Elmo MAN-OCSIG (Ver. 1.2) manuale d’uso

Ocarina/Castanet Analog Servo Drives Installation Guide April 2008 - Ver. 1.2 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 inf ormation is supplied s olely for the pu rpose of ass isting users of the Ocarina and Castanet servo drives in their installation.  The text and graph ics included[...]

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

4.3.2 External Resis tor ............................................................................................... 4-2 4.3.3 External C urrent Limit - P eak (ECLP) ........................................................... 4-2 4.3.4 External Volt age ............................................................................................[...]

Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Ocarina and Castanet 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 Ocarina and Castanet and acco[...]

1.1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source i s on. Power cables can carry a high voltage, even when t he motor i s not in motion. Disconnect the Ocarina and Castanet from all voltage sources before they are opened for servicing. The Ocarina [...]

1.3 Directives and Standards The Ocarina and Castanet conform to the following industry safety standards: Safety Standard Item In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electri cal Equi pment In compliance with UL60950-1 (formerly UL1950) Safe[...]

Ocarina/Castanet Install ation Guide Introduction MAN-O CSIG (Ver. 1.2) 2-1 Chapter 2: Introduction This Installation Guide is inten ded for design e ngineers w ho are integrating an Elmo Motion Control Ocarina and Castanet servo amplifiers into a machine. 2.1 Product Description The Oc ari na and Ca sta net series of servo-amplifiers was designed [...]

Ocarina/Castanet Install ation Guide Introduction MAN-O CSIG (Ver. 1.2) 2-2 • Weight: Ocarina – 1.6 oz (45g), Castanet – 0.76 oz (21.5 grams) 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/o[...]

Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Ocarina and Castanet by ensuring that they are installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C – 50 °C (32 °F – 122 °F) Maximum rel ative humidi ty 90% non-condensing Operating area atmos[...]

3.3 Dimensions 3.3.1 Ocarina Dimensions Figure 3-1: Ocarina Dimensions 3.3.2 Castan et Dimensions Figure 3-2: Castanet Dimensions Ocarina/Castanet Install ation Guide Insta llation MAN-O CSIG (Ver. 1.2) 3-2[...]

3.4 Mounting 3.4.1 Ocarina The Ocarina was designed for mounting on a printed circuit board (PCB). It is connected by 2 mm pitch 0.51 mm square pins. When designing the Ocarina into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the Ocarina. We recommend that the Ocarina be soldered [...]

3.5 Integrating the Ocarina and Castanet on a PCB The Oc arin a an d C astan et are designed to be mounted on a PCB, either by soldering its pins directly to the PCB or by using suitable soc ket conne ctors. In both ca ses the following rule s apply: 3.5.1 Trac es 1. The size of the traces on the PCB (thickne ss and width) is determined by the curr[...]

4. PE Terminal : The PE terminal is connected directly to the Ocarina's heatsink or to the Castanet's two PE strips on its lower board. In the Ocarina, the heatsink serves as an EMI common plane. The PE termi nal should be connected to the system's Protective Earth. Any other me tallic parts (such as the chas sis) of the assembly sho[...]

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 Ocarina/Castanet Connection Diagram Figure 3-3: Ocarina/Castanet Connection Diagram Ocarina/Castanet Install ation Guide Insta llation MAN-O CSIG (Ver. 1.2) 3-8[...]

3.8 Main Power and Motor Power P in Function Cable Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protective earth Power AC Motor DC Motor PE Protective earth Motor Motor M1 Motor phase Motor N/C M2 Motor phase Motor Motor M3 Motor phase Motor Motor When con necting se veral amplifiers to s everal motors, all sh ould be wired in [...]

3.10 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 safet y aspects of the relevant requiremen ts, in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard, a[...]

Figure 3-4: Detailed Ocarina/Castanet Internal Block Diagram Ocarina/Castanet Install ation Guide Insta llation MAN-O CSIG (Ver. 1.2) 3-11[...]

3.11 Heat Dissipation 3.11.1 Ocarina The best way to di ssipate heat from the Ocarina i s to mount it so that its heatsink faces up. For best results leave approximately 10 mm of space between the Ocarina's heatsink and any other assembl y. 3.11.1.1 Thermal Data • Heat dissipation capability ( θ ): Approximately 10 ° C/W. • Thermal time [...]

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 3.11.1.3 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 Ocarina/Castanet Connected to DC Motors In order to connect the Ocarina or Castanet to a DC motor, connect Hall A (J1 pin 4 of the drive) to Hall return (J1 pin 17 of the drive). The motor should be connected to M2, M3. 4.2 Current Command Input The Ocarina and Castanet have a single differential input. The in[...]

4.3.2 Exte rnal Resistor Connect an external resistor between terminal J1/9 (ECLC) and terminal J1/8 (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 r. 4.3[...]

4.3.5 Exte rnal Resistor Connect an external resistor between terminal J1/14 (ECLP) and terminal J1/8 (ECLRET). The resistor va lue is given by: 0 < R ECLP < 36.4 K (1/8 Watt) At RECLP greater than 36.4 K, the current limit will be internally clamped to the nominal value. IP(nom) is the nomina l peak current limit of th e amplifier. 4.3.6 Lat[...]

Function Latch Option AOK SO1 SO2 SO3 10 Power 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: Ocarina/Castanet Status Indications Notes:  Without latch mode: The s[...]

Appendix: Specifications A.1 General Specifications A.1 .1 Ocarina Feature Units 1/60 2.5/60 5/60 10/60 15/60 1/100 2.5/100 5/100 10/100 15/100 Minimum supply voltage VDC 11 20 Nominal supply voltage VDC 50 85 Maximum supply voltage VDC 59 95 Maximum continuous power output W 55 140 280 570 850 90 230 460 920 1400 Efficiency at rated power (at nomi[...]

A.1.2 Ca stanet Feature Units 3/60 2.5/100 Minimum supply voltage VDC 11 20 Nominal supply voltage VDC 50 85 Maximum supply voltage VDC 59 95 Maximum continuous power output W 190 240 Efficiency at rated power % Up to 99% Maximum o utput voltage 93% of DC bus voltage at f=32 kHz DC and trapezoi dal commutation continuous current limit (Ic) A 3.3 2.[...]

A.2 Standards Compliance A.2.1 Q uality Assurance Specification Details ISO 9001:2000 Quality Management A.2.2 D esign Specification Details MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.) IPC-D-275 IPC-SM-782 IPC-CM-770 UL508c UL840 Printed wiring for elect ronic equipment (clearance, creepage, spaci[...]

A.2.4 EMC Specification Details In compliance with EN55011 Class A with EN61000-6-2: Immunity for in dustrial 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 Electromagnetic compatibilit[...]