Cello Digital Servo Drive Installation Guide

Cello
Digital Servo Drive
Installation Guide
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 Cello servo
drive in its 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-CELIG
Copyright 2004
Elmo Motion Control Ltd.
All rights reserved.
Cello Catalog Number:
CEL-AXX/YYYR
Version:
Blank = Standard
A = Advanced
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Cable Kit Catalog No.
Feedback:
Blank = Incremental Encoder
and/or Halls
R = Resolver
I = Interpolated Analog
Encoder
CEL-CABLEKIT (kit available upon request)
Revision History:
Ver. 1.03 June 2004
Ver. 1.02 May 2004
Ver. 1.0 April 2004
Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
Initial Release
(MAN-CELIG.PDF) Cello Cable Kit mentioned
(CELIG0504.PDF) dimensions drawing updated
(CELIG0404.PDF)
Elmo Motion Control GmbH
Steinbeisstrasse 41
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (07720) 8577-60
Fax: +49 (07720) 8577-70
www.elmomc.com
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
Contents
Chapter 1: Safety Information ............................................................................................... 1-1
1.1
1.2
1.3
1.4
1.5
Warnings .............................................................................................................. 1-2
Cautions................................................................................................................ 1-2
Directives and Standards .................................................................................... 1-3
CE Mark Conformance........................................................................................ 1-3
Warranty Information ......................................................................................... 1-3
Chapter 2: Introduction .......................................................................................................... 2-1
2.1 Drive Description ................................................................................................ 2-1
2.2 Product Features.................................................................................................. 2-1
2.2.1 Current Control..........................................................................................2-1
2.2.2 Velocity Control .........................................................................................2-1
2.2.3 Position Control .........................................................................................2-2
2.2.4 Advanced Position Control (in Advanced model only)............................2-2
2.2.5 Communication Options ..........................................................................2-2
2.2.6 Feedback Options ......................................................................................2-2
2.2.7 Fault Protection..........................................................................................2-3
2.3 System Architecture ............................................................................................ 2-3
2.4 How to Use this Guide........................................................................................ 2-3
Chapter 3: Installation ............................................................................................................ 3-1
3.1 Before You Begin ................................................................................................. 3-1
3.1.1 Site Requirements ......................................................................................3-1
3.1.2 Hardware Requirements ..........................................................................3-1
3.2 Unpacking the Drive Components .................................................................... 3-3
3.3 Mounting the Cello.............................................................................................. 3-4
3.4 Connecting the Cables......................................................................................... 3-4
3.4.1 Wiring the Cello.........................................................................................3-4
3.4.2 Connecting the Power Cables ..................................................................3-8
3.4.2.1 Connecting the Motor Cable ....................................................... 3-8
3.4.2.2 Connecting the Main Power Cable............................................. 3-9
3.4.3 Connecting the Optional Back-up Supply Cable (24v).......................3-10
3.4.4 Feedback and Control Cable Assemblies .............................................3-11
3.4.5 Main Feedback Cable (FEEDBACK A) .................................................3-11
3.4.6 Main and Auxiliary Feedback Combinations......................................3-14
3.4.7 Auxiliary Feedback (FEEDBACK B) .....................................................3-15
3.4.7.1 Buffered Main Encoder or Emulated Encoder Outputs......... 3-15
3.4.7.2 Differential Auxiliary Encoder Input Option.......................... 3-17
3.4.7.3 Single-ended Auxiliary Input Option ..................................... 3-19
3.4.7.4 Pulse-and-Direction Input Option ........................................... 3-21
3.4.8 I/O Cables ................................................................................................3-23
3.4.8.1 General I/O Port (J1) ................................................................. 3-23
3.4.8.2 General Input Port (J2) .............................................................. 3-25
3.4.9 Communication Cables...........................................................................3-27
3.4.9.1 RS-232 Communication ............................................................. 3-27
3.4.9.2 CANopen Communication ....................................................... 3-28
3.5 Powering Up ...................................................................................................... 3-30
3.6 Initializing the System....................................................................................... 3-30
Cello Installation Guide
Contents
MAN-CELIG (Ver. 1.0)
Appendix: Technical Specifications .................................................................................... A-1
A.1 Features................................................................................................................ A-1
A.1.1 Motion Control Modes ........................................................................... A-1
A.1.2 Advanced Positioning Motion Control Modes ................................... A-1
A.1.3 Advanced Filters and Gain Scheduling................................................ A-1
A.1.4 Fully Programmable ............................................................................... A-1
A.1.5 Feedback Options .................................................................................... A-1
A.1.6 Input/Output........................................................................................... A-2
A.1.7 Built-In Protection ................................................................................... A-2
A.2 Cello Dimensions................................................................................................ A-3
A.3 Power Ratings ..................................................................................................... A-4
A.4 Environmental Conditions ................................................................................ A-4
A.5 Cello Connections............................................................................................... A-5
A.5.1 Backup Supply (Optional)...................................................................... A-6
A.6 Control Specifications ........................................................................................ A-6
A.6.1 Current Loop............................................................................................ A-6
A.6.2 Velocity Loop ........................................................................................... A-7
A.6.3 Position Loop ........................................................................................... A-7
A.7 Feedbacks ............................................................................................................ A-8
A.7.1 Feedback Supply Voltage....................................................................... A-8
A.7.2 Incremental Encoder Input .................................................................... A-8
A.7.3 Digital Halls ............................................................................................. A-9
A.7.4 Interpolated Analog Encoder (Sine/Cosine)....................................... A-9
A.7.5 Resolver .................................................................................................. A-10
A.7.6 Encoder Outputs.................................................................................... A-10
A.8 I/O’s ................................................................................................................. A-11
A.8.1 Digital Input Interfaces......................................................................... A-11
A.8.2 Digital Output Interface ....................................................................... A-12
A.8.3 Analog Input .......................................................................................... A-12
A.9 Communications............................................................................................... A-13
A.10 Pulse Width Modulation (PWM) ............................................................... A-13
A.11 Mechanical Specifications........................................................................... A-13
A.12 Standards Compliance ................................................................................ A-14
A.12.1 Quality Assurance ................................................................................. A-14
A.12.2 Design ..................................................................................................... A-14
A.12.3 Safety....................................................................................................... A-14
A.12.4 EMC......................................................................................................... A-14
A.12.5 Workmanship ........................................................................................ A-15
A.12.6 PCB .......................................................................................................... A-15
A.12.7 Packing.................................................................................................... A-15
Index...........................................................................................................................................I-1
ii
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
Chapter 1: Safety Information
In order to achieve the optimum, safe operation of the Cello servo drive, 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 Cello and 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 Cello servo drive contains 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.
Note:
This is auxiliary information that ensures the correct operation of the
equipment.
1-1
Cello Installation Guide
Safety Information
MAN-CELIG (Ver. 1.0)
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 Cello from all voltage sources before it is opened
for servicing.
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.
1.2
Cautions
The Cello servo drive contains 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.
The Cello can operate only through an isolated power source, using an
isolated transformer and a rectifier circuit. Power to this device must be
supplied by DC voltage, within the boundaries specified for the Cello.
High voltages may damage the drive.
The DC power supply voltage range is defined in Table A.3.
Safety margins must be considered in order to avoid activating the underor over-voltage protection against line variations and/or voltage drop
under load. The transformer should be able to deliver the required power
to the drive (including peak power) without significant voltage drops
(10% maximum). While driving high-inertia loads, the power supply
circuit must be equipped with a shunt regulator; otherwise, the drive will
be disabled whenever the capacitors are charged above the maximum
voltage.
Before switching on the Cello, verify that all safety precautions have been
observed and that the installation procedures in this manual have been
followed.
1-2
Cello Installation Guide
Safety Information
MAN-CELIG (Ver. 1.0)
1.3
1-3
Directives and Standards
The Cello conforms to the following industry safety standards:
Safety Standard
Item
In compliance with UL508c
In compliance with UL840
Conformance to the following safety standards:
In compliance with UL60950
(formerly UL1950)
Safety of Information Technology Equipment,
Including Electrical Business Equipment
In compliance with EN60204-1
Low Voltage Directive, 73/23/EEC
ƒPower Conversion Equipment
ƒInsulation Coordination, Including Clearance
and Creepage Distances of Electrical Equipment
The Cello servo drive has 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.
1.4
CE Mark Conformance
The Cello servo drive is intended for incorporation in a machine or end product. The
actual end product must comply with all safety aspects of the relevant requirements of
the European Safety of Machinery Directive 98/37/EC as amended, and with those of the
most recent versions of standards EN60204-1 and EN292-2 at the least.
According 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 Cello meets the provisions outlined in Council Directive 73/23/EEC.
The party responsible for ensuring that the equipment meet 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.
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
Chapter 2: Introduction
This installation guide describes the Cello servo drive and the steps for its wiring,
installation and powering up. Following these guidelines ensures maximum functionality
of the drive and the system to which it is connected.
2.1
Drive Description
The Cello is a powerful servo drive that operates in digital current, velocity, position and
advanced position modes, in conjunction with a permanent-magnet synchronous
brushless motor or DC brush motor. The Cello features flexible sinusoidal and
trapezoidal commutation, with vector control. The Cello can operate as a stand-alone
device or as part of a multi-axis network in a distributed configuration.
The Cello drive is set up and tuned using Elmo’s Composer software. This Windowsbased application enables users to quickly and simply configure the servo drive for
optimal use with their motor.
Power to the Cello is provided by a 10 to 195 VDC source. A “smart” control-supply
algorithm enables the Cello to operate with the power supply only, with no need for an
auxiliary 24 Volt supply. If backup functionality is required for storing control parameters
in case of power-outs, an external 24 VDC power supply can be connected, providing
maximum flexibility and optional backup functionality when needed.
Two variations of the Cello are available: the Standard version and the Advanced version,
which features advanced positioning capabilities. Both versions operate with
RS-232 and/or CANopen communication.
2.2
Product Features
2.2.1
Current Control
ƒFully digital
ƒSinusoidal commutation with vector control or trapezoidal commutation
with encoder and/or digital Hall sensors
ƒ12-bit current loop resolution
ƒAutomatic gain scheduling, to compensate for variations in the DC bus
power supply
2.2.2
Velocity Control
ƒFully digital
ƒProgrammable PI and FFW (feed forward) control filters
ƒSample rate two times current loop sample time
ƒ“On-the-fly” gain scheduling
ƒAutomatic, manual and advanced manual tuning and determination of
optimal gain and phase margins
2-1
Cello Installation Guide
Introduction
MAN-CELIG (Ver. 1.0)
2.2.3
Position Control
ƒProgrammable PIP control filter
ƒProgrammable notch and low-pass filters
ƒPosition follower mode for monitoring the motion of the slave axis relative to a
master axis, via an auxiliary encoder input
ƒPulse-and-direction inputs
ƒSample rate four times current loop sample time
ƒFast event capturing inputs
2.2.4
Advanced Position Control (in Advanced model only)
ƒPosition-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
ƒPT and PVT motion modes
ƒDual (position/velocity) loop
ƒFast output compare (OC)
2.2.5
Communication Options
Depending on the application, Cello users can select from two communication options:
ƒRS-232 serial communication
ƒCANopen for fast communication in a multi-axis distributed environment
2.2.6
Feedback Options
ƒ Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
ƒ Digital Halls – up to 2 KHz
ƒ Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts
per second for encoder
ƒ Absolute Encoder
ƒ Interpolated Analog Sine/Cosine Encoder – up to 250 KHz (analog signal)
• Internal Interpolation – programmable up to x4096
• Automatic Correction of:
♦ amplitude mismatch
♦ phase mismatch
♦ signals offset
• Encoder outputs, buffered, differential.
ƒ Resolver
• Programmable 10~15 bit resolution
• Up to 512 Revolution Per Second (RPS)
• Encoder outputs, buffered, differential
ƒ Elmo drives provide supply voltage for all the feedback options
2-2
Cello Installation Guide
Introduction
MAN-CELIG (Ver. 1.0)
2.2.7
Fault Protection
The Cello includes built-in protection against possible fault conditions, including:
ƒSoftware error handling
ƒStatus reporting for a large number of possible fault conditions
ƒProtection 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
ƒRecovery from loss of commutation signals and from communication errors
2.3
System Architecture
Communication
RS 232 and CANopen
Analog
Encoder
or
Resolver
or
Incremental
Encoder
Backup
Supply
Controller
I/Os
24 VDC
Auxiliary
Encoder
Protection
PWM
Current
Feedback
Incremental Encoder
Buffered Output
or
Emulated Output
Power Stage
Figure 2-1 Cello System Block Diagram
2.4
How to Use this Guide
In order to install and operate your Elmo Cello servo drive, 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 Cello.
The Appendix, Technical Specifications, lists all the drive ratings and specifications.
2-3
Cello Installation Guide
Introduction
MAN-CELIG (Ver. 1.0)
Upon completing the instructions in this guide, your Cello servo drive should be
successfully mounted and installed. From this stage, you need to consult higher-level
Elmo documentation in order to set up and fine-tune the system for optimal operation.
The following figure describes the accompanying documentation that you will require.
CANopen Implementation Guide
SimplIQ Software Manual
SimplIQ Command Reference Manual
Programming
Composer User Manual
Setup
Installation
Cello Installation Guide
Figure 2-2: Elmo Documentation Hierarchy
As depicted in the previous figure, this installation guide is an integral part of the Cello
documentation set, comprising:
ƒThe Composer Software Manual, which includes explanations of all the
software tools that are part of Elmo’s Composer software environment.
ƒThe SimplIQ Command Reference Manual, which describes, in detail, each
software command used to manipulate the Cello motion controller.
ƒThe SimplIQ Software Manual, which describes the comprehensive software
used with the Cello.
2-4
Cello Installation Guide
3-1
MAN-CELIG (Ver. 1.0)
Chapter 3: Installation
3.1
Before You Begin
3.1.1
Site Requirements
You can guarantee the safe operation of the Cello by ensuring that it is installed in an
appropriate environment.
Feature
Value
Ambient operating temperature
0° to 40°C (32° to 113°F)
Maximum operating altitude
10,000 m (30,000 ft)
Maximum relative humidity
90% non-condensing
Operating area atmosphere
No flammable gases or vapors permitted in area
Models for extended environmental conditions are available.
The Cello dissipates its heat by natural convection. The maximum operating
ambient temperature of 0 to 40° C (32 to 104° F) must not be exceeded.
3.1.2
Hardware Requirements
The components that you will need to install your Cello are:
Component
Connector
Described
in Section
Main Power Cable
VP+ PR
3.4.2.2
M1 M2 M3
3.4.2.1
24v
3.4.3
Motor Cable
Back-up Supply Cable
(if needed)
Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Connector
Described
in Section
Main Feedback Cable
FEEDBACK A
3.4.5
Auxiliary Feedback Cable
(if needed)
FEEDBACK B
3.4.7
Digital I/O Cable
(if needed)
GENERAL I/O
J1
3.4.8.1
Digital Inputs and
Analog Inputs Cable
(if needed)
GENERAL I/O
J2
3.4.8.2
RS232
3.4.9.1
CAN (in)
CAN (out)
3.4.9.2
Component
RS232 Communication
Cable
CANopen Communication
cable(s) (if needed)
PC for drive setup and
tuning
Motor data sheet or
manual
Diagram
3-2
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.2
3-3
Unpacking the Drive Components
Before you begin working with the Cello system, verify that you have all of its components, as
follows:
ƒ The Cello servo drive
ƒ The Composer software and software manual
The Cello is shipped in a cardboard box with styrofoam protection.
To unpack the Cello:
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.
3. To ensure that the Cello you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Cello. It looks like this:
The P/N number at the top gives the type designation as follows:
CEL-A15/100R
Version:
Blank = Standard
A = Advanced
Continuous Current
(Amps)
Maximum DC
Operating Voltage
Feedback:
Blank = Incremental Encoder
and/or Halls
R = Resolver
I = Interpolated Analog
Encoder
4. Verify that the Cello type is the one that you ordered, and ensure that the voltage meets
your specific requirements.
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.3
3-4
Mounting the Cello
The Cello has been designed for two standard mounting options:
ƒ “Wall Mount” along the back (can also be mounted horizontally on a metal surface)
ƒ “Book Shelf”along the side
M4 round head screws, one through each opening in the heat sink, are used to mount the
Cello (see the diagram below).
Figure 3-1: Mounting the Cello
3.4
3.4.1
Connecting the Cables
Wiring the Cello
Once the Cello is mounted, you are ready to wire the device. Proper wiring, grounding and
shielding are essential for ensuring safe, immune and optimal servo performance of the Cello.
Follow these instructions to ensure safe and proper wiring:
ƒ Use twisted pair shielded cables for control, feedback and communication connections.
For best results, the cable should have an aluminum foil shield covered by copper braid,
and should contain a drain wire.
The drain wire is a non-insulated wire that is in contact with parts of the cable,
usually the shield. It is used to terminate the shield and as a grounding connection.
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Installation
MAN-CELIG (Ver. 1.0)
3-5
ƒ The impedance of the wire must be as low as possible. The size of the wire must be thicker
than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and
feedback cables is satisfactory although 24 AWG is recommended.
ƒ Use shielded wires for motor connections as well. If the wires are long, ensure that the
capacitance between the wires is not too high: C < 30 nF is satisfactory for most
applications.
ƒ Keep all wires and cables as short as possible.
ƒ Keep the motor wires as far away as possible from the feedback, control and
communication cables.
ƒ Ensure that in normal operating conditions, the shielded wires and drain carry no current.
The only time these conductors carry current is under abnormal conditions, when
electrical equipment has become a potential shock or fire hazard while conducting
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.
ƒ After completing the wiring, carefully inspect all wires to ensure tightness, good solder
joints and general safety.
The following connectors are used for wiring the Cello.
Type
Function
Port
5-pin Pheonix
(1st two pins)
(provided)
Power
VP+, PR
5-pin Pheonix
(last 3 pins)
(provided)
Motor
M1, M2, M3
3 ground
screws
Ground
PE, PE, PE
2-pin Pheonix
(provided)
Optional
Back-up
Supply
24 VDC
Connector Location
Optional
Back-up Supply
Ground
Power & Motor
Table 3-1: Connectors on the “Bottom” of the Cello
Type
Function
Port
15-pin D-Sub
Feedback A
Feedback A
15-pin D-Sub
(high-density)
General I/O
J1
15-pin D-Sub
(high-density)
General I/O
J2
Connector Location
J2: I/O
J1: I/O
Table 3-2: Connectors on the “Front” of the Cello
Feedback A
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Type
Function
Port
8-pin RJ-45
CANopen
CAN
8-pin RJ-45
CANopen
CAN
15-pin D-Sub
(high-density)
Feedback B
Feedback B
8-pin RJ-45
RS-232
RS-232
Connector Location
CANopen
Feedback B
Table 3-3: Connectors on the “Top” of the Cello
RS-232
3-6
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-2:
Cello Detailed Connection Diagram
3-7
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.2
3-8
Connecting the Power Cables
The main power connector located at the bottom of the Cello, as follows:
Pin
Positions
Pin Function
Cable
VP+ Pos. Power input
Power
PR
Power return
Power
PE
Protective earth
Power
AC Motor
Cable
DC Motor
Cable
Motor
Motor
M1 Motor phase
Motor
N/C
M2 Motor phase
Motor
Motor
M3 Motor phase
Motor
Motor
PE
Protective earth
When connecting several motors, all must be wired in an identical manner.
Table 3-4: Connector for Main Power and Motor Cables
3.4.2.1
Connecting the Motor Cable
Connect the motor power cable to the M1, M2, and M3 terminals of the main power connector
and the fourth wire to the PE (Protective Earth) on the heat sink (see diagram above). The
phase connection order is arbitrary because the Composer will establish the proper
commutation automatically during setup.
Notes for connecting the motor cables:
ƒFor best immunity, it is highly recommended to use a shielded (not twisted) cable for
the motor connection. A 4-wire shielded cable should be used. The gauge is
determined by the actual current consumption of the motor.
ƒConnect the shield of the cable to the closest ground connection at the motor end.
ƒConnect the shield of the cable to the PE terminal on the Cello.
ƒBe sure that the motor chassis is properly grounded.
Figure 3-3: AC Motor Power Connection Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.2.2
3-9
Connecting the Main Power Cable
Connect the main power supply cable to the VP+ and PR terminals of the main power
connector. Connect the Protective Earth wire to the PE terminal on the Cello’s heatsink.
Notes for connecting the DC power supply:
ƒBe sure to isolate the source of the DC power supply.
ƒFor best immunity, it is highly recommended to use twisted cables for the DC power
supply cable. A 3-wire shielded cable should be used. The gauge is determined by
the actual current consumption of the motor.
ƒConnect both ends of the cable shield to the closest ground connection, one end near
the power supply and the other end to the PE terminal on the Cello’s heatsink.
ƒFor safety reasons connect the PR of the power supply to the closest ground
connection .
Figure 3-4: Main Power Supply Connection Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.3
3-10
Connecting the Optional Back-up Supply Cable (24v)
Power to the Cello is provided by a 10 to 195 VDC source. A “smart” control-supply
algorithm enables the Cello to operate with the power supply only, with no need for an auxiliary
24 volt supply. If backup functionality is required for storing control parameters in case of
power-outs, an external 24 VDC power supply can be connected, providing maximum
flexibility and optional backup functionality when needed.
To connect the back-up supply to the 24v port on the bottom of the Cello, use the 2-pin power
plug provided with the Cello. Remember, you are working with DC power; be sure to exercise
caution. The required voltage is 24 VDC.
Notes for 24 VDC back-up supply connections:
ƒUse a 24 AWG twisted pair shielded cable. The shield should have copper braid.
ƒThe source of the 24 VDC must be isolated.
ƒFor safety reasons, connect the return of the 24 VDC source to the closest ground.
ƒConnect the cable shield to the closest ground near the 24 VDC source.
ƒBefore applying power, first verify the polarity of the connection.
Pin
Signal
Function
[+]
+24VDC
+24 VDC back-up supply
[-]
RET24VDC
Return (common) of the 24 VDC
back-up supply
Pin Position
Table 3-5: Back-up Cable Plug
Figure 3-5: Back-up Supply (24v) Connection Diagram
“Smart” Control
Supply Options
Internal DC-to-DC converter allowing for operation from DC power (no
need for auxiliary external 24 VDC supply for normal operation).
24 VDC supply for backing up the control parameters if DC power is
shut off.
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.4
3-11
Feedback and Control Cable Assemblies
The Cello features easy-to-use D-sub type connections for all Control and Feedback cables.
Below are instructions and diagrams describing how to assemble those cables.
ƒUse 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended).
For best results, the shield should have aluminum foil covered by copper braid.
ƒUse only a D-sub connector with a metal housing.
ƒAttach the braid shield tightly to the metal housing of the D-type connector.
ƒOn the motor side connections, ground the shield to the motor chassis.
ƒOn controller side connections, follow the controller manufacturer’s
recommendations concerning the shield.
Metal Housing
Make sure that the braid shield is in
tight contact with the metal housing
Figure 3-6: Feedback and Control Cable Assemblies
Note: All D-sub type connectors, used with the Cello, should be assembled in this way.
3.4.5
Main Feedback Cable (FEEDBACK A)
The main feedback cable is used to transfer feedback data from the motor to the drive.
The Cello accepts the following as a main feedback mechanism:
ƒ Incremental encoder only
ƒ Incremental encoder with digital Hall sensors
ƒ Digital Hall sensors only
ƒ Incremental Analog (Sine/Cosine) encoder (option)
ƒ Resolver (option)
FEEDBACK A on the “front” of the Cello has a 15-pin D-sub socket. Connect the Main
Feedback cable from the motor to FEEDBACK A using a 15-pin, D-Sub plug with a metal
housing. When assembling the Main Feedback cable, follow the instructions in Section 3.4.4
(Feedback and Control Cable Assemblies).
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Incremental Encoder
Interpolated Analog Encoder
Resolver
CEL XX/YYY_
CEL XX/YYYI
CEL XX/YYYR
Pin Signal
Function
Signal
Function
Signal
3-12
Function
1
HC
Hall sensor C input
NC
-
NC
-
2
HA
Hall sensor A input
NC
-
NC
-
3
SUPRET
Supply return
SUPRET Supply return
4
+5V
Encoder/Hall +5V supply +5V
Encoder/Hall +5V supply +5V
Encoder/Hall +5V supply
5
CHA-
Channel A complement
A-
Sine A complement
S3
Sine A complement
6
CHA
Channel A
A+
Sine A
S1
Sine A
7
INDEX-
Index complement
R-
Reference complement
R2
Vref complement
f= 1/TS, 50mA Maximum
8
INDEX
Index
R+
Reference
R1
Vref f=1/TS, 50mA Max.
9
SUPRET Supply return
SUPRET Supply return
SUPRET Supply return
10
HB
Hall sensor B input
NC
NC
11
SUPRET
Supply return
SUPRET Supply return
12
+5V
Encoder/Hall +5V supply +5V
13
SUPRET
Supply return
SUPRET Supply return
SUPRET Supply return
14
CHB-
Channel B complement
B-
Cosine B complement
S4
Cosine B complement
15
CHB
Channel B
B+
Cosine B
S2
Cosine B
-
SUPRET Supply return
-
SUPRET Supply return
Encoder/Hall +5V supply +5V
Encoder/Hall +5V supply
Table 3-6: Main Feedback Cable Pin Assignments
Figure 3-7: Main Feedback- Incremental Encoder Connection Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-8: Main Feedback – Interpolated Analog Encoder Connection Diagram
Figure 3-9: Main Feedback – Resolver Connection Diagram
3-13
Cello Installation Guide
Installation
3-14
MAN-CELIG (Ver. 1.0)
3.4.6
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 Cello, “FEEDBACK B”
has two ports, Port B1 and Port B2. When used in combination with the Main Feedback port,
“FEEDBACK A”, the ports can be set, by software, as follows:
FEEDBACK B Ports B1 and B2
FEEDBACK A
YA[4] = 4

Incremental
Encoder
Input
YA[4] = 2
YA[4] = 0
B1 - output
Differential
and
Buffered
Main
Encoder
Signal
B2 - output
same as B1
A - input
Incremental
Encoder
‘
Interpolated
Analog
(Sin/Cos)
Encoder
Input
Analog
Encoder
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)
A - input
Analog
Encoder
’
Resolver
Input
A - input
Resolver
Typical
Applications
B1 - output
B2 - output
same as B1
B1 - input
B1 - input
Differential
or
Single-ended
Auxiliary
Incremental
Encoder
A - input
Incremental
Encoder
or
Analog
Encoder
or
Resolver
B2 - output
Differential
and Buffered
output of B1
Differential or
Single-ended
Pulse &
Direction
Commands
A - input
Incremental
Encoder
or
Analog
Encoder
or
Resolver
B2 - output
Differential
and Buffered
output of B1
B1 - output
Resolver
Position
Data
Emulated in
Incremental
Encoder
Format
(signals are
quadrature,
differential
& buffered)
B2 - output
same as B1
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.
Port B1 serves as an input for
the auxiliary incremental
encoder (differential or singleended).
Port B2 is used to output
differential buffered Auxiliary
Incremental Encoder signals.
For applications such as
Follower, ECAM, or Dual
Loop.
Port B1 serves as an input for
Pulse & Direction
commands (differential or
single-ended).
Port B2 is used to output
differential buffered Pulse &
Direction signals.
Cello Installation Guide
Installation
3-15
MAN-CELIG (Ver. 1.0)
3.4.7
Auxiliary Feedback (FEEDBACK B)
When using one of the auxiliary feedback options, the relevant functionality of FEEDBACK B
ports are software selected for that option. Refer to the Cello Command Reference Manual for
detailed information about FEEDBACK B setup.
3.4.7.1
Main Encoder Buffered Outputs or Emulated Encoder
Outputs Option on FEEDBACK B (YA[4]=4)
Through FEEDBACK B (Ports B1 and B2) the Cello can provide two simultaneous
buffered main, or emulated, encoder signals to other controllers or drives. This option
can be used when:
ƒ The Cello is used as a current amplifier to provide position data to the position
controller.
ƒ The Cello is used in velocity mode, to provide position data to the position controller.
ƒ The Cello 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 emulated outputs of the main encoder (on FEEDBACK A):
Port
Pin
Signal
Function
B1
1
CHA
Auxiliary channel A high output
B1
B1
2
3
CHACHB
Auxiliary channel A low output
Auxiliary channel B high output
B1
4
CHB-
Auxiliary channel B low output
B1
B2
B2
PWR
PWR
B1
B2
B2
B2
B2
5
6
7
8
9
10
11
12
13
14
INDEX
CHAO
CHAO+5V
SUPRET
INDEXCHBO
CHBOINDEXO
INDEXO-
Auxiliary Index high output
Buffered channel A output
Buffered channel A complement output
Encoder supply voltage
Encoder supply voltage return
Auxiliary Index low output
Buffered channel B output
Buffered channel B complement output
Buffered Index output
Buffered Index complement output
PWR
15
SUPRET
Supply return
Pin Position
15 Pin high density
D-Sub Plug
Port B1
Port B2
Power
5
10
15
1
6
11
15 Pin high density
D-sub Socket
Table 3-7: Main Encoder Buffered Outputs or Emulated Encoder Outputs on FEEDBACK B Pin Assignments
FEEDBACK B on the “top” of the Cello has a 15-pin high density D-sub socket. Connect the
Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 15-pin,
high density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback
cable, follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
Installation
3-16
Figure 3-10: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B Connection Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.7.2
3-17
Differential Auxiliary Encoder Input Option on
FEEDBACK B (YA[4]=2)
The Cello can be used as a slave by receiving the position of the master encoder data (on Port
B1) in Follower or ECAM mode. In this mode Port B2 provides differential buffered
auxiliary outputs for the next slave axis 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:
Port
Pin
Signal
Function
B1
1
CHA
Auxiliary channel A high input
B1
2
CHA-
Auxiliary channel A low input
B1
3
CHB
Auxiliary channel B high input
B1
4
CHB-
Auxiliary channel B low input
B1
5
INDEX
Auxiliary Index high input
B2
6
CHAO
Buffered channel A output
B2
7
CHAO-
Buffered channel A complement output
PWR
8
+5V
Encoder supply voltage
PWR
9
SUPRET
Encoder supply voltage return
B1
10
INDEX-
Auxiliary Index low input
B2
11
CHBO
Buffered channel B output
B2
12
CHBO-
Buffered channel B complement output
B2
13
INDEXO
Buffered Index output
B2
14
INDEXO-
Buffered Index complement output
PWR
15
SUPRET
Supply return
Pin Position
15 Pin high density
D-Sub Plug
Port B1
Port B2
Power
5
1
6
10
15
11
15 Pin high density
D-Sub Socket
Table 3-8: Differential Auxiliary Encoder Input Option on FEEDBACK B
Pin Assignments
FEEDBACK B on the “top” of the Cello has a 15-pin high density D-sub socket. Connect the
Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin, high
density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable,
follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-11: Differential Auxiliary Encoder Input Option on FEEDBACK B Connection Diagram
3-18
Cello Installation Guide
Installation
3-19
MAN-CELIG (Ver. 1.0)
3.4.7.3
Single-ended Auxiliary Input Option on FEEDBACK B
(YA[4]=2)
The Cello can be used as a slave by receiving the position data (on Port B1) of the master
encoder in Follower or ECAM mode. In this mode Port B2 provides differential buffered
auxiliary outputs for the next slave axis in Follower or ECAM mode.
Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended
auxiliary input:
Port
Pin
Signal
Function
B1
1
CHA
Auxiliary channel A high input
2
NC
Do not connect this pin
3
CHB
Auxiliary channel B high input
4
NC
Do not connect this pin
B1
5
INDEX
Auxiliary Index high input
B2
6
CHAO
Channel A output
B2
7
CHAO-
Channel A complement output
PWR
8
+5V
Encoder supply voltage
PWR
9
SUPRET
Encoder supply voltage return
10
NC
Do not connect this pin
11
CHBO
Channel B output
B1
B2
B2
12
CHBO-
Channel B complement output
B2
13
INDEXO
Index output
B2
14
INDEXO-
Index complement output
PWR
15
SUPRET
Supply return
Pin Position
15 Pin high density D-Sub
Plug
Port B1
Port B2
5
10
15
Power
N.C.
1
6
11
15 Pin high density D-Sub
Socket
Table 3-9: Single-ended Auxiliary Encoder Option on FEEDBACK B - Pin Assignments
FEEDBACK B on the “top” of the Cello has a 15-pin high density D-sub socket. Connect the
Auxiliary Feedback cable from the feedback device to FEEDBACK B using a 15-pin, high
density D-Sub plug with a metal housing. When assembling the Auxiliary Feedback cable,
follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
Installation
3-20
Figure 3-12: Single-ended Auxiliary Input Option on FEEDBACK B - Connection Diagram
Cello Installation Guide
Installation
3-21
MAN-CELIG (Ver. 1.0)
3.4.7.4
Pulse-and-Direction Input Option on FEEDBACK B
(YA[4]=0)
This mode is used for input of differential or single-ended pulse-and-direction position
commands on Port B1. In this mode Port B2 provides differential buffered pulse-anddirection outputs for another axis.
Below are the signals on the Auxiliary Feedback ports when set up to run as a single-ended
pulse-and-direction input:
Port
Pin
B1
1
PULS/CHA Pulse/Auxiliary channel A high input
2
NC
Do not connect this pin
3
DIR/CHB
Direction/Auxiliary channel B high input
4
NC
Do not connect this pin
5
NC
Do not connect this pin
B2
6
CHAO
Channel A output
B2
7
CHAO-
Channel A complement output
PWR
8
+5V
Encoder supply voltage
PWR
9
SUPRET
Encoder supply voltage return
10
NC
Do not connect this pin
Port B1
Port B2
11
CHBO
Channel B output.
5
10
B1
B2
B2
PWR
Signal
Function
12
CHBO-
Channel B complement output
13
NC
Do not connect this pin
14
NC
Do not connect this pin
15
SUPRET
Supply return
Pin Position
15 Pin D-Sub Plug
Power
N.C.
15
1
6
11
15 Pin D-Sub Socket
Table 3-10: Pulse-and-Direction Auxiliary Encoder Pin Assignment on FEEDBACK B
FEEDBACK B on the “top” of the Cello has a 15-pin high density D-sub socket. Connect the
Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a
15-pin, high density D-Sub plug with a metal housing. When assembling the Auxiliary
Feedback cable, follow the instructions in Section 3.4.4 (Feedback and Control Cable
Assemblies).
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-13: Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram
3-22
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.8
3-23
I/O Cables
The Cello has two I/O ports, J1 and J2. J1 is a general I/O which can be used to connect 6
digital inputs and 5 digital outputs. J2 is an input port for connecting up to 4 separate digital
inputs and 2 analog inputs:
3.4.8.1
I/O
J1 Port
J2 Port
Total
Digital Input
6
4
10
Digital Output
5
-
5
Analog Input
-
2
2
General I/O Port (J1)
Port J1 has a 15-pin high density D-Sub plug. When assembling this I/O cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high
density metal case D-sub female connector (socket).
Pin
Signal
Function
1
IN1
Programmable input 1
2
IN2
Programmable input 2
3
IN3
Programmable input 3
4
OUT2
Programmable output 2
5
OUT3
Programmable output 3
6
IN4
Programmable input 4
7
IN7
Programmable input 7
8
IN8
Programmable input 8
9
INRET
General input return
10
OUTRET2-3
Programmable output return 2 & 3
11
OUT4
Programmable output 4
12
OUTRET4-5
Programmable output return 4 & 5
13
OUT5
Programmable output 5
14
OUT1
Programmable output 1
15
OUTRET 1
Programmable output return 1
Table 3-11: J1 I/O Cable - Pin Assignments
Pin Position
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-14: General J1 I/O Connection Diagram
3-24
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.8.2
General Input Port (J2)
Port J2 has a 15-pin high density D-Sub socket. When assembling this I/O cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high
density metal case D-sub male connector (plug).
Pin
Signal
Function
1
IN5
Programmable input 5
2
IN6
Programmable input 6
3
IN9
Programmable input 9
4
IN10
Programmable input 10
5
ANLIN1+
Analog input 1
6
INRET5
Programmable input return 5
7
INRET6
Programmable input return 6
8
INRET9
Programmable input return 9
9
INRET10
Programmable input return 10
10
ANLIN1-
Analog input 1
11
ANLIN2+
Analog input 2
12
ANLIN2-
Analog input 2
13
ANLRET
Analog return
14
ANLRET
Analog return
15
SUPRET
Supply return
Pin Position
Table 3-12: General Input J2 Cable - Pin Assignments
3-25
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
Figure 3-15: General Input J2 Connection Diagram
3-26
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.4.9
3-27
Communication Cables
The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen
ports on the “top” of the Cello.
The communication interface may differ according to the user’s hardware. The Cello 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 Cello 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. The interface is electrically
isolated by optocouplers.
For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used
simultaneously.
3.4.9.1
RS-232 Communication
Notes for connecting the RS-232 communication cable:
ƒUse a 26 or 28 AWG twisted pair shielded cable. The shield should have aluminum
foil covered by copper braid with a drain wire.
ƒConnect 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.
ƒThe male RJ plug must have a shield cover.
ƒEnsure that the shield of the cable is connected to the shield of the RJ plug. The drain
wire can be used to facilitate the connection.
Pin
Signal
Function
1
—
—
2
—
—
3
Tx
RS-232 transmit
4
—
—
5
COMRET
Communication return
6
Rx
RS-232 receive
7
—
—
8
—
—
Table 3-13: RS-232 Cable - Pin Assignments
Pin Location
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3-28
Figure 3-16: RS-232 Connection Diagram
3.4.9.2
CANopen Communication
Notes for connecting the CANopen communication cable:
ƒUse 26 or 28 AWG twisted pair shielded cables. For best results, the shield should
have aluminum foil and covered by copper braid with a drain wire
ƒConnect 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.
ƒThe male RJ plug must have a shield cover.
ƒEnsure that the shield of the cable is connected to the shield of the RJ plug. The drain
wire can be used to facilitate the connection.
ƒConnect a termination 120-ohm resistor at each of the two ends of the network cable.
Pin
Signal
Function
1
CAN_H
CAN_H busline (dominant high)
2
CAN_L
CAN_L busline (dominant low)
3
CAN_GND
CAN ground
4
—
—
5
—
—
6
CAN_SHLD
Shield, connected to the RJ plug cover
7
CAN_GND
CAN Ground
8
—
—
Table 3-14: CANopen Cable - Pin Assignments
Pin Position
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3-29
Caution:
When installing CANopen
communications, ensure
that each servo drive is
allocated a unique ID.
Otherwise, the CANopen
network may hang.
Figure 3-17: CANopen Connection Diagram
Cello Installation Guide
Installation
MAN-CELIG (Ver. 1.0)
3.5
3-30
Powering Up
After the Cello has been mounted, check that the cables are intact. The Cello servo drive is
then ready to be powered up.
Caution:
Before applying power, ensure that the DC supply is within the range
specified for your specific type of Cello and that the proper
plus-minus connections are in order.
3.6
Initializing the System
After the Cello 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.
Cello Installation Guide
A-1
MAN-CELIG (Ver. 1.0)
Appendix: Technical Specifications
A.1 Features
A.1.1
Motion Control Modes
• Current/Torque - up to 14 KHz sampling rate
A.1.2
• Velocity -
up to 7 KHz sampling rate
• Position -
up to 3.5 KHz sampling rate
Advanced Positioning Motion Control Modes
• PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop
• Fast event capturing inputs
• Fast output compare (OC)
A.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
A.1.4
Fully Programmable
• Third generation programming structure with motion commands
• Event capturing interrupts
• Event triggered programming
A.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
• Absolute 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
Encoder outputs, buffered, differential.
• Resolver
Programmable 10~15 bit resolution
Up to 512 Revolution Per Second (RPS)
Encoder outputs, buffered, differential
• Elmo drives provide supply voltage for all the feedback options
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.1.6
A-2
Input/Output
• Analog Inputs – up to 14-bit resolution
• Programmable digital inputs, optically isolated
Inhibit \ Enable motion
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
General-purpose
Homing
• Fast event capture inputs, optically isolated
• Programmable 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
• Buffered and differential outputs of the auxiliary encoder
• Emulated output of the resolver or interpolated analog encoder
• Fast output compare (OC), optically isolated
A.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 output and power input return
Failure of internal power supplies
Overheating
Over/Under voltage
Loss of feedback
Following error
Current limits
Cello Installation Guide
MAN-CELIG (Ver. 1.0)
A.2 Cello Dimensions
Technical Specifications
A-3
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A-4
15/200
15RMS/200
1680 2510
3550
10/200
6/200
2/200
15RMS/100
15/100
10/100
3/100
15RMS/60
15/60
10/60
5/60
A.3 Power Ratings
Feature
Unit
Minimum
supply voltage
VDC
10
20
40
Nominal
supply voltage
VDC
55
85
180
Maximum
supply voltage
VDC
59
95
195
Maximum
Output Power
from the Drive
W
Efficiency at
rate power
%
DC (trapezoidal
commutation)
continuous RMS
current limit (Ic)
A
5
10
15
15
3.3
10
15
15
2.25
6
10
15
15
Sinusoidal
commutation
continuous RMS
current limit (Ic)
A
3.5
7.1
10.6
15
2.33
7.1
10.6
15
1.6
4.2
7.1
10.6
15
Peak current
limit (RMS)
A
2 x Ic
2 x Ic
Output power
without
additional
heatsink
%
100
100
75
50
PWM Switching
Frequency
KHz
250
510
760
1070
270
820
> 97
Switching Method
Mounting Method
1730
380
990
> 97
> 97
2 x Ic
100
22 +/-5% default on the motor
Advanced Unipolar PWM
Weight
Dimensions
1220
640 grams (22.6 ounces)
150 x 25.4 x 105 mm (5.9” x1.0” x 4.1”)
Wall Mount (on back or on side)
Digital In / Digital Out
10 / 5 / 2
/ Analog In
A.4 Environmental Conditions
Feature
Details
Operating ambient temperature
0° ~ 40° C (32° ~ 104° F)
Storage temperature
-20° ~ +85° C ( -4° ~ +185° F)
Humidity
90% maximum non-condensing
Protection level
IP20
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A-5
A.5 Cello Connections
The following connectors are used for wiring the Cello.
Type
Maker & Part No.
Mating Connector
5
5.00 mm Pitch
Header and Plug
Phoenix Header
MSTBA 2.5 HC/5-G
Phoenix Plug (supplied)
MSTBT 2.5 HC/5-ST
3
M4 screws
2
3.81 mm Pitch
Header and Plug
Pins
Port
VP+, PR
M1, M2, M3
PE, PE, PE
Pheonix Header
MC 1.5/2-G-3.81
Pheonix Plug (supplied)
MC 1.5/2-ST-3.81
24v
Connector Location
Optional Back-up Ground
Power Supply
Power & Motor
Table A-1: Connectors on the Bottom of the Cello
Pins Type
Port
15
D-Sub Socket
15
High Density D-Sub Plug
J1
15
High Density D-Sub Socket
J2
Connector Location
FEEDBACK A
J2: I/O
J1: I/O
Feedback A
Table A-2: Connectors on the Front of the Cello
Pins Type
Port
8
RJ-45
CAN
8
RJ-45
CAN
15
High Density D-Sub Socket
8
RJ-45
Connector Location
FEEDBACK B
RS-232
CANopen
Table A-3: Connectors on the Top of the Cello
Feedback B RS-232
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.5.1
Backup Supply (Optional)
Feature
Details
Auxiliary power supply
DC source only
Auxiliary supply input voltage
24 V +20%
Auxiliary supply input power
10 W
The Cello can operate without a 24 Volt back-up power supply
A.6 Control Specifications
A.6.1
Current Loop
Feature
Details
Controller type
Vector, digital
Compensation for bus voltage
variations
“on-the-fly” 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 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 - 100 µsec
Current sampling rate
up to 16 KHz
A-6
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.6.2
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/cos) Encoder (optional)
Resolver (optional)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency
and derivative).
Velocity sampling time
140 - 200 µsec (x2 current loop sample time)
Velocity sampling Rate
up to 8 KHz
Velocity command options
Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
A.6.3
Position Loop
Feature
Details
Controller type
“1-2-4” PIP
Position command options
Software
Pulse and Direction
Position sampling time
280 - 400 µsec (x 4 current loop sample time)
Position sampling rate
up to 4 KHz
A-7
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.7 Feedbacks
A.7.1
Feedback Supply Voltage
Feature
Details
Main encoder supply voltage
5 V +5% @ 200 mA maximum
Auxiliary encoder supply voltage
5 V +5% @ 200 mA maximum
A.7.2
Incremental Encoder Input
Feature
Details
Encoder format
A, B and Index
Differential
Quadrature
Interface:
RS-422
Input resistance:
Differential: 120 Ω
Maximum incremental encoder frequency:
Maximum: 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 ns
Maximum encoder input voltage range
Common mode: ±7V
Differential mode: ±7V
Figure A-A-1: Encoder Phase Diagram
A-8
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.7.3
Digital Halls
Feature
Details
Halls inputs
H A , H B, H C .
Single ended inputs
Built in hysteresis for noise immunity.
Input voltage
Nominal operating range: 0V < VIn_Hall < 5V
Maximum absolute: -1V < VIn_Hall < 15V
High level input voltage: V InHigh > 2.5V
Low level input voltage: V InLow < 1V
Input current
Sink current (when input pulled to the
common): 3ma
Source current: 1.5 ma (designed to also support
open collector Halls)
Maximum frequency
A.7.4
fMAX : 2 KHz
Interpolated Analog Encoder (Sine/Cosine)
Feature
Details
Analog encoder format
Sine and Cosine signals
Analog input signal level
Offset voltage: 2.2 V – 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
20 mega-counts/sec
Automatic errors correction
Signal amplitudes mismatch
Signal phase shift
Signal offsets
A-9
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.7.5
Resolver
Feature
Details
Resolver format
Sine/Cosine
Differential
Input resistance
Differential 2.49 KΩ
Resolution
Programmable: 10 ~ 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 Cello
Reference current
up to ±50 mA
A.7.6
Encoder Outputs
Feature
Encoder output format
Details
A, B, Index
Differential outputs
Quadrature
Interface
Port B1 output current capability
RS-422
Driving differential loads of 200 Ω on
INDEX/INDEX-, CHB/CHB- and CHA/CHA- pairs
Port B2 output current capability
INDEXO/INDEXO-, CHBO/CHBO- and
CHAO/CHAO- pairs are not loaded
Available as options
Two simultaneous buffered outputs of mainincremental encoder input
Two simultaneous emulated encoder outputs
of analog encoder input
Two simultaneous emulated encoder outputs
of resolver input
Buffered output of auxiliary input
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
A-10
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A-11
A.8 I/O’s
The Cello has:
A.8.1
10 Digital Inputs
5 Digital Outputs
2 Analog Inputs
Digital Input Interfaces
Feature
Type of input
Input current
Details
Connector Location
Optically isolated
Single ended
PLC level
Iin =
Vin − 6.5V
2500Ω
J2:
General
Purpose
I/O
* Iin = 2.2 mA @ Vin = 12 V
Input current
for high speed
inputs
Iin =
Vin − 6.5V
1250Ω
* 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
Minimum
pulse width
> 4 x TS, where TS is sampling time
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 < 4 x
TS
High-speed
inputs minimum pulse
width, in highspeed 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.
DIGINPUT
Execution time
(all inputs):
the time from
application of
voltage on
input until
execution is
complete
J1:
General
Purpose
I/O
If input is set to General input, execution depends
on program. Typical execution time: ≅ 0.5 msec.
2.5K
Digital Input
Schematic
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.8.2
A-12
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) ≤ 15 mA
VOL at maximum output
voltage (low level)
Vout (on) ≤ 0.3 V + 0.02 * Iout
(mA)
RL
External resistor RL must be
selected to limit output current to
no more than 15 mA.
RL =
Executable time
Connector Location
J2:
General
Purpose
I/O
J1:
General
Purpose
I/O
Vcc − VOL
Io(max)
If output is set to one of the builtin 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.
Digital Output Schematic
A.8.3
Analog Input
Feature
Details
Maximum operating differential voltage
± 10 V
Maximum absolute differential input voltage
± 16 V
Differential input resistance
3 KΩ
Analog input command resolution
14-bit
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A-13
A.9 Communications
Specification
Details
RS-232
Signals:
Connector Location
RxD , TxD , Gnd
Full duplex, serial communication for setup
and control.
Baud Rate of 9,600 ~ 115,200 bit/sec.
CANopen
CANbus Signals:
CAN_H, CAN_L, CAN_GND
Maximum Baud Rate of 1 Mbit/sec.
Version:
DS 301 V4.01
Device Profile (drive and motion control):
DSP 402
CANopen
port
CANopen
port
RS-232
port
A.10 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)
A.11 Mechanical Specifications
Feature
Details
Mounting method
Wall Mount
Overall dimensions
150 x 105 x 25.4 mm (5.9 x 4.13 x 1 in)
Weight
640 gm (22.6 oz)
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A-14
A.12 Standards Compliance
A.12.1 Quality Assurance
Specification
Details
ISO 9001:2000
Quality Management
A.12.2 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
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)
UL508c
UL840
In compliance with IEC68
Type testing
A.12.3 Safety
Specification
Details
In compliance with UL508c
Power conversion equipment
In compliance with UL840
Insulation coordination, including clearance
and creepage distances of electrical equipment
In compliance with UL60950
Safety of information technology equipment,
including electrical business equipment
In compliance with EN60204-1
Low voltage directive, 73/23/EEC
A.12.4 EMC
Specification
In compliance with
EN55011 Class A with EN61000-6-2:
Immunity 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
IEC61000-4-11 / criteria B/C
Details
Electromagnetic compatibility (EMC)
Cello Installation Guide
Technical Specifications
MAN-CELIG (Ver. 1.0)
A.12.5 Workmanship
Specification
Details
In compliance with IPC-A-610, level 2
Acceptability of electronic assemblies
A.12.6 PCB
Specification
Details
In compliance with IPC-A-600, level 2
Acceptability of printed circuit boards
A.12.7 Packing
Specification
Details
In compliance with EN100015
Protection of electrostatic sensitive devices
A-15
Cello Installation Guide
I-1
MAN-CELIG (Ver. 1.0)
Index
A
Advanced position control · 2-2
Ambient operating temperature · 3-1
Analog input
Specifications · A-12
Auxiliary
Feedback cable · 3-14, 3-15
Power cable · 3-10
Power supply · A-6
C
Cables
Auxiliary feedback · 3-14, 3-15
Auxiliary power · 3-10
Communication · 3-27
I/O · 3-23
Main Power · 3-9
Motor · 3-8
CANopen · 3-27, 3-28
Cello
Cables · 3-11
Connection diagram · 3-7
Connectors · 3-6
Dimensions · A-3
Initializing · 3-30
Installation · 3-1
Powering up · 3-30
Technical specifications · A-1
Type designation number · 3-3
Unpacking · 3-3
Wiring · 3-4
Communication · 2-2
Communication cables · 3-27
Compliance standards · 1-3, A-14
Composer · 2-1, 3-30
Conformance · 1-3, A-14
Connecting
Auxiliary power cable · 3-10
Control cables · 3-11
Feedback cables · 3-11
Main power cable · 3-9
Motor cables · 3-8
Power cables · 3-8
Connection diagram · 3-7
Control specifications · A-6, A-7
Current control · 2-1
D
DC power supply · 3-9
Differential auxiliary input · 3-17, 3-19, 321
Digital output interface · A-12
Dimensions · A-3
E
Environmental conditions · A-4
F
Fault protection · 2-3
Feedback
Connector · 3-11
Options · 2-2, A-7
Supply voltage · A-8
Feedback options · A-8, A-9, A-10, A-11
G
Grounding · 1-1
Auxiliary power cable · 3-10
CANopen cables · 3-28
Main feedback cables · 3-11
Main power cables · 3-9
Motor cables · 3-8
RS-232 cable · 3-27
H
Hardware requirements · 3-1
Cello Installation Guide
Index
MAN-CELIG (Ver. 1.0)
I
I/O cables · 3-23
Initializing the Cello · 3-30
M
Main feedback cable · 3-11
Main power cable · 3-9
Maximum
Operating altitude · 3-1
Relative humidity · 3-1
Mechanical specifications · A-13
Motor cables · 3-8
Mounting the Cello · 3-4
P
Position control · 2-2
Power
Source · 1-2
Power cables · 3-8
Powering up the Cello · 3-30
R
Relative humidity · 3-1
RS-232 · 3-27
Standards · 1-3
Warnings · 1-2
Site requirements · 3-1
Specifications
Analog input · A-12
Auxiliary power supply · A-6
Control · A-6, A-7
Digital output interface · A-12
Environment · A-4
Feedback options · A-7, A-8, A-9, A-10, A11
Feedback supply voltage · A-8
Mechanical · A-13
Standards · 1-3
System architecture · 2-3
T
Technical specifications · A-1
Temperature · 3-1
Type designation number · 3-3
U
Unpacking · 3-3
V
Velocity control · 2-1
S
Safety · 1-1
Cautions · 1-2
Compliance standards · A-14
W
Warranty · 1-3
Wiring the Cello · 3-4
I-2