Elmo ExtrIQ Dragonfly/Butterfly manuale d’uso

Dragonfly/Butterfly Current Mode Ser vo Am plifiers fo r DC Br ush and Br ushless Motors with Trapez oidal Co mmutat io n 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 conditions and re strictions:  This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such info rmation is supplied s olely for the purpos e of assistin g users of th e Dragonfly and Butterfly se rvo drives in their in stallation.  The text and graph ics in[...]

Contents Chapter 1: Safet y Informatio n ............................................................................................... 1-1 1.1 Warn ings .................................................................................................................... 1-2 1.2 Cautions .............................................................[...]

4.2.4 External Volt age ................................................................................................ 4-2 4.2.5 External Resistor ............................................................................................... 4-3 4.2.6 Latch Mo de (LM) ..............................................................................[...]

Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Dragonfly and Butterfly servo- amplifiers, it is impe rative that you implemen t the safe ty procedures inc luded in this installation guide. Th is information is provided to protect you and to keep your w ork area safe when operating the Dragonfly and Butterfly an[...]

1.1 Warnings Cleaning after soldering To avoid the damage of the product' s acrylic coating the Dragonfly/Butte rfly must not be c leaned after s oldering by disso lving solvents and /or "water" cleaning process. For more details: http://www.elm omc.com/applicat ions/articl e/Soldering-and- Cleaning_Applic ation-Note.pdf To avoid ele[...]

1.3 Directives and Standards The Dragonfly and Butterfly conform to the following industry safety standards: Safety Standard Item In compliance with MIL-STD-704 Aircraft, Electric Power C haracteristics In compliance with MIL-STD-810 Environmen tal Engineering C onsiderations and Laboratory Tests In compliance with MIL-STD-1275 Characteristics of 2[...]

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 ship[...]

Cymba l Installa t ion Guide Introduction MAN-CYMI G (Ver. 1. 1 ) 2-1 Chapter 2: Introduction This Installation Guide is intended fo r design en gineers w ho are inte grating Elmo Motion Control Cymbal s ervo amplifiers in to a machine. 2.1 Product Description The Cymbal series of servo amplifiers is designed to operate in the current mode controll[...]

Cymba l Installa t ion Guide Introduction MAN-CYMI G (Ver. 1. 1 ) 2-2 2.3 Fault Protection Built-in protection again st possible f ault conditions, in cluding: • Shorts betwe en the outputs or be tween each output and the power input/ return • Over-heating • Under/over voltage • Failure of intern al power supplies • Latch mode for each pr[...]

Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of t he Dragonfly and Butterfly by ensuring that t hey are installed in an appropriate environment. Feature Value Ambient operating temperature -40 °C to +70 °C (-40 °F to 160 °F) Maximum rel ative humid ity 95% non-cond ensing Operating ar[...]

Max imu m DC Operat ing Vol tage Con tinuo us C u rrent (Am ps) DRA- X/ YY 3. Verify that the Dragonfly or Butterfly type is the one th at you ordered, and ensu re that the voltage meets your speci fic requirements. 3.3 Dimensions 3.3.1 But terfly Dimensions Figure 3-1: Butterfly Dimensions Dragon fly/ Butterf ly Installation G uide Insta llation M[...]

3.3.2 Dragonfly Dimensions Figure 3-2: Dragonfly Dimensions 3.4 Mounting 3.4.1 Butterfly The Butterfly w as designed fo r mounting on a printed circuit board ( PCB). It is connected by 2mm pitch 0.51 mm square pins. When designing the Butterfly into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air conve[...]

3.5 Integrating the Dragonfly and Butterfly on a PCB The Drag on fly an d Bu tte rfl y are designed to be mounted on a PCB, ei ther by soldering the pins directly to the PC B or by using su itable socket c onnectors . In both case s the fo llowing rules apply: 3.5.1 Trac es 1. The size of the traces on the PCB (thickne ss and width) is determined b[...]

3.5.2 Grounds and R eturns The “Returns” of the Dragonfly and Butterfly are structured internally in a star configuration. The returns in each functional block are listed below: Functional Block R et ur n P in Po we r PR (Power Return) Internal Switch Mode P.S. PR ( Po we r R e t ur n) C o nt ro l s ec ti on Internal, not accessible Fe ed ba ck[...]

3.6 Pin Functions The Dragonfly and Butterfly are PCB mounted analog servo drives. Their pinouts are described below. 3.6.1 Pinouts No. Pins Type Port Function Connector Location 2X11 J1 I/O connector 2 M3 Motor power output 3 2 M2 Motor power output 2 2 M1 Motor power output 1 2 PE Protective earth 2 PR Power input return 2 VP+ Positive pow er inp[...]

3.6.2 Connector J1 Pin # Short Form Function Description 1 EN+ Enable + Positive voltage input of the “Amplifier Enable” function. To enable operation of the amplifier, the optocouple r must be energi zed by applying voltage between this pin (+) and pin J1/22 (-). The optocouple r is isolated from the amplifier. See Figure 3-4. “OFF” voltag[...]

Pin # Short Form Function Description 14 ECLP External current limit peak External voltage scales down the rated value. Voltage range: 0 V to 3.75 V (3.75 V = rated Ip) Refer to Section 4.2. 15 LMRET Latch Mode return Return for Latch Mode s ignals. 16 GAIN Current gain change Shorting this pin to LMRET pin (J1/15) reduces the proportional gain of [...]

3.7 Dragonfly/Butterfly Connection Diagram Figure 3-3: Dragonfly /Butterfly Con nection Diagram 3.8 Evaluation Board and Cable Kit The same circuit board used for the Ocarina and Castanet is also available for evaluating the Dragonfly and Butterfly. It comes with standards terminal blocks for power connections and D-sub plugs/sockets for si gnals c[...]

3.9 DC Power Supply The DC power supply can be at any voltage i n the range defined in the technical specif ications (th e Appendix of this guide). The supply source must comp ly with the safety aspects of the relevant requirements, in accordance with the most recent version of th e standard EN60950 or equivalent Low V oltage Directive Standard, al[...]

Figure 3-4: Detailed Dragonfly /Butterfly Internal Block Diagram Dragon fly/ Butterf ly Installation G uide Insta llation MAN-D RBUIG (Ver. 1. 1) 3-11[...]

3.10 Heat Dissipation 3.10.1 Butterfly The best way to dissipate heat from the Butterfly is to mount it so that its h eatsink face s up. For best results leave approximately 10 mm of space between the Butterfly's heatsink and any other assembl y. 3.10.1.1 Thermal Data • Heat dissipation ca pability ( θ ): Approximately 10 ° C/W. • Therma[...]

Whi st le 100 Ser ies P ower D is s ipat io n 0.0 1.0 2.0 3.0 4.0 5.0 6.0 0 0. 5 1 1.5 2 2. 5 3 3. 5 4 4. 5 5 P e ak Curr ent (A) P o w er D i ss i pati on (W ) 85V DC 70V DC 50V DC 3.10.1.3 How to Use the Charts The charts above are based upon theoretical worst-case con ditions. Actual tes t results show 30% - 50% better power dissipation. To dete[...]

Chapter 4: Servo Control Operation 4.1 Current Command Input The Dragonfly and Bu tterfly have a sin gle differen tial input. The input ope rating voltage range is ± 3.75 V, meaning that a 3.75 V signal will result in a f ully rated peak current. The current limit circuits will override this signal if the peak duration exceeds 2.7 seconds and/or t[...]

4.2.2 Exte rnal Resistor Connect an external resistor between terminal J 1 /9 (ECLC) and terminal J 1 /8 (ECLRET). The resistor va lue is given by: 0 < RECLC < 36.4 K ( 1 /8 Watt) At RECLC greater than 36.4 K, the current limit will be internally clamped to the nominal value. IC(nom) is the nomin al continuo us curren t limit of the amplifie [...]

4.2.5 Exte rnal Resistor Connect an external resistor between terminal J 1 / 1 4 (ECLP) and terminal J 1 /8 (ECLRET). The resistor va lue is given by: 0 < R ECLP < 36.4 K (1/8 Watt) At RECLP greater than 36.4K, the current limit will be internally clamped to the nominal value. IP(nom) is the nomina l peak current limit of th e amplifier. 4.2.[...]

Function Latch Option AOK SO1 SO2 SO3 1 0 Po wer up reset No Open collector Open collector Open collector Open collector 11 Commutation failure Yes Open collector Low Low Low * This indication can be used as a digita l input for activating an external shunt regulator. Table 4-1: Dragonfly/Butterfly Status Indications Notes:  Without latch mode: [...]

Appendix: Specifications A.1 General Specifications A.1.1 Butterfly Feature Units 15/48 5/60 10/60 15/60 2.5/100 5/100 10/100 15/100 Minimum supply voltage VD C 1 1 11 20 No m i n a l s u p p l y v o l t a ge VD C 42 50 85 Maximum s upply voltage VD C 4 8 59 95 Maximum continuous power output W 700 280 570 850 230 460 920 1400 Efficiency at Rated P[...]

A.1.2 D ragonfly Feature Units 3/60 2.5/100 Minim um s uppl y vol t age VDC 11 20 Nomin al su pply vo l tag e VD C 50 85 Maximum s u pply vo lt ag e VDC 59 95 Maximum continuous power output W 190 240 Eff ici en cy at rated power % Up to 99% Max imu m o ut pu t vo lta ge 93% of DC bus voltage at f=32 kHz DC and trapezoidal commuta tion continuous c[...]

A.3 Standards Compliance A.3.1 Q uality Assurance Specification Details ISO 9001:2000 Quality Management A.3.2 D esign Specification Description In compliance with MIL-STD-704 Aircraft, Electric Power C haracteris tics In compliance with MIL-STD-810 Environmen tal Engin eerin g Co nside rations and Laboratory Tests In compliance with MIL-STD-1275 C[...]

A.3.4 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[...]