Hornet and Bee Digital Servo Drive Installation Guide September 2012 (Ver. 1.3) www.elmomc.
Notice This guide is delivered subject to the following conditions and restrictions: • This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Hornet and Bee servo drives in their installation. • The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.
Elmo Worldwide Head Office Elmo Motion Control Ltd. 64 Gisin St., P.O. Box 463, Petach Tikva 49103 Israel Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com North America Elmo Motion Control Inc. 42 Technology Way, Nashua, NH 03060 USA Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com Europe Elmo Motion Control GmbH Steinkirchring 1, D-78056, Villingen-Schwenningen Germany Tel: +49 (0) 7720-85 77 60 • Fax: +49 (0) 7720-85 77 70 • info-de@elmomc.
Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 8 Cautions .......................................................................................................................... 8 Directives and Standards ................................................................................................
Hornet and Bee Installation Guide Table of Contents MAN-HRBEIG (Ver. 1.3) 3.9. 3.10. 3.11. 3.12. 3.13. 3.14. 3.15. 3.16. 3.8.3. Shared Supply ................................................................................................ 30 Main Feedback ............................................................................................................. 31 Auxiliary Feedback ........................................................................................................ 35 3.10.1.
Hornet and Bee Installation Guide Table of Contents MAN-HRBEIG (Ver. 1.3) 4.5.1. Current Loop .................................................................................................. 61 4.5.2. Velocity Loop ................................................................................................. 62 4.5.3. Position Loop ................................................................................................. 62 4.6. Feedbacks ......................................................
Hornet and Bee Installation Guide 7 MAN-HRBEIG (Ver. 1.3) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Hornet and Bee servo drives, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Hornet and Bee as well as the accompanying equipment. Please read this chapter carefully before you begin the installation process.
Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) 1.1. Warnings • To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source is on. • Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Hornet and Bee from all voltage sources before it is opened for servicing. • The Hornet and Bee servo drives contain grounding conduits for electric current protection.
Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) 1.3.
Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) 1.4. CE Marking Conformance The Hornet and Bee servo drives are intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent versions of standards EN 60204-1 and EN 292-2 at the least.
Hornet and Bee Installation Guide 11 MAN-HRBEIG (Ver. 1.3) Chapter 2: I ntroduction This installation guide describes the Hornet and Bee servo drives and the steps for their wiring, installation and power-up. Following these guidelines ensures maximum functionality of the drive and the system to which they are connected. 2.1. Ex trI Q Product Family Elmo Motion Control's ExtrIQ product family is a set of durable motion control products for applications operating under extreme environmental conditions.
Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) • • • MIL-STD-461- Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment MIL-HDBK-217 - Reliability Prediction of Electronic Equipment ISO-9001:2008 Based on Elmo Motion Control's innovative ExtrIQ core technology, they support a wide range of motor feedback options, programming capabilities and communication protocols. 2.2.
Introduction Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 2.3. Product Features 2.3.1. Current Control • Fully digital • Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digital Hall sensors • 12-bit current loop resolution • Automatic gain scheduling, to compensate for variations in the DC bus power supply 2.3.2.
Introduction Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 2.3.5.
Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) 2.4. System Architecture Figure 1: Hornet/Bee System Block Diagram 2.5. How to Use this Guide In order to install and operate your Elmo Hornet or Bee servo drives, you will use this manual in conjunction with a set of Elmo documentation.
Introduction Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) Figure 2: Elmo Digital Servo Drive Documentation Hierarchy As depicted in the previous figure, this installation guide is an integral part of the Hornet and Bee documentation set, comprising: • The Composer Software Manual, which includes explanations of all the software tools that are part of Elmo’s Composer software environment.
Hornet and Bee Installation Guide 17 MAN-HRBEIG (Ver. 1.3) Chapter 3: I nstallation The Hornet and Bee must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 3.1. Site Requirements You can guarantee the safe operation of the Hornet and Bee by ensuring that they are installed in an appropriate environment.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3. To ensure that the Hornet or Bee you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Hornet or Bee.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.3. Connectors The Hornet and Bee have nine connectors. 3.3.1. Pins 2x11 Connector Types Type 2 mm pitch 0.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.3.2. Pinouts The pinouts in this section describe the function of each pin in the Hornet and Bee J1 and J2 connectors. 3.3.2.1.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.3.2.2. Pin (J2) Connector J2 Signal Function 1 +5V Encoder/Hall +5V supply voltage. Maximum output current: 200 mA.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.4. Mounting 3.4.1. Hornet The Hornet was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm square pins. When integrating the Hornet into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the drive. We recommend that the Hornet be soldered directly to the board.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.4.2. Bee The Bee was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm square pins. When integrating the Bee into a device, be sure to leave about 1 cm (0.4") outward from the lower board to enable free air convection around the drive. We recommend that the Bee be soldered directly to the board. Alternatively, the Bee can be attached to socket connectors mounted on the PCB.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.5. Integrating the Hornet or Bee on a PCB The Hornet and Bee are designed to be mounted on a PCB, either by soldering the pins directly to the PCB or by using suitable socket connectors. In both cases the following rules apply: 3.5.1. Traces 1. The size of the traces on the PCB (thickness and width) is determined by the current carrying capacity required by the application.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 1. When wiring the traces of the above functions, on the Integration Board, the Returns of each function must be wired separately to its designated terminal on the Hornet or Bee. DO NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration Board may cause performance degradation (ground loops, etc). 2. Inputs: The 6 inputs are optically isolated from the other parts of the Hornet/Bee.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.6. The Hornet/Bee Connection Diagram Figure 5: Hornet/Bee Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.7. Main Power and Motor Power The Hornet and Bee receive power from main and delivers power to the motor. Pin Function Cable Pin Positions VP+ Pos.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.7.2. Connecting Main Power Connect the VP+, PR and PE pins on the Hornet/Bee in the manner described in Section 3.5 (Integrating the Hornet or Bee on a PCB). Figure 7: Main Power Supply Connection Diagram 3.8. Auxiliary Supply (for drive logic) Notes for 12 to 95 VDC auxiliary supply connections: Connect the VL and PR pins on the Hornet/Bee in the manner described in Section 3.5 (Integrating the Hornet or Bee on a PCB).
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.8.1. Single Supply A single isolated DC power supply can provide power for both the main power and the Auxiliary (Drive Logic) Supply. The drawing below shows how a single supply is connected. Figure 8: Single Supply for both the Main Power Supply and the Auxiliary Supply 3.8.2. Separate Auxiliary Supply Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.8.3. Shared Supply A "Main" DC Power Supply can be designed to supply power to the drive's Logic as well as to the Main Power (see Figure 8). If backup functionality is required (for storing control parameters in case of power-outs) an additional backup supply can be connected by implementing 'diode coupling' (see the Aux. Backup Supply in Figure 10). Figure 10: Shared Supply Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.9. 31 Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive. In order to copy the setup to other drives, the phase order on all copy drives must be the same.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 11: Main Feedback- Incremental Encoder Connection Diagram Figure 12: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) Figure 13: Main Feedback – Resolver Connection Diagram Figure 14: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors www.elmomc.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 15: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors Figure 16: Main Feedback – Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors www.elmomc.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 17: Main Feedback – Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils 3.10. Auxiliary Feedback For auxiliary feedback, select one of the following options: a. Single-ended emulated encoder outputs, used to provide emulated encoder signals to another controller or drive. The Emulated Encoder Output Option is only available when using a Resolver or Analog Encoder as the main feedback device.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.10.1. 36 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but not always used. The Auxiliary Feedback connector on the Hornet/Bee has three bidirectional pins (CHA, CHB and INDEX). When used in combination with Main Feedback, the Auxiliary Feedback can be set, by software, as follows: Auxiliary Feedback Main Feedback YA[4] = 4 (Aux.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) Pin (J1) Signal Function 4 SUPRET Supply return 19 INDEX+ Index output 18 CHBO Channel B output 5 CHAO Channel A output Pin Positions Notes: • The Emulated Encoder Output Option is only available when using a Resolver or Analog Encoder as the main feedback device. • The Hornet/Bee’s Auxiliary Feedback is single-ended.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 19: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 20: Emulated Encoder Differential Output – Highly Recommended Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) Pin (J1) Signal Function 4 SUPRET Supply return 19 INDEX Auxiliary index input 18 CHB Auxiliary channel B input 5 CHA Auxiliary channel A input Pin Positions Note: The Hornet/Bee’s Auxiliary Feedback is singleended. When mounted on an integration board, circuitry can be added to make it differential (Figure 23 (highly recommended)).
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 22: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram Figure 23: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) Pin (J1) Signal Function 4 SUPRET Supply return 18 DIR/CHB Direction input (push/pull 5 V or open collector) 5 PULS/CHA Pulse input (push/pull 5 V or open collector) Pin Positions Note: The Hornet/Bee’s Auxiliary Feedback is singleended. When mounted on an integration board, circuitry can be added to make it differential (Figure 26).
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 25: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram Figure 26: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.11. I/Os The Hornet and Bee have: • 6 Digital Inputs • 2 Digital Outputs • 1 Analog Input I/O J1 J2 Total Digital Input 6 - 6 Digital Output 2 - 2 Analog Input - 1 1 3.11.1. Digital Input Each of the pins below can function as an independent input.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 27: Digital Input Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.11.2. Digital Output Pin (J1) Signal Function 7 OUT1 17 OUTRET1 Programmable digital output return 1 8 OUT2 16 OUTRET2 Programmable digital output return 2 Pin Positions High-Speed Programmable digital output 1 Programmable digital output 2 Table 9: Digital Output Pin Assignment Figure 28: Digital Output Connection Diagram www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.11.3. Pin (J2) Analog Input Signal Function 3 ANLIN1+ Analog input 1+ 4 ANLIN1- Analog input 1- 2 ANLRET Analog ground Pin Positions Table 10: Analog Input Pin Assignments Figure 29: Analog Input with Single-Ended Source www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.12. Communications The communication interface may differ according to the user’s hardware. The Hornet and Bee can communicate using the following options: a. RS-232, full duplex b. CANopen RS-232 communication requires a standard, commercial 3-core null-modem cable connected from the Hornet or Bee to a serial interface on the PC. The interface is selected and set up in the Composer software.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 30: RS-232 Connection Diagram 3.12.2. CANopen Communication Notes for connecting the CANopen communication cable: • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection. • Ensure that the shield of the cable is connected to the shield of the connector used for communications.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) Figure 31: CANopen Network Diagram Caution: When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang. www.elmomc.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.13. Powering Up After the Hornet or Bee is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 3.14. Initializing the System After the Hornet or Bee has been connected and mounted, the system must be set up and initialized.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.15.1.2. Heat Dissipation Data Heat Dissipation is shown in graphically below: External Heatsink Required Heatsink not Required Standard 40 °C Ambient Temp. External Heatsink Required Heatsink not Required www.elmomc.
Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) 3.15.1.3. How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation. To determine if your application needs a heatsink: 1. Allow maximum heatsink temperature to be 80 °C or less. 2. Determine the ambient operating temperature of the Hornet. 3.
Installation Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 3.16. Evaluation Board and Cable Kit A circuit board is available for evaluating the Hornet. It comes with standard terminal blocks for power connections and D-sub plugs/sockets for signal connections. The Evaluation Board is provided with a cable kit. Figure 32: The Evaluation Board (available upon request) Evaluation Board Evaluation Board User Manual Catalog Number: EVA-WHI/GUI/BEL MAN-EVLBRD-WHI-BEL-GUI.
Hornet and Bee Installation Guide 54 MAN-HRBEIG (Ver. 1.3) Chapter 4: Technical Specifications This chapter provides detailed technical information regarding the Hornet and Bee. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications. 4.1. Features The features of the Hornet and Bee determine how they control motion, as well as how they process host commands, feedback and other input. 4.1.1.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) 4.1.5.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) 4.1.7.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) 4.2. Dimensions 4.2.1. Hornet 4.2.2. Bee www.elmomc.
Technical Specifications Hornet and Bee Installation Guide 58 MAN-HRBEIG (Ver. 1.3) Power Ratings Minimum supply voltage VDC 6 7.5 12 Nominal supply voltage VDC 42 50 85 Maximum supply voltage VDC 48 59 95 Maximum continuous power output W Efficiency at rated power (at nominal conditions) % 600 800 50 480 720 960 200 400 1200 1600 > 99 Maximum output voltage Auxiliary power supply 240 95% of DC bus voltage at f=22 kHz VDC 11 to 95 VDC (up to 2.5 VA inc.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.3.2. Bee Feature Units 3/60 2.5/100 Minimum supply voltage VDC 7.5 12 Nominal supply voltage VDC 50 85 Maximum supply voltage VDC 59 95 Maximum continuous power output W 160 200 Efficiency at rated power (at nominal conditions) % Maximum output voltage > 99 95% of DC bus voltage at f=22 kHz Auxiliary power supply VDC 11 to 95 VDC (up to 2.5 VA inc.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.4. Environmental Conditions Operation Conditions Range Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F) Operating conditions -40 °C to +70 °C (-40 °F to 160 °F) Temperature Shock Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F) within 3 min.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.5. Control Specifications 4.5.1.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) 4.5.2.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.6. Feedbacks The Hornet and Bee can receive and process feedback input from diverse types of devices. 4.6.1. Feedback Supply Voltage The Hornet and Bee have two feedback ports (Main and Auxiliary). The drives supply voltage only to the main feedback device. The user must provide a separate power supply for auxiliary feedback devices if needed. Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum 4.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) Figure 33: Main Feedback - Encoder Phase Diagram 4.6.2.2. Digital Halls Feature Halls inputs Details • HA, HB, HC. • Single ended inputs • Built in hysteresis of 1V for noise immunity Input voltage Nominal operating range: 0 V < VIn_Hall < 5 V Maximum absolute: -1 V < VIn_Hall < 15 V High level input voltage: V InHigh > 2.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.6.2.3. Interpolated Analog (Sine/Cosine) Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input signal level • Offset voltage: 2.2 V to 2.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.6.2.5.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.6.3. Auxiliary Feedback Port (output mode YA[4]= 4) Feature Details Emulated output • A, B, Index • Single ended Output current capability Available as options Maximum output current: IOH (max) = 2 mA High level output voltage: VOH > 3.0 V Minimum output current: IOL = 2 mA Low level output voltage: VOL < 0.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) 4.6.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0) Feature Details Encoder input, pulse and direction input Output current capability Available as options • A, B, Index • Single ended VIn Low: 0 V < VIL < 0.8 V VIn High: 2 V < VIH < 5 V Maximum absolute voltage: 0 < VIn < 5.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.7. I/Os The Hornet and Bee have: • 6 Digital Inputs • 2 Digital Outputs • 1 Analog Input 4.7.1. Digital Input Interfaces Feature Details Type of input • Optically isolated • All six inputs share one signal return line Input current for all inputs Iin = 2.4 mA @ Vin = 5 V High-level input voltage 2.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.7.2. Digital Output Interface Feature Details Type of output • Optically isolated • Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 10 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V RL External resistor RL must be selected to limit output current to no more than 10 mA.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.8. Communications Specification Details RS-232 Signals: • RxD , TxD , Gnd • Full duplex, serial communication for setup and control. • Baud Rate of 9,600 to 57,600 bit/sec. CANopen CAN bus Signals: • CAN_H, CAN_L, CAN_GND • Maximum Baud Rate of 1 Mbit/sec. Version: • DS 301 V4.01 Layer Setting Service and Protocol Support: • DS 305 Device Profile (drive and motion control): • DS 402 4.9.
Technical Specifications Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4.10. Compliance with Standards Specification Details Quality Assurance ISO 9001:2008 Quality Management Design Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.) MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.
Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.
