Elmo ExtrIQ line Installation guide

Hornet and Bee
Digital Servo Drive
Installation Guide
September 2012 (Ver. 1.3)
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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 Hornet and Bee
servo drives in their 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.
•
Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion
Control Ltd.
•
Information in this document is subject to change without notice.
Document no. MAN-HRBEIG (Ver. 1.3)
Copyright  2012
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
BEE- XX/YYY R
HOR- XX/YYY R
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
Related Products:
Evaluation Board
Evaluation Board User Manual
Catalog Number: EVA-WHI/GUI/BEL
MAN-EVLBRD-WHI-BEL-GUI.pdf (available on our web site)
Revision History
Version
Date
Details
1.0
Feb. 2007
Initial Release
1.1
April 2008
Updated Power Rating Tables in Chapter 4
1.2
July 2010
MTCR 03-010-02: Updated Section 3.4; Figure 21;
Section 3.16; Section 4.1.8
1.3
Sept. 2012
Formatted according to the new template
“Metronome” was replaced by the “Composer” software.
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.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • info-asia@elmomc.com
Asia Pacific
Elmo Motion Control
#807, Kofomo Tower, 16-3, Sunae-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea
Tel: +82-31-698-2010 • Fax: +82-31-698-2013 • info-asia@elmomc.com
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
Table of Contents
Chapter 1:
1.1.
1.2.
1.3.
1.4.
1.5.
Warnings......................................................................................................................... 8
Cautions .......................................................................................................................... 8
Directives and Standards ................................................................................................ 9
CE Marking Conformance ............................................................................................. 10
Warranty Information .................................................................................................. 10
Chapter 2:
2.1.
2.2.
2.3.
2.4.
2.5.
3.4.
3.5.
3.6.
3.7.
3.8.
Introduction ................................................................................................. 11
ExtrIQ Product Family ................................................................................................... 11
Drive Description .......................................................................................................... 12
Product Features .......................................................................................................... 13
2.3.1. Current Control .............................................................................................. 13
2.3.2. Velocity Control ............................................................................................. 13
2.3.3. Position Control ............................................................................................. 13
2.3.4. Communication Options ................................................................................ 13
2.3.5. Feedback Options .......................................................................................... 14
2.3.6. Fault Protection ............................................................................................. 14
System Architecture ..................................................................................................... 15
How to Use this Guide .................................................................................................. 15
Chapter 3:
3.1.
3.2.
3.3.
Safety Information .......................................................................................... 7
Installation ................................................................................................... 17
Site Requirements ........................................................................................................ 17
Unpacking the Drives.................................................................................................... 17
Connectors.................................................................................................................... 19
3.3.1. Connector Types ............................................................................................ 19
3.3.2. Pinouts ........................................................................................................... 20
3.3.2.1. Connector J1 ................................................................................. 20
3.3.2.2. Connector J2 ................................................................................. 21
Mounting ...................................................................................................................... 22
3.4.1. Hornet ............................................................................................................ 22
3.4.2. Bee ................................................................................................................. 23
Integrating the Hornet or Bee on a PCB ....................................................................... 24
3.5.1. Traces............................................................................................................. 24
3.5.2. Grounds and Returns ..................................................................................... 24
The Hornet/Bee Connection Diagram .......................................................................... 26
Main Power and Motor Power ..................................................................................... 27
3.7.1. Connecting Motor Power .............................................................................. 27
3.7.2. Connecting Main Power ................................................................................ 28
Auxiliary Supply (for drive logic) ................................................................................... 28
3.8.1. Single Supply .................................................................................................. 29
3.8.2. Separate Auxiliary Supply .............................................................................. 29
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Table of Contents
MAN-HRBEIG (Ver. 1.3)
3.9.
3.10.
3.11.
3.12.
3.13.
3.14.
3.15.
3.16.
3.8.3. Shared Supply ................................................................................................ 30
Main Feedback ............................................................................................................. 31
Auxiliary Feedback ........................................................................................................ 35
3.10.1. Main and Auxiliary Feedback Combinations ................................................. 36
3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)................. 37
3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 39
3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 41
I/Os ............................................................................................................................... 43
3.11.1. Digital Input ................................................................................................... 43
3.11.2. Digital Output ................................................................................................ 45
3.11.3. Analog Input .................................................................................................. 46
Communications ........................................................................................................... 47
3.12.1. RS-232 Communication ................................................................................. 47
3.12.2. CANopen Communication ............................................................................. 48
Powering Up ................................................................................................................. 50
Initializing the System................................................................................................... 50
Heat Dissipation............................................................................................................ 50
3.15.1. Hornet Thermal Data ..................................................................................... 50
3.15.1.1. Hornet Thermal Data .................................................................... 50
3.15.1.2. Heat Dissipation Data ................................................................... 51
3.15.1.3. How to Use the Charts .................................................................. 52
3.15.2. Bee Thermal Data .......................................................................................... 52
Evaluation Board and Cable Kit .................................................................................... 53
Chapter 4:
4.1.
4.2.
4.3.
4.4.
4.5.
Technical Specifications ................................................................................ 54
Features ........................................................................................................................ 54
4.1.1. Motion Control Modes .................................................................................. 54
4.1.2. Advanced Positioning Control Modes ........................................................... 54
4.1.3. Advanced Filters and Gain Scheduling........................................................... 54
4.1.4. Fully Programmable ....................................................................................... 54
4.1.5. Feedback Options .......................................................................................... 55
4.1.6. Input/Output ................................................................................................. 55
4.1.7. Built-In Protection ......................................................................................... 56
4.1.8. Accessories .................................................................................................... 56
4.1.9. Status Indication ............................................................................................ 56
4.1.10. Automatic Procedures ................................................................................... 56
Dimensions ................................................................................................................... 57
4.2.1. Hornet ............................................................................................................ 57
4.2.2. Bee ................................................................................................................. 57
Power Ratings ............................................................................................................... 58
4.3.1. Hornet ............................................................................................................ 58
4.3.2. Bee ................................................................................................................. 59
4.3.3. Auxiliary Supply ............................................................................................. 59
Environmental Conditions ............................................................................................ 60
Control Specifications ................................................................................................... 61
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Hornet and Bee Installation Guide
Table of Contents
MAN-HRBEIG (Ver. 1.3)
4.5.1. Current Loop .................................................................................................. 61
4.5.2. Velocity Loop ................................................................................................. 62
4.5.3. Position Loop ................................................................................................. 62
4.6. Feedbacks ..................................................................................................................... 63
4.6.1. Feedback Supply Voltage ............................................................................... 63
4.6.2. Main Feedback Options ................................................................................. 63
4.6.2.1. Incremental Encoder Input ........................................................... 63
4.6.2.2. Digital Halls ................................................................................... 64
4.6.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 65
4.6.2.4. Resolver ........................................................................................ 65
4.6.2.5. Tachometer................................................................................... 66
4.6.2.6. Potentiometer .............................................................................. 66
4.6.3. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 67
4.6.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 68
4.7. I/Os ............................................................................................................................... 69
4.7.1. Digital Input Interfaces .................................................................................. 69
4.7.2. Digital Output Interface ................................................................................. 70
4.7.3. Analog Input .................................................................................................. 70
4.8. Communications ........................................................................................................... 71
4.9. Pulse-Width Modulation (PWM) .................................................................................. 71
4.10. Compliance with Standards .......................................................................................... 72
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MAN-HRBEIG (Ver. 1.3)
Chapter 1: Safety I nform ation
In order to achieve the optimum, safe operation of the Hornet and Bee servo drives, 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
Hornet and Bee as well as the accompanying equipment.
Please read this chapter carefully before you begin the installation process.
Before you start, ensure that all system components are connected to earth ground. Electrical
safety is provided through a low-resistance earth connection.
Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified
person has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating motors.
The Hornet and Bee servo drives contain electrostatic-sensitive components that can be
damaged if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly
insulating materials, such as plastic film and synthetic fabrics. Place the product on a
conductive surface and ground yourself in order to discharge any possible static electricity
build-up.
To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this manual:
Warning:
This information is needed to avoid a safety hazard, which might cause bodily
injury.
Caution:
This information is necessary for preventing damage to the product or to other
equipment.
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Hornet and Bee Installation Guide
Safety Information
MAN-HRBEIG (Ver. 1.3)
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.
•
Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Hornet and Bee from all voltage sources before it is opened for servicing.
•
The Hornet and Bee servo drives contain grounding conduits for electric current protection.
Any disruption to these conduits may cause the instrument to become hot (live) and
dangerous.
•
After shutting off the power and removing the power source from your equipment, wait at
least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.
•
Cleaning after soldering. To avoid damage to the product’s acrylic coating, the Hornet and
Bee must not be cleaned after soldering with soluble solvents or water-based cleaners. For
further details see:
www.elmomc.com/applications/article/Soldering-and-Cleaning_Application-Note.pdf
1.2.
Cautions
•
The Hornet and Bee servo drives contain hot surfaces and electrically-charged components
during operation.
•
The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
•
When connecting the Hornet and Bee to an approved 12 to 95 VDC auxiliary power supply,
connect it through a line that is separated from hazardous live voltages using reinforced or
double insulation in accordance with approved safety standards.
•
Before switching on the Hornet and Bee, verify that all safety precautions have been
observed and that the installation procedures in this manual have been followed.
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Hornet and Bee Installation Guide
Safety Information
MAN-HRBEIG (Ver. 1.3)
1.3.
Directives and Standards
The Hornet and Bee conform to the following industry safety standards:
Safety Standard
Item
Approved IEC/EN 61800-5-1, Safety
Adjustable speed electrical power drive systems
Recognized UL 508C
Power Conversion Equipment
In compliance with UL 840
Insulation Coordination Including Clearances and
Creepage Distances for Electrical Equipment
In compliance with UL 60950-1
(formerly UL 1950)
Safety of Information Technology Equipment
Including Electrical Business Equipment
In compliance with EN 60204-1
Low Voltage Directive 73/23/EEC
The Hornet and Bee also conforms to the following military qualitative standards:
Military Qualitative Standard
Item
In compliance with MIL-STD-704
Aircraft, Electric Power Characteristics
In compliance with MIL-STD-810
Environmental Engineering Considerations and
Laboratory Tests
In compliance with MIL-STD-1275
Characteristics of 28 Volt DC Electrical Systems in
Military Vehicles
In compliance with MIL-STD-461
Requirements for the Control of Electromagnetic
Interference Characteristics of Subsystems and
Equipment
In compliance with MIL-HDBK-217
Reliability Prediction of Electronic Equipment
In compliance with ISO-9001:2008
Quality Management
The Hornet and Bee servo drives have been developed, produced, tested and documented in
accordance with the relevant standards. Elmo Motion Control is not responsible for any
deviation from the configuration and installation described in this documentation.
Furthermore, Elmo is not responsible for the performance of new measurements or ensuring
that regulatory requirements are met.
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Hornet and Bee Installation Guide
Safety Information
MAN-HRBEIG (Ver. 1.3)
1.4.
CE Marking Conformance
The Hornet and Bee servo drives are 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.
According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive
73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the
Hornet and Bee meet the provisions outlined in Council Directive 73/23/EEC. The party
responsible for ensuring that the equipment meets the limits required by EMC regulations is
the manufacturer of the end product.
1.5.
Warranty Information
The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the
time of installation, or 18 months from time of shipment, whichever comes first. No other
warranties, expressed or implied — and including a warranty of merchantability and fitness for
a particular purpose — extend beyond this warranty.
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Hornet and Bee Installation Guide
11
MAN-HRBEIG (Ver. 1.3)
Chapter 2: I ntroduction
This installation guide describes the Hornet and Bee servo drives and the steps for their wiring,
installation and power-up. Following these guidelines ensures maximum functionality of the
drive and the system to which they are 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. The products are capable of
withstanding the following extreme conditions:
Feature
Operation Conditions
Range
Ambient
Temperature
Range
Non-operating Conditions
-50 °C to +100 °C (-58 °F to 212 °F)
Operating conditions
-40 °C to +70 °C (-40 °F to 160 °F)
Temperature
Shock
Non-operating conditions
-40 °C to +70 °C (-40 °F to 160 °F) within 3
min
Altitude
Non-operating conditions
Unlimited
Operating conditions
-400 m to 155,000 m (-1,300 ft to 510,000
ft)
Non-operating conditions
Up to 95% relative humidity noncondensing at 35 °C (95 °F)
Operating conditions
Up to 95% relative humidity noncondensing at 25 °C (77 °F), up to 90%
relative humidity non-condensing at 42 °C
(108 °F)
Vibration
Operating conditions
20 Hz to 2000 Hz, 14.6g
Mechanical
Shock
Non-operating conditions
±40g; Half sine, 11 msec
Operating conditions
±20g; Half sine, 11 msec
Maximum
Humidity
ExtrIQ products have a high power density in the range from 10 W to 9000 W and current
carrying capacity of up to 200 A (400 A peak). ExtrIQ has been tested using methods and
procedures specified in a variety of extended environmental conditions (EEC) standards
including:
•
•
•
MIL-STD-704 - Aircraft, Electric Power Characteristics
MIL-STD-810 - Environmental Engineering Considerations and Laboratory Tests
MIL-STD-1275 - Characteristics of 28 Volt DC Electrical Systems in Military Vehicles
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Hornet and Bee Installation Guide
Introduction
MAN-HRBEIG (Ver. 1.3)
•
•
•
MIL-STD-461- Requirements for the Control of Electromagnetic Interference Characteristics
of Subsystems and Equipment
MIL-HDBK-217 - Reliability Prediction of Electronic Equipment
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 Hornet and Bee series are highly resilient digital servo drives designed to deliver “the
highest density of power and intelligence”. While both are light and highly compact solutions,
the Bee can be used whenever reduced size and weight are essential to the application. The
Hornet delivers up to 1.6 KW of continuous power or 3.2K W of peak power in a 2.4 in³ (55 X
15 x 46.5 mm or 2.2" x 0.6" x 1.8") 38 cc package. The Bee delivers up to 200 W of continuous
power or 400 W of peak power.
Designed for OEMs, the Hornet and Bee are part of the Elmo’s ExtrIQ product line designed to
endure extended environmental operating conditions. The digital drives are based on Elmo’s
advanced ExtrIQ motion control technology. They operate from a DC power source in current,
velocity, position and advanced position modes, in conjunction with a permanent-magnet
synchronous brushless motor, DC brush motor, linear motor or voice coil. They are designed for
use with any type of sinusoidal and trapezoidal commutation, with vector control. The Hornet
and Bee can operate as stand-alone devices or as part of a multi-axis system in a distributed
configuration on a real-time network.
The drives are easily set up and tuned using Elmo’s Composer software tools. This Windowsbased application enables users to quickly and simply configure the servo drive for optimal use
with their motor. The Hornet and Bee, as part of the ExtrIQ product line, are fully
programmable with Elmo’s Composer motion control language.
Power to the drives is provided by a 12 to 95 VDC isolated DC power source (not included with
the Hornet and Bee). A “smart” control-supply algorithm enables the Hornet and Bee to
operate with only one power supply with no need for an auxiliary power supply for the logic.
If backup functionality is required for storing control parameters in case of power-loss, an
external 12 to 95 VDC isolated supply should be connected (via the +VL terminal on the Hornet
and Bee) providing maximum flexibility and backup functionality when needed.
Note: This backup functionality can operate from any voltage source within the 12 to 95 VDC
range. This is much more flexible than to be restricted by only using a standard 24VDC power
supply.
If backup power is not needed, two terminals (VP and VL) are shorted so that the main power
supply will also power the control/logic supply. In this way there is no need for a separate
control/logic supply.
The Hornet and Bee are PCB mounted devices which enable efficient and cost saving
implementation.
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Introduction
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
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.
Velocity Control
•
Fully digital
•
Programmable PI and FFW (feed forward) control filters
•
Sample rate two times current loop sample time
•
“On-the-fly” gain scheduling
•
Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins
2.3.3.
Position Control
•
Programmable PIP control filter
•
Programmable notch and low-pass filters
•
Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
•
Pulse-and-direction inputs
•
Sample time – four times that of the current loop
•
Fast event capturing inputs
•
PT and PVT motion modes
•
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
•
Fast output compare (OC)
2.3.4.
Communication Options
Hornet and Bee users can use two communication options:
•
RS-232 serial communication
•
CANopen for fast communication in a multi-axis distributed environment
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Introduction
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
2.3.5.
Feedback Options
•
Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
•
Digital Halls – up to 2 kHz
•
Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts per
second for encoder
•
Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz (analog signal)



•
Internal Interpolation - up to x4096
Automatic Correction of amplitude mismatch, phase mismatch, signals offset
Auxiliary emulated, unbuffered, single-ended, encoder output
Resolver



Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
•
Tachometer, Potentiometer
•
Elmo drives provide supply voltage for all the feedback options
2.3.6.
Fault Protection
The Hornet and Bee include built-in protection against possible fault conditions, including:
•
Software error handling
•
Status reporting for a large number of possible fault conditions
•
Protection against conditions such as excessive temperature, under/over voltage, loss of
commutation signal, short circuits between the motor power outputs and between each
output and power input/return.
•
Recovery from loss of commutation signals and from communication errors
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Hornet and Bee Installation Guide
Introduction
MAN-HRBEIG (Ver. 1.3)
2.4.
System Architecture
Figure 1: Hornet/Bee System Block Diagram
2.5.
How to Use this Guide
In order to install and operate your Elmo Hornet or Bee servo drives, you will use this manual in
conjunction with a set of Elmo documentation. Installation is your first step; after carefully
reading the safety instructions in the first chapter, the following chapters provide you with
installation instructions as follows:
•
Chapter 3, Installation, provides step-by-step instructions for unpacking, mounting,
connecting and powering up the Hornet and Bee.
•
Chapter 4, Technical Specifications, lists all the drive ratings and specifications.
Upon completing the instructions in this guide, your Hornet and Bee servo drives 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 system for optimal operation. The
following figure describes the accompanying documentation that you will require.
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Introduction
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
Figure 2: Elmo Digital Servo Drive Documentation Hierarchy
As depicted in the previous figure, this installation guide is an integral part of the Hornet and
Bee documentation set, comprising:
•
The Composer Software Manual, which includes explanations of all the software tools that
are part of Elmo’s Composer software environment.
•
The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the Hornet and Bee motion controller.
•
The SimplIQ Software Manual, which describes the comprehensive software used with the
Hornet and Bee.
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Hornet and Bee Installation Guide
17
MAN-HRBEIG (Ver. 1.3)
Chapter 3: I nstallation
The Hornet and Bee 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 Hornet and Bee by ensuring that they are installed
in an appropriate environment.
Feature
Value
Ambient operating temperature
-40 °C to +70 °C (-40 °F to 160 °F)
Maximum operating altitude
155,000 m (510,000 ft)
Maximum non-condensing humidity
95%
Operating area atmosphere
No flammable gases or vapors permitted in area
Caution: The Hornet and Bee dissipate heat by convection. The maximum ambient operating
temperature of –40 °C to +70 °C (-40 °F to +160 °F) must not be exceeded.
3.2.
Unpacking the Drives
Before you begin working with the Hornet and Bee, verify that you have all of their
components, as follows:
• The Hornet or Bee servo drive
•
The Composer software and software manual
The Hornet and Bee are shipped in cardboard boxes with Styrofoam protection.
To unpack the Hornet or Bee:
1. Carefully remove the servo drive 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.
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Installation
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
3. To ensure that the Hornet or Bee you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Hornet or Bee. It looks like
this:
The part number at the top gives the type designation as follows:
HOR- XX/YYY R
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
BEE- XX/YYY R
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
I = Interpolated
Analog
Encoder
T = Tachometer &
Potentiometer
4. Verify that the Hornet or Bee type is the one that you ordered, and ensure that the voltage
meets your specific requirements.
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Installation
Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
3.3.
Connectors
The Hornet and Bee have nine connectors.
3.3.1.
Pins
2x11
Connector Types
Type
2 mm pitch
0.51 mm sq
Port
Function
J1
I/O, COMM,
Auxiliary Feedback
15
J2
Main Feedback, Analog
Input, LED
2
M1
Motor power output 1
2
M2
Motor power output 2
2
M3
Motor power output 3
2
PE
Protective earth
2
PR
Power input return
2
VP+
Positive power input
1
VL
Auxiliary power input
Connector Location
Table 1: Connector Types
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Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
3.3.2.
Pinouts
The pinouts in this section describe the function of each pin in the Hornet and Bee J1 and J2
connectors.
3.3.2.1.
Pin (J1)
Connector J1
Signal
Function
1
RS232_RX
RS232 receive
2
RS232_TX
RS232 Transmit
3
RS232_COMRET
Communication return
4
SUPRET
Supply return
5
AUX PORT CHA
AUX PORT CHA (bidirectional)
6
SUPRET
Supply return
7
OUT1
Programmable Digital output 1
8
OUT2
Programmable Digital output 2
9
IN1
Programmable Digital input 1
10
IN2
Programmable Digital input 2
11
IN3
Programmable Digital input 3
12
IN4
Programmable Digital input 4
13
IN5
Programmable Digital input 5
14
IN6
Programmable Digital input 6
15
INRET
Programmable Digital input return
16
OUTRET2
Programmable Digital output 2 return
17
OUTRET1
Programmable Digital output 1 return
18
AUX PORT CHB
AUX PORT CHB (bidirectional)
19
AUX PORT INDEX
AUX PORT INDEX (bidirectional)
20
CAN_COMRET
Communication return
21
CAN_L
CAN_L busline (dominant low)
22
CAN_H
CAN_H busline (dominant high)
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3.3.2.2.
Pin (J2)
Connector J2
Signal
Function
1
+5V
Encoder/Hall +5V supply voltage.
Maximum output current: 200 mA.
2
SUPRET
Supply return
3
ANALIN1+
Analog input 1+
4
ANALIN1-
Analog input 1-
5
CHA
Channel A input
6
CHA-
Channel A input complement
7
CHB
Channel B input
8
CHB-
Channel B input complement
9
INDEX+
Index input
10
INDEX-
Index input complement
11
HA
Hall sensor A input
12
HB
Hall sensor B input
13
HC
Hall sensor C input
14
LED_2_OUT
Bi-color indication output 2 (Cathode)
15
LED_1_OUT
Bi-color indication output 1 (Anode)
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MAN-HRBEIG (Ver. 1.3)
3.4.
Mounting
3.4.1.
Hornet
The Hornet was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51
mm square pins. When integrating the Hornet into a device, be sure to leave about 1 cm (0.4")
outward from the heatsink to enable free air convection around the drive. We recommend that
the Hornet be soldered directly to the board. Alternatively, though this is not recommended,
the Hornet can be attached to socket connectors mounted on the PCB. If the PCB is enclosed in
a metal chassis, we recommend that the Hornet be screw-mounted to it as well to help with
heat dissipation. The Hornet has screw-mount holes on each corner of the heatsink for this
purpose – see below.
Figure 3: The Hornet Footprint
When the Hornet is not connected to a metal chassis, the application’s thermal profile may
require a solution for heat dissipation due to insufficient air convection. In this case, we
recommend that you connect an external heatsink. Elmo has an external heatsink (Catalog
number: WHI-HEATSINK-2) that can be ordered for this purpose – see below.
Figure 4: Hornet External Heatsink
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MAN-HRBEIG (Ver. 1.3)
3.4.2.
Bee
The Bee was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm
square pins. When integrating the Bee into a device, be sure to leave about 1 cm (0.4")
outward from the lower board to enable free air convection around the drive. We recommend
that the Bee be soldered directly to the board. Alternatively, the Bee can be attached to socket
connectors mounted on the PCB.
Note: Elmo recommends you leave approximately 1 cm (0.4 in) of space on the side opposite
the terminals to allow for free air convection.
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3.5.
Integrating the Hornet or Bee on a PCB
The Hornet and Bee are designed to be mounted on a PCB, either by soldering the pins directly
to the PCB or by using suitable socket connectors. In both cases the following rules apply:
3.5.1.
Traces
1. The size of the traces on the PCB (thickness and width) is determined by the current
carrying capacity required by the application.


The rated continuous current limit (Ic) of the Hornet and Bee is the current used for
sizing the motor traces (M1, M2, M3 and PE) and power traces (VP+, PR and PE).
For control, feedbacks and Input/output conductors the actual current is very small but
“generous” thickness and width of the conductors will contribute to a better
performance and lower interference.
2. The traces should be as short as possible to minimize EMI and to minimize the heat
generated by the conductors.
3. The spacing between the high voltage conductors (VP+, PR, M1, M2, M3, VL) must be at
least:


Surface layer: 1.5
Internal layer: 0.10
mm
mm
Complying with the rules above will help satisfy UL safety standards, MIL-STD-275 and the IPCD-275 standard for non-coated conductors, operating at voltages lower than 100 VDC and at
“unlimited altitudes” (above 10,000 meters or 30,000 feet).
3.5.2.
Grounds and Returns
The “Returns” of the Hornet and Bee are structured internally in a star configuration. The
returns in each functional block are listed below:
Functional Block
Return Pin
Power
PR (Power Return)
Internal Switch Mode P.S.
PR (Power Return)
RS232 Communications
RS232_COMRET (J1/3)
CAN Communications
CAN_COMRET (J1/20)
Control section
Internal, not accessible
Main Feedback
SUPRET (J2/2)
Aux. Feedback
SUPRET (J1/4)
Analog input
ANLRET (J2/2)
The returns above are all shorted within the Hornet or Bee in a topology that results in
optimum performance.
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MAN-HRBEIG (Ver. 1.3)
1. When wiring the traces of the above functions, on the Integration Board, the Returns of
each function must be wired separately to its designated terminal on the Hornet or Bee.
DO NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration
Board may cause performance degradation (ground loops, etc).
2. Inputs: The 6 inputs are optically isolated from the other parts of the Hornet/Bee. All 6
inputs share a single common “Return” (INRET - J1/15). To retain isolation, the Input Return
pin, as well as other conductors on the input circuit, must be laid out separately.
3. Outputs: The 2 outputs are optically isolated from the other parts of the Hornet/Bee. Each
output has a separate floating return (OUTRET1 - J1/17 for output 1 and OUTRET2 J1/16 for
output 2). To retain isolation, the Output Return pins, as well as other conductors on the
output circuit, must be laid out separately.
4. Return Traces: The return traces should be as large as possible, but without shorting each
other, and with minimal crossovers.
5. Main Power Supply and Motor Traces: The power traces must be kept as far away as
possible from the feedback, control and communication traces.
6. PE Terminal: The PE terminal is connected directly to the Hornet's heatsink or to the Bee's
2 PE strips on its lower board. In the Hornet, the heatsink serves as an EMI common plane.
The PE terminal should be connected to the system's Protective Earth. Any other metallic
parts (such as the chassis) of the assembly should be connected to the Protective Earth as
well.
7. Under normal operating conditions, the PE trace carries no current. The only time these
traces carry current is under abnormal conditions (such as when the device has become a
potential shock or fire hazard while conducting external EMI interferences directly to
ground). When connected properly the PE trace prevents these hazards from affecting the
drive.
Caution: Follow these instructions to ensure safe and proper implementation. Failure to meet
any of the above-mentioned requirements can result in drive, controller or host failure.
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MAN-HRBEIG (Ver. 1.3)
3.6.
The Hornet/Bee Connection Diagram
Figure 5: Hornet/Bee Connection Diagram
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3.7.
Main Power and Motor Power
The Hornet and Bee receive power from main and delivers power to the motor.
Pin
Function
Cable
Pin Positions
VP+
Pos. Power input
Power
PR
Power return
Power
PE
Protective earth
Power
AC Motor
DC Motor
Motor
Motor
M1 Motor phase
Motor
N/C
M2 Motor phase
Motor
Motor
M3 Motor phase
Motor
Motor
PE
Protective earth
Note: When connecting several drives to several motors, all should be wired in the same
motor phases and feedback sequences. This will enable the same ExtrIQ program to run on
all drives.
Table 2: Connector for Main Power and Motor
3.7.1.
Connecting Motor Power
Connect the M1, M2, M3 and PE pins on the Hornet/Bee in the manner described in Section 3.5
(Integrating the Hornet or Bee on a PCB). The phase connection is arbitrary as the Composer
will establish the proper commutation automatically during setup. However, if you plan to copy
the setup to other drives, then the phase order on all copy drives must be the same.
Figure 6: AC Motor Power Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.7.2.
Connecting Main Power
Connect the VP+, PR and PE pins on the Hornet/Bee in the manner described in Section 3.5
(Integrating the Hornet or Bee on a PCB).
Figure 7: Main Power Supply Connection Diagram
3.8.
Auxiliary Supply (for drive logic)
Notes for 12 to 95 VDC auxiliary supply connections:
Connect the VL and PR pins on the Hornet/Bee in the manner described in Section 3.5
(Integrating the Hornet or Bee on a PCB).
Pin
Function
VL
Auxiliary Supply Input
PR
Supply Input Return
Pin Positions
Caution:
Power from the Hornet/Bee to the
motor must come from the Main
Supply and NOT from the Auxiliary
Supply.
Table 3: Auxiliary Supply Pins
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MAN-HRBEIG (Ver. 1.3)
3.8.1.
Single Supply
A single isolated DC power supply can provide power for both the main power and the Auxiliary
(Drive Logic) Supply. The drawing below shows how a single supply is connected.
Figure 8: Single Supply for both the Main Power Supply and the Auxiliary Supply
3.8.2.
Separate Auxiliary Supply
Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply.
Figure 9: Separate Auxiliary Supply Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.8.3.
Shared Supply
A "Main" DC Power Supply can be designed to supply power to the drive's Logic as well as to
the Main Power (see Figure 8). If backup functionality is required (for storing control
parameters in case of power-outs) an additional backup supply can be connected by
implementing 'diode coupling' (see the Aux. Backup Supply in Figure 10).
Figure 10: Shared Supply Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.9.
31
Main Feedback
The Main Feedback port is used to transfer feedback data from the motor to the drive. In order
to copy the setup to other drives, the phase order on all copy drives must be the same.
The Hornet and Bee can accept any one the following devices as a main feedback mechanism:
•
•
•
•
•
•
Incremental encoder only
Incremental encoder with digital Hall sensors
Digital Hall sensors only
Interpolated Analog (Sine/Cosine) encoder (option)
Resolver (option)
Tachometer (option)
Potentiometer (option)
Incremental
Encoder
Interpolated
Analog Encoder
Resolver
Tachometer and
Potentiometer
HOR-XX/YYY_,
BEE-XX/YYY _
HOR-XX/YYYI,
BEE-XX/YYYI
HOR-XX/YYYR,
BEE-XX/YYYR
HOR-XX/YYYT,
BEE-XX/YYYT
Signal
Signal
Signal
Pin (J2) Signal
Function
Function
Function
Function
13
HC
Hall sensor C
input
HC
Hall sensor C
input
NC
-
HC
Hall sensor C
input
11
HA
Hall sensor A
input
HA
Hall sensor A
input
NC
-
HA
Hall sensor A
input
2
SUPRET
Supply return
SUPRET
Supply return
SUPRET
Supply return
SUPRET
Supply return
1
+5V
Encoder/Hall
+5V supply
+5V
Encoder/Hall
+5V supply
+5V
Encoder/Hall
+5V supply
+5V
Encoder/Hall +5V
supply
6
CHA-
Channel A
complement
A-
Sine A
complement
S3
Sine A
complement
Tac 1-
Tacho Input 1
Neg. (20 V max)
5
CHA
Channel A
A+
Sine A
S1
Sine A
Tac 1+
Tacho Input 1
Pos. (20 V max)
10
INDEX-
Index
complement
R-
Reference
complement
R2
Vref complmnt
f= 1/TS, 50 mA
Maximum
NC
9
INDEX
Index
R+
Reference
R1
Vref f=1/TS,
50 mA Max.
POT
12
HB
Hall sensor B
input
HB
Hall sensor B
input
NC
8
CHB-
Channel B
complement
B-
Cosine B
complement
S4
Cosine B
complement
Tac 2-
Tacho Input 2
Neg. (50 V max)
7
CHB
Channel B
B+
Cosine B
S2
Cosine B
Tac 2+
Tacho Input 2
Pos. (50 V max)
-
3
ANALIN+ is used for Analog Input
4
ANALIN- is used for Analog Input
14
LED_2_OUT (AOKLED cathode) is used for LED indication
15
LED_1_OUT (AOKLED anode) is used for LED indication
HB
-
Potentiometer
Input (5 V Max)
Hall sensor B
input
Table 4: Main Feedback Pin Assignments
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Figure 11: Main Feedback- Incremental Encoder Connection Diagram
Figure 12: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram
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Figure 13: Main Feedback – Resolver Connection Diagram
Figure 14: Main Feedback – Tachometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors
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MAN-HRBEIG (Ver. 1.3)
Figure 15: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors
Figure 16: Main Feedback – Potentiometer Feedback with Digital Hall Sensor
Connection Diagram for Brushless Motors
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MAN-HRBEIG (Ver. 1.3)
Figure 17: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils
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 or Analog Encoder as the main feedback device.
This option can be used when:



The Hornet and Bee are used as current amplifiers to provide position data to the
position controller.
The Hornet and Bee are used in velocity mode to provide position data to the position
controller.
The Hornet and Bee are used as masters in follower or ECAM mode.
b. Single-ended auxiliary encoder input, for the input of position data of the master encoder
in follower or ECAM mode.
c. Pulse-and-direction input, for single-ended input of pulse-and-direction position
commands.
When using one of the auxiliary feedback options, the relevant functionality is software
selected for that option. Refer to the SimplIQ Command Reference Manual for detailed setup
information.
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MAN-HRBEIG (Ver. 1.3)
3.10.1.
36
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 Hornet/Bee has three bidirectional pins (CHA, CHB and INDEX). When used in combination with Main Feedback, the
Auxiliary Feedback can be set, by software, as follows:
Auxiliary Feedback
Main
Feedback
YA[4] = 4
(Aux. Feedback: output)
Incremental 
Encoder Input
Interpolated
Analog
(Sine/Cosine)
Encoder Input
Main
Feedback:
Incremental
Encoder
Aux. Feedback:
There is no
Auxiliary
Feedback
output option
when an
Incremental
Encoder is the
main feedback
device
YA[4] = 2
(Aux. Feedback: input)
Main Feedback:
Incremental
Encoder
or
Analog Encoder
or
Resolver
or
Tachometer
or
Potentiometer
Input
YA[4] = 0
(Aux. Feedback: input)
Main Feedback:
Incremental
Encoder
or
Analog Encoder
or
Resolver
or
Tachometer
or
Potentiometer
Input

Main
Feedback:
Analog
Encoder
Aux. Feedback:
Analog
Encoder
position data
emulated in
single-ended,
unbuffered
Incremental
Encoder format
Aux. Feedback:
Singe-ended
Incremental
Encoder Input
Aux. Feedback:
Singe-ended
Pulse & Direction
Commands Input
Resolver Input 
Main
Feedback:
Resolver
Potentiometer
Tachometer
Input
Typical
Applications
Main Feedback:
Potentiometer
or Tachometer
Aux. Feedback:
Resolver
position data
emulated in
single-ended,
unbuffered
Incremental
Encoder format
Aux. Feedback:
There is no
Aux. Feedback
output option
when a
Potentiometer
or Tachometer
is the main
feedback device
 Any application 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 in the
Encoder’s quadrature format.
 Resolver applications where position
data is required in the Encoder’s
quadrature format.
Any application where two
feedbacks are used by the
drive.
The Auxilliary Feedback port
serves as an input for the
auxiliary incremental
encoder.
For applications such as
Follower, ECAM, or Dual
Loop.
Any application where two
feedbacks are used by the
drive.
The Auxilliary Feedback port
serves as an input for Pulse
& Direction Commands.
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3.10.2.
Auxiliary Feedback: Emulated Encoder Output Option
(YA[4]=4)
Pin (J1)
Signal
Function
4
SUPRET
Supply return
19
INDEX+
Index output
18
CHBO
Channel B output
5
CHAO
Channel A output
Pin Positions
Notes:
• The Emulated Encoder Output Option is only available
when using a Resolver or Analog Encoder as the main
feedback device.
• The Hornet/Bee’s Auxiliary Feedback is single-ended.
When mounted on an integration board, circuitry can
be added to make it differential (Figure 20 (highly
recommended)).
Table 5: Emulated Single-Ended Encoder Output Pin Assignments
Figure 18: Emulated Encoder Direct Output – Acceptable Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
Figure 19: Emulated Encoder Buffered Output – Recommended Connection Diagram
Figure 20: Emulated Encoder Differential Output – Highly Recommended Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.10.3.
Auxiliary Feedback: Single-Ended Encoder Input Option
(YA[4]=2)
Pin (J1)
Signal
Function
4
SUPRET
Supply return
19
INDEX
Auxiliary index input
18
CHB
Auxiliary channel B input
5
CHA
Auxiliary channel A input
Pin Positions
Note: The Hornet/Bee’s Auxiliary Feedback is singleended. When mounted on an integration board, circuitry
can be added to make it differential (Figure 23 (highly
recommended)).
Table 6: Single-Ended Auxiliary Encoder Pin Assignment
Figure 21: Single-Ended Auxiliary Encoder Input - Acceptable Connection Diagram
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Hornet and Bee Installation Guide
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MAN-HRBEIG (Ver. 1.3)
Figure 22: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram
Figure 23: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.10.4.
Auxiliary Feedback: Pulse-and-Direction Input Option
(YA[4]=0)
Pin (J1)
Signal
Function
4
SUPRET
Supply return
18
DIR/CHB
Direction input (push/pull 5 V or
open collector)
5
PULS/CHA
Pulse input (push/pull 5 V or open
collector)
Pin Positions
Note: The Hornet/Bee’s Auxiliary Feedback is singleended. When mounted on an integration board, circuitry
can be added to make it differential (Figure 26).
Table 7: Pulse-and-Direction Pin Assignments
Figure 24: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram
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Figure 25: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram
Figure 26: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.11. I/Os
The Hornet and Bee have:
•
6 Digital Inputs
•
2 Digital Outputs
•
1 Analog Input
I/O
J1
J2
Total
Digital Input
6
-
6
Digital Output
2
-
2
Analog Input
-
1
1
3.11.1.
Digital Input
Each of the pins below can function as an independent input.
Pin (J1)
Signal
Function
9
IN1
Programmable input 1
(general purpose, RLS, FLS, INH)
10
IN2
Programmable input 2
(general purpose, RLS, FLS, INH)
11
IN3
Programmable input 3
(general purpose, RLS, FLS, INH)
12
IN4
Programmable input 4
(general purpose, RLS, FLS, INH)
13
IN5
Hi-Speed Programmable input 5
(event capture, Main Home,
general purpose, RLS, FLS, INH)
14
IN6
Hi-Speed Programmable input 6
(event capture, Auxiliary Home,
general purpose, RLS, FLS, INH)
15
INRET
Programmable input return
Pin Positions
Table 8: Digital Input Pin Assignments
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Figure 27: Digital Input Connection Diagram
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MAN-HRBEIG (Ver. 1.3)
3.11.2.
Digital Output
Pin (J1) Signal
Function
7
OUT1
17
OUTRET1 Programmable digital output return 1
8
OUT2
16
OUTRET2 Programmable digital output return 2
Pin Positions
High-Speed Programmable digital
output 1
Programmable digital output 2
Table 9: Digital Output Pin Assignment
Figure 28: Digital Output Connection Diagram
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3.11.3.
Pin (J2)
Analog Input
Signal
Function
3
ANLIN1+
Analog input 1+
4
ANLIN1-
Analog input 1-
2
ANLRET
Analog ground
Pin Positions
Table 10: Analog Input Pin Assignments
Figure 29: Analog Input with Single-Ended Source
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MAN-HRBEIG (Ver. 1.3)
3.12. Communications
The communication interface may differ according to the user’s hardware. The Hornet and Bee
can communicate using the following options:
a. RS-232, full duplex
b. CANopen
RS-232 communication requires a standard, commercial 3-core null-modem cable connected
from the Hornet or Bee to a serial interface on the PC. The interface is selected and set up in
the Composer software.
In order to benefit from CANopen communication, the user must have an understanding of the
basic programming and timing issues of a CANopen network.
For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used
simultaneously.
3.12.1.
RS-232 Communication
Notes for connecting the RS-232 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.
•
The RS-232 communication port is non-isolated.
•
Ensure that the shield of the cable is connected to the shield of the connector used for
RS-232 communications. The drain wire can be used to facilitate the connection.
Pin (J1)
Signal
Function
1
RS232_Rx
RS-232 receive
2
RS232_Tx
RS-232 transmit
3
RS232_COMRET
Communication return
Pin Location
Table 11: RS-232 Pin Assignments
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Figure 30: RS-232 Connection Diagram
3.12.2.
CANopen Communication
Notes for connecting the CANopen 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.
•
Make sure to have a 120-Ω resistor termination at each of the two ends of the network
cable.
•
The Hornet and Bee’s CAN ports are non-isolated.
Pin (J1)
Signal
Function
20
CAN_GND
CAN ground
21
CAN_L
CAN_L busline (dominant low)
22
CAN_H
CAN_H busline (dominant high)
Pin Positions
Table 12: CANopen - Pin Assignments
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Figure 31: CANopen Network Diagram
Caution: When installing CANopen communication, ensure that each servo drive is allocated a
unique ID. Otherwise, the CANopen network may hang.
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3.13. Powering Up
After the Hornet or Bee is connected to its device, it is ready to be powered up.
Caution: Before applying power, ensure that the DC supply is within the specified range and
that the proper plus-minus connections are in order.
3.14. Initializing the System
After the Hornet or Bee has been connected and mounted, the system must be set up and
initialized. This is accomplished using the Composer, Elmo’s Windows-based software
application. Install the application and then perform setup and initialization according to the
directions in the Composer Software Manual.
3.15. Heat Dissipation
3.15.1.
Hornet Thermal Data
The best way to dissipate heat from the Hornet is to mount it so that its heatsink faces up. For
best results leave approximately 10 mm of space between the Hornet's heatsink and any other
assembly.
3.15.1.1.
Hornet Thermal Data
•
Heat dissipation capability (θ): Approximately 10 °C/W.
•
Thermal time constant: Approximately 240 seconds (thermal time constant means that the
Hornet will reach 2/3 of its final temperature after 4 minutes).
•
Shut-off temperature: 86 °C to 88 °C (measured on the heatsink)
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3.15.1.2.
Heat Dissipation Data
Heat Dissipation is shown in graphically below:
External
Heatsink
Required
Heatsink
not
Required
Standard 40 °C Ambient Temp.
External
Heatsink
Required
Heatsink
not
Required
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3.15.1.3.
How to Use the Charts
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 heatsink:
1. Allow maximum heatsink temperature to be 80 °C or less.
2. Determine the ambient operating temperature of the Hornet.
3. Calculate the allowable temperature increase as follows:

for an ambient temperature of 40 °C , ΔT= 80 °C – 40 °C = 40 °C
4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to
the desired output current and then find the dissipated power.
5. If the dissipated power is below 4 W the Hornet will need no additional cooling.
Notes:
•
The chart above shows that no heatsink is needed when the heatsink temperature is 80 °C,
ambient temperature is 40 °C and heat dissipated is 4 W.
•
When an external heatsink is required, you can use the Elmo external heatsink (Catalog
number: WHI-HEATSINK-2) – see Figure 4.
3.15.2.
Bee Thermal Data
The best way to dissipate heat from the Bee is to mount it so that its lower board faces
upward. For best results leave approximately 10 mm of space between the Bee's lower board
and any other assembly.
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3.16. Evaluation Board and Cable Kit
A circuit board is available for evaluating the Hornet. It comes with standard terminal blocks for
power connections and D-sub plugs/sockets for signal connections. The Evaluation Board is
provided with a cable kit.
Figure 32: The Evaluation Board (available upon request)
Evaluation Board
Evaluation Board User Manual
Catalog Number: EVA-WHI/GUI/BEL
MAN-EVLBRD-WHI-BEL-GUI.pdf (available on our web site)
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MAN-HRBEIG (Ver. 1.3)
Chapter 4: Technical Specifications
This chapter provides detailed technical information regarding the Hornet and Bee. 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 features of the Hornet and Bee determine how they control motion, as well as how they
process host commands, feedback and other 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 Control Modes
•
PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower
•
Fast event capturing inputs
•
Fast output compare (OC)
•
Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current
and velocity, digital (SW) and Pulse and Direction
4.1.3.
Advanced Filters and Gain Scheduling
•
“On-the-fly” gain scheduling of current and velocity
•
Velocity and position with “1-2-4” PIP controllers
•
Automatic commutation alignment
•
Automatic motor phase sequencing
4.1.4.
Fully Programmable
•
Third generation programming structure with motion commands – “Composer”
•
Event capturing interrupts
•
Event triggered programming
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Technical Specifications
MAN-HRBEIG (Ver. 1.3)
4.1.5.
Feedback Options
•
Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
•
Digital Halls – up to 2 kHz
•
Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts per
second for encoder
•
Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz (analog signal)



Internal Interpolation - up to x4096
Automatic Correction of amplitude mismatch, phase mismatch, signal offset
Emulated encoder outputs, single-ended, unbuffered of the Analog encoder
•
Analog Hall Sensor
•
Resolver



Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Emulated encoder outputs, single-ended, unbuffered of the Resolver.
•
Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered.
•
Tachometer & Potentiometer
•
Provide power (5 V, 200 mA max) for one Encoder, Resolver or Hall.
4.1.6.
Input/Output
•
One Analog Input – up to 14-bit resolution
•
Six programmable Digital Inputs, optically isolated (two of which are fast event capture
inputs).







•
Inhibit/Enable motion
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
Homing
General-purpose
Two programmable Digital Outputs, optically isolated (open collector) one with fast output
compare (OC)




Brake Control
Amplifier fault indication
General-purpose
Servo enable indication
•
Pulse and Direction inputs (single-ended)
•
PWM current command output for torque and velocity
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MAN-HRBEIG (Ver. 1.3)
4.1.7.
Built-In Protection
•
Software error handling
•
Abort (hard stops and soft stops)
•
Status reporting
•
Protection against:




Shorts between motor power outputs
Shorts between motor power outputs and power input/return
Failure of internal power supplies
Over temperature
•




Continuous temperature measurement; temperature can be read on the fly; a
warning can be initiated X degrees before temperature disable is activated.
Over/Under voltage
Loss of feedback
Following error
Current limits
4.1.8.
Accessories
•
External heatsink (Hornet), see Section 3.4.1 for more details.
Catalog number: WHI-HEATSINK-2.
•
Evaluation Board, see Section 3.16 for a picture and more details.
Catalog number: EVA-WHI/GUI/BEL.
•
Cable Kit, see Section 3.16 for more details.
Catalog number: CBL-EVAUNIKIT01.
4.1.9.
•
Status Indication
Output for a bi-color LED
4.1.10.
Automatic Procedures
•
Commutation alignment
•
Phase sequencing
•
Current loop offset adjustment
•
Current loop gain tuning
•
Current gain scheduling
•
Velocity loop offset adjustment
•
Velocity gain tuning
•
Velocity gain scheduling
•
Position gain tuning
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MAN-HRBEIG (Ver. 1.3)
4.2.
Dimensions
4.2.1.
Hornet
4.2.2.
Bee
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MAN-HRBEIG (Ver. 1.3)
Power Ratings
Minimum supply voltage
VDC
6
7.5
12
Nominal supply voltage
VDC
42
50
85
Maximum supply voltage
VDC
48
59
95
Maximum continuous power
output
W
Efficiency at rated power (at
nominal conditions)
%
600
800
50
480
720
960 200 400 1200 1600
> 99
Maximum output voltage
Auxiliary power supply
240
95% of DC bus voltage at f=22 kHz
VDC
11 to 95 VDC (up to 2.5 VA inc. 5 V/200 mA for encoder)
Amplitude sinusoidal/DC
continuous current (Ic)
A
Sinusoidal continuous RMS
current limit (Ic)
A
Peak current limit
A
2 x Ic
g (oz)
50 g (1.8 oz)
mm (in)
55 x 15 x 46.5 (2.2" x 0.6" x 1.8")
Weight
Dimensions
Digital in/Digital out/ Analog in
Mounting method
20/100
15/100
5/100
2.5/100
20/60
15/60
10/60
Units
5/60
Feature
1/60
Hornet
20/48
4.3.1.
15/48
4.3.
15
20
10.6 14.1
1
5
10
0.7
3.5
7
15
20
2.5
10.6 14.1 1.8
5
15
20
3.5 10.6 14.1
6/2/1
PCB Mount
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Hornet and Bee Installation Guide
MAN-HRBEIG (Ver. 1.3)
4.3.2.
Bee
Feature
Units
3/60
2.5/100
Minimum supply voltage
VDC
7.5
12
Nominal supply voltage
VDC
50
85
Maximum supply voltage
VDC
59
95
Maximum continuous power output
W
160
200
Efficiency at rated power (at nominal conditions)
%
Maximum output voltage
> 99
95% of DC bus voltage at
f=22 kHz
Auxiliary power supply
VDC
11 to 95 VDC (up to 2.5 VA inc.
5 V/200 mA for encoder)
Amplitude sinusoidal/DC continuous current (Ic)
A
3.3
2.5
Sinusoidal continuous RMS current limit (Ic)
A
2.3
1.8
Peak current limit
A
2 x Ic
g (oz)
27 g (0.95 oz)
mm (in)
51 x 12.5 x 42 (2" x 0.49" x 1.65")
Weight
Dimensions
Digital in/Digital out/Analog in
6/2/1
Mounting method
4.3.3.
PCB mount
Auxiliary Supply
Feature
Details
Auxiliary power supply
Isolated DC source only
Auxiliary supply input voltage
12 VDC to 95 VDC
Auxiliary supply input power
<2.5 VA (this includes the 5 V/200 mA load for
the main encoder only)
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MAN-HRBEIG (Ver. 1.3)
4.4.
Environmental Conditions
Operation Conditions
Range
Non-operating conditions
-50 °C to +100 °C (-58 °F to 212 °F)
Operating conditions
-40 °C to +70 °C (-40 °F to 160 °F)
Temperature
Shock
Non-operating conditions
-40 °C to +70 °C (-40 °F to 160 °F)
within 3 min.
Altitude
Non-operating conditions
Unlimited
Operating conditions
-400 m to 155,000 m (-1,300 ft to 510,000 ft)
Non-operating conditions
Up to 95% relative humidity non-condensing
at 35 °C (95 °F)
Operating conditions
Up to 95% relative humidity non-condensing
at 25 °C (77 °F), up to 90% relative humidity
non-condensing at 42 °C (108 °F)
Vibration
Operating conditions
20 Hz to 2,000 Hz, 14.6g
Mechanical
Shock
Non-operating conditions
±40g; Half sine, 11 msec
Operating conditions
±20g; Half sine, 11 msec
Feature
Ambient
Temperature
Range
Maximum
Humidity
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MAN-HRBEIG (Ver. 1.3)
4.5.
Control Specifications
4.5.1.
Current Loop
Feature
Details
Controller type
Vector, digital
Compensation for bus voltage
variations
“On-the-fly” automatic gain scheduling
Motor types
• AC brushless (sinusoidal)
• DC brushless (trapezoidal)
• DC brush
• Linear motors
• “Voice” coils
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 bandwidth
<2.5 kHz
Current sampling time
Programmable 70 to 100 µsec
Current sampling rate
Up to 16 kHz; default 11 kHz
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4.5.2.
Velocity Loop
Feature
Details
Controller type
PI
Velocity control
• Fully digital
• Programmable PI and FFW control filters
• "On-the-fly" gain scheduling
• Automatic, manual and advanced manual tuning
Velocity and position feedback
options
• Incremental Encoder
• Digital Halls
• Interpolated Analog (Sin/Cosine) Encoder (optional)
• Resolver (optional)
• Tachometer and Potentiometer (optional)
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 to 200 µsec (2x current loop sample time)
Velocity sampling rate
Up to 8 kHz; default 5.5 kHz
Velocity command options
• Analog
• Internally calculated by either jogging or step
Note: All software-calculated profiles support on-the-fly
changes.
4.5.3.
Position Loop
Feature
Details
Controller type
“1-2-4” PIP
Position command options
• Software
• Pulse and Direction
• Analog Potentiometer
Position loop bandwidth
<80 Hz
Position sampling time
280 to 400 µsec (4x current loop sample time)
Position sampling rate
Up to 4 kHz; default 2.75 kHz
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MAN-HRBEIG (Ver. 1.3)
4.6.
Feedbacks
The Hornet and Bee can receive and process feedback input from diverse types of devices.
4.6.1.
Feedback Supply Voltage
The Hornet and Bee have two feedback ports (Main and Auxiliary). The drives supply voltage
only to the main feedback device. The user must provide a separate power supply for auxiliary
feedback devices if needed.
Feature
Details
Main encoder supply voltage
5 V +5% @ 200 mA maximum
4.6.2.
Main Feedback Options
4.6.2.1.
Incremental Encoder Input
Feature
Encoder format
Details
• A, B and Index
• Differential
• Quadrature
Interface
RS-422
Input resistance
Differential: 120 Ω
Maximum incremental encoder frequency
Maximum absolute: 5 MHz pulses
Minimum quadrature input period (PIN)
112 nsec
Minimum quadrature input high/low period
(PHL)
56 nsec
Minimum quadrature phase period (PPH)
28 nsec
Maximum encoder input voltage range
Common mode: ±7 V
Differential mode: ±7 V
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MAN-HRBEIG (Ver. 1.3)
Figure 33: Main Feedback - Encoder Phase Diagram
4.6.2.2.
Digital Halls
Feature
Halls inputs
Details
• HA, HB, HC.
• Single ended inputs
• Built in hysteresis of 1V 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: V InHigh > 2.5 V
Low level input voltage: V InLow < 1 V
Input current
Sink current (when input pulled to the common): 3
mA
Source current: 1.5 mA (designed to also support
open collector Halls)
Maximum frequency
fMAX : 2 kHz
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MAN-HRBEIG (Ver. 1.3)
4.6.2.3.
Interpolated Analog (Sine/Cosine) Encoder
Feature
Details
Analog encoder format
Sine and Cosine signals
Analog input signal level
• Offset voltage: 2.2 V to 2.8 V
• Differential, 1 V peak to peak
Input resistance
Differential 120 Ω
Maximum analog signal frequency
fMAX : 250 kHz
Interpolation multipliers
Programmable: x4 to x4096
Maximum “counts” frequency
80 mega-counts/sec “internally”
Automatic errors correction
Signal amplitudes mismatch
Signal phase shift
Signal offsets
See Auxiliary Encoder Outputs specifications (4.6.3)
Encoder outputs
4.6.2.4.
Resolver
Feature
Resolver format
Details
• Sine/Cosine
• Differential
Input resistance
Differential 2.49 kΩ
Resolution
Programmable: 10 to 15 bits
Maximum electrical frequency (RPS)
512 revolutions/sec
Resolver transfer ratio
0.5
Reference frequency
1/Ts (Ts = sample time in seconds)
Reference voltage
Supplied by the Hornet and Bee
Reference current
Up to ±50 mA
Encoder outputs
See Auxiliary Encoder Output specifications (4.6.3)
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MAN-HRBEIG (Ver. 1.3)
4.6.2.5.
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 operating differential voltage for TAC2+, TAC2-
±50 V
Maximum absolute differential input voltage for TAC2+, TAC2-
±60 V
Input resistance for TAC1+, TAC1-
46 kΩ
Input resistance for TAC2+, TAC2-
100 kΩ
Resolution
14 bit
* Only one Tachometer port can be used at a time (either TAC1+/TAC1- or TAC2+/TAC2-).
TAC1+/TAC1- is used in applications with having a Tachometer of less than 20V.
TAC2+/TAC2- is used in applications with having a Tachometer of between 20V and 50V.
4.6.2.6.
Potentiometer
Feature
Details
Potentiometer Format
Single-ended
Operating Voltage Range
0 to 5 V supplied by the Hornet/Bee
Potentiometer Resistance
100 Ω to 1 kΩ … above this range, linearity is
affected detrimentally
Input Resistance
100 kΩ
Resolution
14 bit
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MAN-HRBEIG (Ver. 1.3)
4.6.3.
Auxiliary Feedback Port (output mode YA[4]= 4)
Feature
Details
Emulated output
• A, B, Index
• Single ended
Output current capability
Available as options
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
• Emulated encoder outputs of analog encoder
• Emulated encoder outputs of the resolver
Maximum frequency
fMAX : 5 MHz pulses/output
Edge separation between A & B
Programmable number of clocks to allow adequate
noise filtering at remote receiver of emulated
encoder signals
Index (marker):
Length of pulse is one quadrature (one quarter of an
encoder cycle) and synchronized to A&B
Figure 34: Auxiliary Feedback - Encoder Phase Diagram
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MAN-HRBEIG (Ver. 1.3)
4.6.4.
Auxiliary Feedback Port (input mode YA[4]= 2, 0)
Feature
Details
Encoder input,
pulse and direction input
Output current capability
Available as options
• 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 < 5.5 V
Input current: ±1 µA
• Single-ended Encoder inputs
• Pulse and Direction inputs
Edge separation between A & B
Programmable number of clocks to allow adequate
noise filtering at remote receiver of emulated encoder
signals
Index (marker)
Length of pulse is one quadrature (one quarter of an
encoder cycle) and synchronized to A&B
Figure 35: Auxiliary Feedback - Encoder Phase Diagram
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MAN-HRBEIG (Ver. 1.3)
4.7.
I/Os
The Hornet and Bee have:
•
6 Digital Inputs
•
2 Digital Outputs
•
1 Analog Input
4.7.1.
Digital Input Interfaces
Feature
Details
Type of input
• Optically isolated
• All six inputs share one signal return line
Input current
for all inputs
Iin = 2.4 mA @ Vin = 5 V
High-level input voltage
2.5 V < Vin < 10 V, 5 V typical
Low-level input voltage
0 V < Vin < 1 V
Minimum pulse width
> 4 x TS, where TS is sampling time
Execution time (all inputs):
the time from application of voltage on
input 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 detection: 0<T<4xTS
If input is set to General input, execution depends
on program. Typical execution time: ≅ 0.5 msec.
High-speed inputs – 5 & 6 minimum
pulse width, in high-speed mode
T < 5 µsec
Notes:
• Home mode is high-speed mode and can be
used for fast capture and precise homing.
• High speed input has a digital filter set to
same value as digital filter (EF) of main
encoder.
• Highest speed is achieved when turning on
optocouplers.
Rin = 1.43K
General Input Return
Figure 36: Digital Input Schematic
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MAN-HRBEIG (Ver. 1.3)
4.7.2.
Digital Output Interface
Feature
Details
Type of output
• Optically isolated
• Open collector and open emitter
Maximum supply output (Vcc)
30 V
Max. output current
Iout (max) (Vout = Low)
Iout (max) ≤ 10 mA
VOL at maximum output voltage (low
level)
Vout (on) ≤ 0.3 V
RL
External resistor RL must be selected to limit output
current to no more than 10 mA.
RL =
Executable time
Vcc − VOL
Io(max)
If output is set to one of the built-in functions —
Home flag, Brake or AOK — execution is immediate
upon detection:
0 < T < 4 x TS
If output is set to General output and is executed
from a program, the typical time is approximately
0.5 msec.
Figure 37: Digital Output Schematic
4.7.3.
Analog Input
Feature
Details
Maximum operating differential voltage
± 10 V
Maximum absolute differential input voltage
± 16 V
Differential input resistance
3.74 kΩ
Analog input command resolution
14-bit
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MAN-HRBEIG (Ver. 1.3)
4.8.
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.
CANopen
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
4.9.
Pulse-Width Modulation (PWM)
Feature
Details
PWM resolution
12-bit
PWM switching frequency on the load
2/Ts (factory default 22 kHz on the motor)
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4.10. 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.)
• UL 60950
• IPC-D-275
• IPC-SM-782
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)
• IPC-CM-770
• UL 508C
• UL 840
In compliance with VDE0160-7 (IEC 68)
Type testing
Safety
Recognized UL 508C
Power Conversion Equipment
In compliance with UL 840
Insulation Coordination Including Clearances
and Creepage Distances for Electrical
Equipment
In compliance with UL 60950
Safety of Information Technology Equipment
Including Electrical Business Equipment
Approved IEC/EN 61800-5-1, Safety
Adjustable speed electrical power drive
systems
In compliance with EN 60204-1
Low Voltage Directive 73/23/EEC
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EMC
Approved IEC/EN 61800-3, EMC
Adjustable speed electrical power drive
systems
In compliance with EN 55011 Class A with
EN 61000-6-2: Immunity for industrial
environment, according to:
IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
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
Acceptability of printed circuit boards
Packing
In compliance with EN 100015
Protection of electrostatic sensitive devices
Environmental
In compliance with 2002/96/EC
Waste Electrical and Electronic Equipment
regulations (WEEE)
Note: Out-of-service Elmo drives should be
sent to the nearest Elmo sales office.
In compliance with 2002/95/EC
(effective July 2006)
Restrictions on Application of Hazardous
Substances in Electric and Electronic
Equipment (RoHS)
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