CHB Auxiliary channel B input B1 6 CHB Auxiliary channel B complement input B1 7 INDEX Auxiliary Index Inpu...

Страница 35: ...Duo User Guide MAN DUOUG Ver 1 0 3 23 Figure 3 6 Differential Auxiliary Input Option Block Diagram...

Страница 36: ...Duo User Guide MAN DUOUG Ver 1 0 3 24 Figure 3 16 Differential Auxiliary Input Option on Auxiliary Feedback Connection Diagram...

Страница 37: ...WR 2 COMRET Common return B1 3 CHA Auxiliary Pulse input B1 4 CHA Auxiliary Pulse complement input B1 5 CHB Auxiliary Direction input B1 6 CHB Auxiliary Direction complement input B1 7 NA Do not conne...

Страница 38: ...Figure 3 17 Pulse and Direction Input Option on Auxiliary Feedback Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 26...

Страница 39: ...put 1 return 3 OUT2 Programmable Digital output 2 4 OUTRET2 Programmable Digital output 2 return 5 IN1 Programmable Digital input 1 6 IN2 Programmable Digital input 2 7 IN3 Programmable Digital input...

Страница 40: ...3 11 1 Digital Input The Default Digital Input level Signal is set to 24v PLC Note 5v is also available TTL Figure 3 18 Digital Input Connection Diagram Duo User Guide MAN DUOUG Ver 1 0 3 28...

Страница 41: ...3 11 2 Digital Output Figure 3 19 Digital Output Connection Diagram 3 11 3 Analog Input Figure 3 20 Analog Input with Single ended Source Duo User Guide MAN DUOUG Ver 1 0 3 29...

Страница 42: ...ramming and timing issues of a CANopen network For ease of setup and diagnostics of CAN communication RS232 and CANopen can be used simultaneously 3 12 1 RS232 Communication Notes for connecting the R...

Страница 43: ...e the drain wire to facilitate connection The CANopen communication port is non isolated The male RJ plug must have a shield cover Ensure that the shield of the cable is connected to the shield of the...

Страница 44: ...de MAN DUOUG Ver 1 0 3 32 Figure 3 22 CANopen Network Connection Diagram Caution When installing CANopen communications ensure that each servo drive is allocated a unique ID Otherwise the CANopen netw...

Страница 45: ...thin the specified range and that the proper plus minus connections are in order 3 14 Initializing the System After the Duo has been connected and mounted the system must be set up and initialized Thi...

Страница 46: ...ation alternatives o Sinusoidal vector control o Trapezoidal o DC brush Feedback alternatives o Incremental encoder digital Halls o Incremental encoder only o Digital Halls o Resolver o Sin Cos o Sin...

Страница 47: ...on volatile storage of controller parameters and user programs Setup startup and tuning software o Windows based Composer Automatic analysis of kinematics Status indication o Bi color LED Automatic pr...

Страница 48: ...against o Short circuit between motor power outputs o Short circuit between each motor power output and DC bus return o Failure of internal power supply o Heatsink over temperature o Under over voltag...

Страница 49: ...Duo Installation Guide MAN DUOIG Ver 1 0 A 4 A 3 Duo Dimensions...

Страница 50: ...Voltage 95 of supply VDC at f 22 KHz DC and Trapezoidal Commutation Continuous Current Limit Ic A 1 2 5 5 10 15 1 2 5 5 10 15 Sinusoidal Commutation Continuous RMS Current Limit Ic A 0 7 1 8 3 6 7 10...

Страница 51: ...ling Motor types AC brushless sinusoidal DC brushless trapezoidal DC brush Linear brushless motor Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a...

Страница 52: ...Analog Halls Tacho Potentiometer Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative Velocity command options Analog Internally calculated by ei...

Страница 53: ...l encoder frequency Maximum absolute 5 MHz single 20 MHz quadrature Minimum quadrature input period PIN 112 nsec Minimum quadrature input high low period PHL 56 nsec Minimum quadrature phase period PP...

Страница 54: ...also support open collector Halls Maximum frequency fMAX 2 kHz A 6 4 Interpolated Analog Encoder Sine Cosine Feature Details Analog encoder format Sine and Cosine signals Analog input signal level Of...

Страница 55: ...Maximum operating differential voltage for TAC1 TAC1 20V Maximum absolute differential input voltage for TAC1 TAC1 25V Maximum operating differential voltage for TAC2 TAC2 50V Maximum absolute differ...

Страница 56: ...tput 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 4 V Available as options Emulated encoder...

Страница 57: ...V Input current 1 A Encoder Hall supply voltage 5V 5 Maximum encoder supply current 200 mA Available as options Differential Encoder inputs Differential Pulse and Direction inputs Edge separation betw...

Страница 58: ...nput until execution is complete If input is set to one of the built in functions Home Inhibit Hard Stop Soft Stop Hard and Soft Stop Forward Limit Reverse Limit or Begin execution is immediate upon d...

Страница 59: ...nal resistor RL must be selected to limit output current to no more than 10 mA max Io VOL Vcc RL Executable time If output is set to one of the built in functions Home flag Brake or AOK execution is i...

Страница 60: ...Storage temperature 20 to 85 C 4 to 185 F Humidity 90 maximum non condensing Maximum Operating Altitude 10 000m 30 000 feet Protection level IP20 A 10 Compliance Standards Specification Details ISO900...

Страница 61: ...ith UL60950 Safety of information technology equipment including electrical business equipment In compliance with EN60204 1 Low voltage directive 73 23 EEC A 10 3 EMC Specification Details In complian...

Страница 62: ...Duo Installation Guide B 1 Appendix B Cables Optional B 1 Cable Photos Main Feedback CBL HDRFB 001 Auxiliary Feedback CBL HDRAUX 001 I O CBL HDRIO 001 RS 232 Com CBL RJ452321 CAN Com CBL RJ45CAN1...

Страница 63: ...and or individual cables in multiples of 10 each are available from Elmo Cable Application Cable Part No QTY Main Feedback CBL HDRFB 001 2 Auxiliary Feedback CBL HDRAUX 001 2 I O CBL HDRIO 001 2 RS 23...

Страница 64: ...the Duo It is open on its other side so that it can be connected to customer specific motor connector Pin No Color Signal Pairs 1 Brown 5V 2 White COMRET pair 3 Cyan CHA 4 Orange CHA pair 5 Purple CHB...

Страница 65: ...on the Duo Pin No Color Signal Pairs 1 Brown 5V 2 White COMRET pair 3 Cyan CHA 4 Orange CHA pair 5 Purple CHB 6 Black CHB pair 7 Red INDEX 8 Blue INDEX pair 9 Pink CHAO 10 Grey CHAO pair 11 Yellow CH...

Страница 66: ...port on the Duo Pin No Color Signal Pairs 1 Orange OUT1 2 Cyan OUTRET1 pair 3 Black OUT2 4 Purple OUTRET2 pair 5 Brown IN1 6 White IN2 pair 7 Green IN3 8 Yellow IN4 pair 9 Gray IN5 10 Pink IN6 pair 11...

Страница 67: ...options RS 232 full duplex CANopen B 6 1 RS 232 Option CBL RJ452321 RJ45 Pin No Color D type Female Pin No Signal Description 1 2 3 Brown 2 Tx RS232 Transmit 4 5 White 5 COMRET Communication Return 6...

Страница 68: ...in No Signal Description 1 Green 7 CAN H CAN_H bus line 2 Yellow 2 CAN_L CAN_L bus line 3 White 3 CAN_GND CAN ground 4 5 7 8 1 body Drain Wire body shield cable shield The shields of the RJ 45 and D t...

Страница 69: ...ough 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 applica...

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