Elmo EXTRA IQ RAVEN manual

Raven Current Mode Se rvo Amplifiers for Brus hless Motors with Sinusoidal Commutat ion in Extended Environmenta l Co nditio ns Installation Guide April 2008 (Ver. 1.1) www.elmomc.com[...]

Notice This guide is de livered subject to th e following c onditions and res trictions:  This guide con tains proprietary information belonging to Elmo Motion Control Ltd. Such inf ormation is supplied s olely for the purpos e of assis ting users of th e Raven servo drives in their installation.  The text and graph ics included in this man u[...]

Contents Chapter 1: Safet y Inf ormation ............................................................................................... 1-1 1.1 Warn ings ....................................................................................................................... .. 1-1 1.2 Cautions .......................................................[...]

A.5.3 Safety .................................................................................................................... A-3 A.5.4 EMC ...................................................................................................................... A-4 A.5.5 Work mansh ip ...............................................................[...]

Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Raven servo amplifier, it is imperative that you i mpl ement t he safety procedures included i n this user guid e. This information is provided to protect you and to keep your work area safe when operating the Raven and accompanying equipment. Read this chapter car[...]

To avoid electric arcing and hazards to personnel and electrical contacts, never con ne ct/dis co nn ect th e s ervo amplif ier w hile th e pow er s ou rce is on. Power cables can carry a high voltage, even when t he motor i s not in motion. Disconnect the Raven from all voltage sources before it is opened for servicin g. After sh utting off the po[...]

Raven Installa tion Gu ide MAN-R AVIG (Ver. 1. 1) 2-1 Chapter 2: Introduction This user gu ide is intended f or the design e ngineer who is integrating an Elmo Mo tion Control Raven s ervo amplifier into a mach ine. 2.1 ExtrIQ Product Family Elmo Motion Con trol's ExtrIQ product family is a set of durable motion control products for applicatio[...]

Raven Installa tion Gu ide In troduction MAN-R AVIG (Ver. 1. 1) 2-2 2.2 Product Description The Raven is a series of miniature ExtrIQ current mode servo amplifiers for brushles s motors with sinusoidal commutation. Although highly compact, the Raven can w ithstand extended envi ronmental condi tions and support up to 35 Am ps. This high power densi[...]

Raven Installa tion Gu ide In troduction MAN-R AVIG (Ver. 1. 1) 2-3 Figure 2-1: Raven Block Diagram 44.2K 10.5K 10 nF 10 K 20K 20K 100K CREF 1+ (J 1,2) Pr o t ec t i o n s CFM& C GC Lo g i c 20K 20K CREF 1- (J1, 1) C urrent Limi ts ECLC(J 2,1) ECLP(J2,3) ECLRE T(J2, 2) CM2(J1,8) CM3(J1,9) CMR ET (J1,10) CM 1(J 1,7) C u rre nt Lo op Am p. Cu rre[...]

Raven Installa tion Gu ide In troduction MAN-R AVIG (Ver. 1. 1) 2-4 2.5 How to Use this Guide Installation is th e first step in integrating and operating th e Elmo Raven servo amplif ier. After caref ully reading the saf ety instructions in the first chapter, th e following ch apters provide you with ins tallation instructions as follows: Chapter [...]

Raven Installa tion Gu ide MAN-R AVIG (Ver. 1. 1) 3-1 Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Raven by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature -40 °C ~ 70 °C (- 40 °C ~ 160 °F) Maximum case temperature 87 °C (188 °F) Note : Model[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-2 3.3 Raven Dimensions Figure 3-1: Raven Dimensi ons[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-3 3.4 Mounting the Raven 3.4.1 Mounting the Heatsink The Raven dissipates its heat by natural convection, up to loads of 500W. For higher output loads, the amplifier should be mounted on an additional heatsink or cooled by fan. There are two 4.5-mm holes in the base plate for mountin[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-4 3.5 Wiring the Raven Figure 3-2: Basic Wiring[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-5 3.6 Connections 3.6.1 Pin Functions The Raven connections are described in the following figure and tables. Figure 3-3: Raven Connector Locations Pin Function Remarks VP+ Positive power input PR Power input return M 1 Motor power output 1 M 2 Motor power output 2 M 3 Motor power ou[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-6 Pin #/ Short Form Function Remarks 1 CREF1- Current comm and input ( - ) Negative input of a differential amplif ier:  Input operating voltage range: ± 3.75 V  Maximum input voltage: ± 20 V (see section 4.1 )  Maximum common mode voltage: ± 6 V (referred to as CMRET) ?[...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-7 Pin #/ Short Form Function Remarks 1 ELCL External current limit - contin uous External voltage scales down rated value.  Voltage range: 0 V to 3.75 V (3.75 V = rated Ic)  Internally limited to rated valu e 2 ECLRET Current limits return Return for current limits s ignals. 3 [...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-8 Pin #/ Short Form Function Remarks 1 AOK Amplifier OK “Amplifier OK” indication output pin. When the amplifier is at no rmal operating conditions , this output is in “active low “ state. When a failure occurs, this output is changed to “open” state. Opto isolated, open [...]

Raven Installa tion Gu ide In stallation MAN-R AVIG (Ver. 1. 1) 3-9 3.7 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specific ations ( Appendix of this guide). The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the stand[...]

Raven Installa tion Gu ide MAN-R AVIG (Ver. 1. 1) 4-1 Chapter 4: Servo Control Operation 4.1 Current Command Input The Raven ha s two differe ntial inputs. The input operating voltage range is ± 3.75 V, meaning that a 3.75 V signal will result in a fully rated peak current. The current limit circuits will override this signal if the peak duration [...]

Raven Installa tion Gu ide Servo Control Operation MAN-R AVIG (Ver. 1. 1) 4-2 4.3 Current Gain Control (CGC) The Raven amplif ier is equipped w ith Current G ain Control ( CGC) f or improved performance of low induction motors. C onnecting pin J 2/5 to J2/4 re duces the gain of the current loop, thus e nabling the use of low inductance motors w ith[...]

Raven Installa tion Gu ide Servo Control Operation MAN-R AVIG (Ver. 1. 1) 4-3 4.4 External Current Limit - Continuous (ECLC) The continuous current limit of the Raven amplifier can be scaled down by an external voltage or by an external resistor connected from pin J2/ 1 (ECLC) to pin J2/2 (E CLRET). 4.4.1 External Voltage An external positive volta[...]

Raven Installa tion Gu ide Servo Control Operation MAN-R AVIG (Ver. 1. 1) 4-4 4.5.2 Exte rnal Resistor Connect an external resistor between terminal J2/3 (ECLP) and terminal J2/2 (ECLRET). The resistor va lue is given by:  0 < R ECLP < 11 .4 K ( 1 /8 Watt)  At R ECLP greater than 11 .4K, the current limit w ill be internally clamped to [...]

Raven Installa tion Gu ide Servo Control Operation MAN-R AVIG (Ver. 1. 1) 4-5 4.8 Status Indications The follow ing table lists th e Raven amplifier s tatus indication s. Function Latch Option AOK SO1 SO2 SO3 1 Amplifier OK (AOK) N/A Low Open collector Open collector Open collecto r 2 External disable No Low Low Open col lector Low 3 Current limit [...]

Appendix: Technical Specifications A.1 Power Ratings Feature Units 5/60 10/60 15/60 25/60 3/100 10/100 15/100 20/100 2/200 6/200 10/200 15/200 Minimum supply voltage VDC 10 20 40 Nominal supply voltage VDC 50 85 170 Maximum s upply voltage VDC 59 95 195 Maximum continuous power output W 240 480 720 1200 260 800 1200 1600 360 960 1600 2400 Efficienc[...]

A.3 Mechanical Specifications Feature Details Size 82 x 62 x 25.4 mm (3.228 x 2.440 x 1.000 in ) Weigh t 250 g (8.8 oz) Power pin material Brass with tin plating Power pi n size 1.14 mm (0.45 in ) square Power pin PCB layout 1.8 ± 0.05 mm (0.071 ± 0.002 in) Signal pin ( J1 , J 2) mate ria l Phosphor bronze with 10 µ gold plat ing Signal pin (J1,[...]

A.5 Standards Compliance A.5.1 Q uality Assurance Specification Details ISO 9001:2000 Quality Management A.5.2 D esign Specification Description In compliance with MIL-STD-704 Aircraft, Electric Power C haracteristics In compliance with MIL-STD-810 Environmen tal Engineering C onsiderations an d Laboratory Tests In compliance with MIL-STD-1275 Char[...]

A.5.4 EMC Specification Details In compliance with EN55011 Class A with EN61000-6-2: Immunity for industrial environ ment, 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 Electromagnetic c ompatibili[...]

Raven Installa tion Gu ide Tech nical Specific ations MAN-RAVI G (Ver.1.1) A-5[...]