Tuba Digital Servo Drive Installation Guide July 2014 (Ver. 1.502) 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 Tuba 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.
Revision History Version Date Details 1.0 April 2005 Initial release 1.1 September 2005 BR1 and BR2 connected to DC Link 1.11 September 2006 Correction to Encoder Outputs in Section 4.9.8 1.12 October 2006 Correction to Interpolated Analog Encoder 1.2 March 2007 Added Absolute Encoder information 1.3 April 2008 Updated Power Ratings Table in Section 4.5 1.4 March 2010 MTCR 07-009-56: Added note to Section 3.4.8.1 1.5 July 2012 Formatted according to the new template 1.
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.
Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Tuba Installation Guide Table of Contents MAN-TUBIG (Ver. 1.502) 3.4.4. 3.4.5. 3.4.6. 3.4.7. 3.5. 3.6. Feedback and Control Cable Assemblies ....................................................... 30 Main Feedback Cable (Feedback A) ............................................................... 30 Main and Auxiliary Feedback Combinations ................................................. 39 Auxiliary Feedback (FEEDBACK B).................................................................. 41 3.4.7.1.
Tuba Installation Guide Table of Contents MAN-TUBIG (Ver. 1.502) 4.10. 4.11. 4.12. 4.13. 4.14. 4.9.5. Resolver ......................................................................................................... 71 4.9.6. Tachometer.................................................................................................... 71 4.9.7. Potentiometer ............................................................................................... 72 4.9.8. Encoder Outputs .......................
Tuba Installation Guide 8 MAN-TUBIG (Ver. 1.502) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Tuba 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 Tuba and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Tuba Installation Guide Safety Information MAN-TUBIG (Ver. 1.502) 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 Tuba from all voltage sources before it is opened for servicing. • The Tuba servo drive contains grounding conduits for electric current protection.
Safety Information Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 1.3.
Tuba Installation Guide 11 MAN-TUBIG (Ver. 1.502) Chapter 2: I ntroduction This installation guide describes the Tuba 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.
Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) 2.2.2. Velocity Control • Fully digital • Programmable PI and FFW (feed forward) control filters • Sample rate two times current loop sample time • “On-the-fly” gain scheduling • Automatic, manual and advanced manual tuning and determination of optimal gain and phase margins 2.2.3.
Introduction Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 2.2.6.
Introduction Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 2.3. System Architecture Tachometer Communication RS 232 and CANopen or Potentiometer or Analog Encoder or Resolver or Incremental Encoder Controller I/Os Protection PWM Auxiliary Power Supply Current Feedback Power Stage 24 VDC Auxiliary Encoder Incremental Encoder Buffered Output or Emulated Output Figure 1: Tuba System Block Diagram www.elmomc.
Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.502) 2.4. How to Use this Guide In order to install and operate your Elmo Tuba servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Tuba Installation Guide 16 MAN-TUBIG (Ver. 1.502) Chapter 3: I nstallation The Tuba must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 3.1. Before You Begin 3.1.1. Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.1.2.3. Power Connectors Component Connector Described in Section External DC Link Cable B1, B2 on External DC Link Cable 3.4.2.3 Main Power Cable PE, AC1, AC2, and AC3 on Power Connector 3.4.2.2 M1, M2, M3, PE on Power Connector 3.4.2.1 Motor Cable Auxiliary Power Cable 3.1.2.4. 24V +, - Photo 3.4.3 Communication Connectors Component Port on Tuba Described in Section RS232 Communication Cable COMM. 1 3.4.9.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.1.2.5. Feedback and I/O Connectors Component Analog Inputs (if needed) Port on Tuba ANALOG I/O Described in Section Diagram 3.4.8.1 CEL0040A-DWG COR016A Digital Outputs Cable (if needed) COMMITTED I/O 3.4.8.2 Digital Inputs Cable (if needed) GENERAL I/O 3.4.8.3 Main Feedback Cable FEEDBACK A 3.4.5 Auxiliary Feedback Cable (if needed) FEEDBACK B 3.4.7 COR016A www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.1.2.6. Other Items Needed Component Diagram PC for drive setup and tuning Motor data sheet or manual 3.2. Unpacking the Drive Components Before you begin working with the Tuba system, verify that you have all of its components, as follows: • The Tuba servo drive • The Composer software and software manual The Tuba is shipped in a cardboard box with Styrofoam protection. To unpack the Tuba: 1.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) 3.3. Mounting the Tuba The Tuba has been designed for two standard mounting options: • Attaching directly to the wall with screws • Mounting on a DIN rail With either type of mounting, be sure to leave about 10 cm (4 in) above and below the instrument for heat dissipation. 3.3.1. Mounting Directly onto a Wall The vertical mounting strip at the back of the Tuba enables you to screw the drive directly into a wall.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.3.2. Mounting on a DIN Rail At the top rear of the Tuba, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area. To mount the Tuba on a DIN rail: 1. Be sure that the vertical mounting strip (with the hole at the top) is pressed down fully and does not protrude from the top of the instrument. Figure 4: Mounting Strip Pressed Down 2. Tilt the Tuba back towards the top part of the DIN rail.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) 3. Press the Tuba down to a vertical position until it clicks onto the DIN rail. Figure 6: Tuba Mounted on a DIN Rail 3.4. Connecting the Cables The Tuba has 11 connectors. 3.4.1. Wiring the Tuba Once the Tuba 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 Tuba.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) • Keep the motor wires as far away as possible from the feedback, control and communication cables. • Ensure that in normal operating conditions, the shielded wires and drain carry no current.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Type Function Port on Tuba Connector Location Table 1: Connectors on the Tuba www.elmomc.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 7: Tuba Detailed Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.2.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.2.1. Connecting the Motor Cable Connect the motor power cable to the M1, M2, M3 and PE terminals of the main power connector. The phase connection order is arbitrary because the Composer will establish the proper commutation automatically during setup. However, if you plan to copy the set-up to other drives, then the phase order on all copy drives must be the same.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.2.2. Connecting the Main Power Cable Connect the main power supply cable to the AC1, AC2 and AC3 terminals of the main power connector. Connect the Protective Earth wire to the nearest PE terminal on the terminal block. Notes for connecting the AC power cable: • For best noise immunity, a shielded (not twisted) cable is recommended (not mandatory) for the AC power supply cable. A 4-wire shielded cable should be used.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.3. Connecting the Auxiliary Supply Cable (24 V) Connect the auxiliary supply to the 24 VDC terminal block on the bottom of the Tuba. Remember, you are working with DC power; so be sure to exercise caution. Notes for 24 VDC auxiliary supply connections: • Use a 24 AWG twisted pair shielded cable. For best results the shield should have aluminum foil covered by copper braid.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.4. Feedback and Control Cable Assemblies The Tuba 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. • Use 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. • Use only a D-Sub connector with a metal housing.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 31 FEEDBACK A on the front of the Tuba 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).
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Tuba Feedback A HC HB HA CHA CHACHB CHBINDEX INDEX+5V +5V SUPRET 1 10 2 6 5 15 14 8 7 Incremental Encoder with Hall Sensor Hall C Hall B Hall A CHA CHACHB CHBINDEX INDEX- 12 4 3 Encoder / Hall +5v Supply Hall / Encoder Supply / Voltage Return 9 11 13 TUB0004A Figure 15: Main Feedback- Incremental Encoder with Digital Hall Sensor - Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Tuba Feedback A A+ AB+ BR+ R+5v SUPRET 6 5 15 14 8 7 4 3 34 Sine / Cosine Encoder A+ AB+ BR+ REncoder +5v Supply Encoder Supply Return TUB0005A Figure 16: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram Tuba Resolver Feedback A S1 S3 S2 S4 R1 R2 6 5 15 14 8 7 S1 S3 S2 S4 R1 R2 TUB0006A Figure 17: Main Feedback – Resolver Connection Diagram www.elmomc.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) only one tachometer port is available at a time Figure 18: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 19: Main Feedback – Tachometer Feedback Connection Diagram www.elmomc.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 20: Main Feedback – Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 21: Main Feedback – Potentiometer Feedback Connection Diagram www.elmomc.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 22: Main Feedback – Stegmann Feedback Connection Diagram www.elmomc.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 23: Main Feedback – Heidenhain Feedback Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.6. 39 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 Tuba, FEEDBACK B has two ports, Port B1 and Port B2.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.
Installation Tuba Installation Guide 41 MAN-TUBIG (Ver. 1.502) 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 Tuba Command Reference Manual for detailed information about FEEDBACK B setup. 3.4.7.1.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) FEEDBACK B, on the front of the Tuba, has a 15-pin D-Sub plug. Connect the Auxiliary Feedback cable, from the controller or other device, to FEEDBACK B using a 15-pin D-Sub socket with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).
Installation Tuba Installation Guide 43 MAN-TUBIG (Ver. 1.502) 3.4.7.2. Differential Auxiliary Encoder Input Option on FEEDBACK B (YA[4]=2) The Tuba 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.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Tuba Tuba Tuba Tuba Figure 25: Differential Auxiliary Encoder Input Option on FEEDBACK B Connection Diagram www.elmomc.
Installation Tuba Installation Guide 45 MAN-TUBIG (Ver. 1.502) 3.4.7.3. Single-Ended Auxiliary Input Option on FEEDBACK B - (YA[4]=2) The Tuba can be used as a slave by receiving the position data of the master encoder (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.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Tuba Tuba Tuba Tuba Figure 26: Single-Ended Auxiliary Input Option on FEEDBACK B - Connection Diagram www.elmomc.
Installation Tuba Installation Guide 47 MAN-TUBIG (Ver. 1.502) 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-and-direction 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 Signal Function - 1 N.C.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) FEEDBACK B on the front of the Tuba has a 15-pin D-Sub plug. Connect the Auxiliary Feedback cable from the Pulse and Direction Controller to FEEDBACK B using a 15-pin D-Sub socket with a metal housing. When assembling the Auxiliary Feedback cable, follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies).
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 28: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.8. I/O Cables The Tuba has three I/O ports (ANALOG INPUTS, DIGITAL INPUTS and DIGITAL OUTPUTS) which can be used to connect 2 analog inputs, 10 separate digital inputs and 6 separate digital outputs: LABEL ANALOG INPUTS GENERAL I/O COMMITTED I/O Total I/O Analog Input 2 - - 2 Digital Input - 10 - 10 Digital Output - - 6 6 3.4.8.1.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Tuba - Figure 29: Analog Inputs Connection Diagram 3.4.8.2. Digital Inputs (on the GENERAL I/O Port) The Tuba servo drive is equipped with a 25-pin D-Sub plug for digital inputs. When assembling an I/O cable for digital input follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 25-pin D-Sub socket with a metal case. The pins are described below. Pin Signal Function 1 N.C.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Pin Signal Function 11 IN3 Programmable input 3 12 IN2 Programmable input 2 13 IN1 Programmable input 1 14 INRET10 Programmable inputs return 10 15 INRET9 Programmable inputs return 9 16 INRET8 Programmable inputs return 8 17 INRET7 Programmable inputs return 7 18 N.C. Not Connected 19 INRET6 Programmable inputs return 6 20 N.C.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Figure 30: Digital Inputs (on the General I/O port) Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.8.3. Digital Outputs (on the COMMITTED I/O Port) The Tuba servo drive is equipped with a 15-pin, high-density, D-Sub socket for digital outputs. When assembling an I/O cable for digital outputs follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high density D-Sub plug with a metal case. The pins are described below.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) Tuba Digital Outputs Figure 31: Digital Outputs (on the COMMITTED I/O port) Connection Diagram www.elmomc.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 3.4.9. Communication Cables The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CAN ports on the front of the Tuba. The communication interface may differ according to the user’s hardware. The Tuba can communicate using the following options: a. RS-232, full duplex b. CAN RS-232 communication requires a standard, commercial 3-core null-modem cable connected from the Tuba to a serial interface on the PC.
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.502) Note: Only one RS-232 port can be used at a time. Figure 32: RS-232 Connection Diagram 3.4.9.2. CAN Communication (on the COMM.2 Ports) Notes for connecting the CAN communication cable: • Use 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. • Connect the shield to the ground of the host (PC).
Installation Tuba Installation Guide MAN-TUBIG (Ver. 1.
Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.502) 3.5. Powering Up After the Tuba has been mounted, check that the cables are intact. The Tuba servo drive is then ready to be powered up. Caution: Before applying power, ensure that the AC supply is within the range specified for your specific type of Tuba. 3.6. Initializing the System After the Tuba has been connected and mounted, the system must be set up and initialized.
Tuba Installation Guide 60 MAN-TUBIG (Ver. 1.502) Chapter 4: Technical Specifications This chapter provides detailed technical information regarding the Tuba. 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 Tuba's features determine how it controls motion, as well as how it processes host commands, feedback and other input. 4.1.1.
Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) 4.1.5.
Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) • Emulated output of the resolver, interpolated analog encoder, Tachometer or Potentiometer • Fast output compare (OC), optically isolated 4.1.7.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.2. Tuba Dimensions Rear View Front View Side View www.elmomc.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.3. Mounting Dimensions Rear View 4.4. Mechanical Specifications Feature Mounting Method Details • Wall Mount (Bookshelf) • DIN Rail Overall Dimensions 247 x 190 x 92 mm (9.7" x 7.5" x 3.6") Weight 2.7 kg (5.9 lbs) www.elmomc.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.5.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.7. Tuba Connections The following connectors are used for wiring the Tuba. Pins Type Maker & Part No. Port 5 Motor 10 pole 8 mm pitch Molex terminal block M1, M2, M3 2 Ground PE, PE 3 Power AC1, AC2, AC3 2 DC Link B1, B2 2 Auxiliary Power 2 pole 0.325” (8 mm) pitch Molex terminal strip +, - (24v) Connector Location Auxiliary Power Motor Ground Power Ext.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.7.1. Auxiliary Supply Feature Details Auxiliary power supply DC source only Auxiliary supply input voltage 24 V +15% Auxiliary supply input power 20 W Notes: • The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply • Be sure to maintain power within the 24 V +15% range as higher voltages will damage the fan. 4.8. Control Specifications 4.8.1.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.8.2.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.9. Feedbacks The Tuba can receive and process feedback input from diverse types of devices. 4.9.1. 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 4.9.2.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.9.3. Digital Halls Feature Details Halls inputs • HA, HB, HC • Single ended inputs • Built in hysteresis for noise immunity. Input voltage Nominal operating range: Maximum absolute: High level input voltage: Low level input voltage: 0 V < VIn_Hall < 5 V -1 V < VIn_Hall < 15 V VInHigh > 2.5 V VInLow < 1 V Input current Sink current (when input pulled to the common): 3 mA Source current: 1.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.9.5. Resolver Feature Details Resolver format • Sine/Cosine • Differential Input resistance Differential 2.49 kΩ Resolution Programmable: 10 to 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 Tuba Reference current Up to ±50 mA 4.9.6.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.9.7. Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 to 5 V supplied by the Tuba Potentiometer Resistance 100 Ω to 1 kΩ … above this range, linearity may be affected detrimentally Input Resistance 100 kΩ Resolution 14 Bit 4.9.8.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.10. I/Os The Tuba has: • 10 Digital Inputs • 6 Digital Outputs • 2 Analog Inputs 4.10.1. Digital Input Interfaces (on the GENERAL I/O port) Feature Type of input Details Connector Location • Optically isolated DIGITAL INPUTS • Single ended • PLC level Input current Iin = Vin − 6.5V 2500Ω * Iin = 2.2 mA @ Vin = 12 V Input current for high speed inputs 5 & 6 Iin = Vin − 6.5V 1250Ω * Iin = 4.
Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) Feature Details High-speed inputs 5 & 6 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. Connector Location • 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. www.elmomc.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.10.2. Feature Digital Output Interface (on the COMMITTED I/O port) Type of output Details Connector Location • Optically isolated DIGITAL OUTPUTS • 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 Vout (on) ≤ 0.3 V + 0.
Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.502) 4.10.3. 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 Analog Input www.elmomc.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.11. Communications Specification Details RS-232 Signals: • RxD , TxD , Gnd (Only one RS232 Port can be used at a time) Connector Location RS-232 ports • Full duplex, serial communication for setup and control. • Baud Rate of 9,600 to 57,600 bit/sec. CAN CAN bus Signals: • CAN_H, CAN_L, CAN_GND • Maximum Baud Rate of 1 Mbit/sec. Version: • DS 301 V4.01 CAN ports Device Profile (drive and motion control): • DS 402 4.12.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.502) 4.14. 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.
Technical Specifications Tuba Installation Guide MAN-TUBIG (Ver. 1.
