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Bassoon

Digital Servo Drive

Installation Guide

August 2008 (Ver. 1.4)

www.elmomc.com

Содержание Bassoon

Страница 1: ...Bassoon Digital Servo Drive Installation Guide August 2008 Ver 1 4 www elmomc com...

Страница 2: ...Amps Version Blank Standard A Advanced Feedback Blank Incremental Encoder and or Halls R Resolver BAS A 1 230R T Tachometer Potentiometer I Interpolated Analog Encoder A Absolute Encoder S Stegmann A...

Страница 3: ...ements 3 1 3 1 3 AC Power Requirements 3 3 3 2 Unpacking the Drive Components 3 3 3 3 Assembling the Heatsink 3 4 3 4 Mounting the Bassoon 3 4 3 4 1 Mounting on a DIN Rail 3 4 3 4 2 Mounting Directly...

Страница 4: ...Built In Protection A 2 A 2 Bassoon Dimensions A 3 A 3 General Specifications A 4 A 4 Environmental Conditions A 4 A 5 Bassoon Connectors A 5 A 5 1 Connector Types A 5 A 5 2 Control and Feedback Conne...

Страница 5: ...Quality Assurance A 19 A 13 2 Design A 19 A 13 3 Safety A 20 A 13 4 EMC A 20 A 13 5 Workmanship A 20 A 13 6 PCB A 20 A 13 7 Packing A 20 Index I 1 Bassoon Installation Guide Contents MAN BASIG Ver 1...

Страница 6: ...ng installing commissioning and operating motors The Bassoon servo drive contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoi...

Страница 7: ...ctrical contact points with a meter before touching the equipment is recommended 1 2 Cautions The Bassoon servo drive contains hot surfaces and electrically charged components during operation The max...

Страница 8: ...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 EN60204 1 and EN2...

Страница 9: ...servo drive for optimal use with their motor The Bassoon connects directly to 110 230 VAC single phase power source A separate 24 VDC power supply serves as both the auxiliary supply and the backup s...

Страница 10: ...ion velocity loop y Fast output compare OC 2 2 5 Communication Options Depending on the application Bassoon users can select from two communication options y RS 232 serial communication y CANopen for...

Страница 11: ...ware error handling y Status reporting for a large number of possible fault conditions y Protection against conditions such as excessive temperature under over voltage loss of commutation signal short...

Страница 12: ...tage you need to consult higher level Elmo documentation in order to set up and fine tune the system for optimal operation The following figure describes the accompanying documentation that you will r...

Страница 13: ...atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available The Bassoon dissipates its heat by natural convection The maximum operating ambient...

Страница 14: ...Feedback if needed J2 3 5 6 Digital Input Cable if needed J5 3 5 6 Digital Output Cable if needed J6 3 5 6 Communication Cables RS 232 and or CANopen J1 J8 J9 3 5 8 1 PC for drive setup and tuning Mo...

Страница 15: ...from the box and the Styrofoam 2 Check the 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...

Страница 16: ...ounting on a DIN rail Attaching directly to the wall with screws 3 4 1 Mounting on a DIN Rail At the top rear of the Bassoon a horizontal groove lets you quickly and easily snap the drive onto a DIN r...

Страница 17: ...the mounting strip and one at the bottom Figure 3 3 Extending the Mounting Strips and Attaching the Screws 3 5 Connecting the Cables 3 5 1 Wiring the Bassoon Once the Bassoon is mounted you are ready...

Страница 18: ...ducting 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 th...

Страница 19: ...OUTRET2 Tx Rx COMRET AC1 Controller AUX SUPPLY 24VDC RS 232 J1 Feedback B Feedback A Main Feedback 24v BAS0010A Isolated Transformer Drain Wire Shield 4 Drain Wire Shield Bassoon CAN_H CAN_L CAN_GND C...

Страница 20: ...Figure 3 4 Bassoon Detailed Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 4 3 8...

Страница 21: ...or The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup However if you plan to copy the set up to other drives then the phase o...

Страница 22: ...commended not mandatory for the AC 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 two power wires Neutral...

Страница 23: ...rated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards For safety reasons connect the return common of the 24 VDC source to the closest g...

Страница 24: ...the lock this will cause the lock to disengage and 2 twist the screwdriver downward with light pressure on the handle see the figure below Figure 3 8 Disconnecting Molex Connectors Notes for assembli...

Страница 25: ...s only Incremental Analog Sine Cosine encoder option Resolver option Tachometer and potentiometer Absolute encoder Connect the main feedback cable from the motor to the J3 port on the front of the Bas...

Страница 26: ...RET Supply return SUPRET Supply return SUPRET Supply return 5 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return 6 5V Encoder Hall 5 V supply 5V Encoder Hall 5 V suppl...

Страница 27: ...pply return SUPRET Supply return 5 SUPRET Supply return SUPRET Supply return 6 5V Encoder 5 V supply voltage 5 V 200 mA maximum 8V Encoder 8 V supply voltage 8 V 90 mA maximum 7 DATA Data complement D...

Страница 28: ...NDEX CHA CHA 12 11 3 Hall A 6 Encoder Hall 5v Supply Hall Encoder Supply Voltage Return 5 4 HC HB CHB CHB INDEX INDEX CHA CHA HA 5v SUPRET SUPRET BAS0015A Drain Wire Shield Figure 3 10 Main Feedback I...

Страница 29: ...Figure 3 11 Main Feedback Interpolated Analog Encoder Connection Diagram Figure 3 12 Main Feedback Resolver Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 4 3 17...

Страница 30: ...Hall A HA 6 Tacho Tacho Up to 20Vmax Feedback Input Up to 50Vmax Feedback Input Tachometer with Hall Sensor 5 Figure 3 13 Main Feedback Tachometer Feedback with Digital Hall Sensor Connection Diagram...

Страница 31: ...n Diagram for Brushless Motors Bassoon Feedback A 8 5v Supply Voltage Return 4 5V SUPRET BAS0044A 6 Potentiometer POT 5 Figure 3 16 Main Feedback Potentiometer Feedback Connection Diagram for Brush Mo...

Страница 32: ...Figure 3 17 Main Feedback Stegmann Feedback Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 4 3 20...

Страница 33: ...at signals are quadrature differential buffered Resolver A input A input Incremental Encoder or Analog Encoder or Resolver B input Differential or Single ended Auxiliary Incremental Encoder B input Di...

Страница 34: ...de position data to the position controller The Bassoon is used 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 e...

Страница 35: ...data in Follower or ECAM mode Below are the signals on the Auxiliary Feedback port when set up to run as a differential auxiliary encoder input Pin Signal Function Pin Position 1 SUPRET Supply return...

Страница 36: ...e Bassoon can be used as a slave by receiving the position data on Port B of the master encoder in Follower or ECAM mode Below are the signals on the Auxiliary Feedback port when set up to run as a si...

Страница 37: ...2 SUPRET 5v CHB CHA 2 2 Supply Voltage Return 5v BAS0025A Bassoon INDEX 1 4 6 8 2 CHB CHA INDEX Figure 3 21 Single ended Auxiliary Encoder inputs on J2 Connection Diagram Bassoon Installation Guide In...

Страница 38: ...in Position 1 SUPRET Supply return 2 5 V NA 3 4 5 6 DIR CHB Direction input push pull 5 V or open collector 7 8 PULS CHA Pulse input push pull 5 V or open collector Table 3 10 Pulse and Direction Auxi...

Страница 39: ...n 2 5 V NA 3 4 5 DIR CHB Direction low input 6 DIR CHB Direction high input 7 PULS CHA Pulse low input 8 PULS CHA Pulse high input Table 3 11 Differential Pulse and Direction Auxiliary Encoder Pin Ass...

Страница 40: ...facturer s recommendations Pin Signal Function Pin Position 1 IN1 Programmable input 1 general purpose RLS FLS INH 2 IN2 Programmable input 2 general purpose RLS FLS INH 3 IN3 Programmable input 3 gen...

Страница 41: ...Figure 3 24 Digital Input Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 4 3 29...

Страница 42: ...ler according to the manufacturer s recommendations Pin Signal Function Pin Position 1 OUT1 Programmable output 1 2 OUTRET1 Programmable output return 1 3 OUT2 Programmable output 2 4 OUTRET2 Programm...

Страница 43: ...according to the manufacturer s recommendations Pin Signal Function Pin Position 1 ANLIN1 Analog input 1 2 ANLIN1 Analog input 1 3 ANLRET Analog ground Table 3 14 Analog Input Cable Pin Assignments B...

Страница 44: ...d by opto couplers and isolated power is supplied by the Bassoon For ease of setup and diagnostics of CAN communication RS 232 and CANopen can be used simultaneously 3 5 8 1 RS 232 Communication Notes...

Страница 45: ...drain wire or shield to facilitate connection The male RJ plug must have a shield cover Ensure that the shield of the cable is connected to the shield of the RJ plug The drain wire can be used to fac...

Страница 46: ...aution When installing CANopen communication ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang Bassoon Installation Guide Installation MAN BASIG Ver 1 4 3 34...

Страница 47: ...supply Note that this order is recommended but not critical if a problem occurs the system is well protected The two color LED turns green to indicate proper functioning 3 7 Initializing the System A...

Страница 48: ...ic commutation alignment Automatic motor phase sequencing A 1 4 Fully Programmable Third generation programming structure with motion commands Event capturing interrupts Event triggered programming A...

Страница 49: ...digital outputs Brake Control Amplifier fault indication General purpose Servo enable indication Buffered and differential outputs of the main encoder with up to 5 MHz pulses Emulated output of the r...

Страница 50: ...assoon Dimensions 129 5 1 105 4 1 BAS0003A J4 J5 J6 J7 J3 J2 J1 J9 J8 4 0 16 4 0 16 120 4 7 44 1 7 M3 M2 M1 PE PE AC2 AC1 76mm 3in Bassoon Installation Guide Technical Specifications MAN BASIG Ver 1 4...

Страница 51: ...x Ic Supplied with heat sink No 2 fins 4 fins and fan Built in shunt peak power W 400 Weight g oz 350 g 12 35 490 g 17 28 505 g 17 81 Dimensions mm in 105 x 44 x 76 4 13 x 1 73 x 3 105 x 56 x 76 4 13...

Страница 52: ...edback Connector Specifications Feature Details Connector Location Product name Sherlock Manufacturer Molex Wire size 24 26 28 30 AWG Maximum current 2 A Temperature range 40 to 105 C 40 to 221 F Plat...

Страница 53: ...y automatic gain scheduling Motor types AC brushless sinusoidal DC brushless trapezoidal DC brush Linear Motors Moving coils Current control Fully digital Sinusoidal with vector control Programmable P...

Страница 54: ...ative Velocity command options Analog Internally calculated by either jogging or step Note All software calculated profiles support on the fly changes Velocity loop bandwidth 350 Hz Velocity sampling...

Страница 55: ...Quadrature Interface RS 422 Input resistance Differential 120 Maximum incremental encoder frequency Maximum absolute 5 MHz pulses Minimum quadrature input period PIN 112 nsec Minimum quadrature input...

Страница 56: ...t open collector Halls Maximum frequency fMAX 2 kHz A 8 4 Interpolated Analog Encoder Sine Cosine Feature Details Analog encoder format Sine and Cosine signals Analog input signal level Offset voltage...

Страница 57: ...differential voltage for TAC1 TAC1 20 V Maximum absolute differential input voltage for TAC1 TAC1 25 V Maximum operating differential voltage for TAC2 TAC2 50 V Maximum absolute differential input vo...

Страница 58: ...Quadrature Interface RS 422 Output current capability Driving differential loads of 200 Available at options Buffered outputs of main input incremental encoder Emulated encoder outputs of analog enco...

Страница 59: ...5 6 V Vin Iin Iin 2 2 mA Vin 12 V Input current for high speed inputs 1250 5 6 V Vin Iin Iin 4 4 mA Vin 12 V High level input voltage 12 V Vin 30 V 24 V typical Low level input voltage 0V Vin 6 5 V M...

Страница 60: ...t to General input execution depends on program Typical execution time 0 5 msec High speed inputs minimum pulse width in high speed mode T 5 sec Notes Home mode is high speed mode and can be used for...

Страница 61: ...or 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 immediate u...

Страница 62: ...puts A 10 Communications Specification Details Connector Location RS 232 Signals RxD TxD Gnd Full duplex serial communication for setup and control Baud Rate of 9 600 115 200 bits sec CANopen CANbus S...

Страница 63: ...Bassoon at nominal DC bus voltage Bassoon 1 230 3 230 6 230 RMS output power without heat sink 80 40 20 If the input voltage is lower the RMS output current without a heatsink is higher Two types of h...

Страница 64: ...Design Specification Details MIL HDBK 217F Reliability prediction of electronic equipment rating de rating stress etc IPC D 275 IPC SM 782 IPC CM 770 UL508c UL840 Printed wiring for electronic equipm...

Страница 65: ...unity for industrial environment according to IEC61000 4 2 criteria B IEC61000 4 3 criteria A IEC61000 4 4 criteria B IEC61000 4 5 criteria B IEC61000 4 6 criteria A IEC61000 4 8 criteria A IEC61000 4...

Страница 66: ...es 3 31 Compliance standards 1 3 A 19 Composer 2 1 3 34 Conformance 1 3 A 19 Connecting Auxiliary power cable 3 10 Main power cable 3 9 Motor cables 3 8 Power cables 3 8 Connection diagram 3 7 Control...

Страница 67: ...Power cables 3 8 Powering up the Bassoon 3 34 pulse and direction input 3 25 Differential 3 26 R Relative humidity 3 1 RS 232 3 31 S Safety 1 1 Cautions 1 2 Compliance standards A 20 Standards 1 3 War...

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