Hawk Digital Servo Drive Installation Guide July 2014 (Ver. 1.401) 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 Hawk 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 May 2008 Initial release 1.1 June 2009 MTCR 05-009-53: Updated Section 3.8.3; added Sections 3.15 and 3.16 1.2 July 2010 MTCR 03-010-02: Updated Section 3.4, Figure 22 and Section 4.1.8 1.3 September 2012 Formatted according to the new template “Metronome” was replaced by the “Composer” software. 1.301 February 2013 Added a caution and recommendation on the type of cleaning solution to use for the Elmo unit. 1.
Elmo Worldwide Head Office Elmo Motion Control Ltd. 60 Amal St., P.O. Box 3078, Petach Tikva 49516 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 Hermann-Schwer-Strasse 3, 78048 VS-Villingen Germany Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.
Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Hawk Installation Guide Table of Contents MAN-HAWIG (Ver. 1.401) 3.11. 3.12. 3.13. 3.14. 3.15. 3.16. 3.10.1. Main and Auxiliary Feedback Combinations ................................................. 40 3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)................. 41 3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 43 3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 45 I/Os ..........................
Hawk Installation Guide Table of Contents MAN-HAWIG (Ver. 1.401) 4.8.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 71 4.8.2.4. Resolver ........................................................................................ 72 4.8.2.5. Tachometer................................................................................... 72 4.8.2.6. Potentiometer .............................................................................. 73 4.8.3.
Hawk Installation Guide 8 MAN-HAWIG (Ver. 1.401) Chapter 1: Safety I nform ation In order to operate the Hawk servo drive safely, 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 Hawk and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Hawk Installation Guide Safety Information MAN-HAWIG (Ver. 1.401) 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 Hawk from all voltage sources before it is opened for servicing. • The Hawk servo drive contains grounding conduits for electric current protection.
Safety Information Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 1.3.
Hawk Installation Guide Safety Information MAN-HAWIG (Ver. 1.401) 1.4. CE Marking Conformance The Hawk servo drive is 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.
Hawk Installation Guide 12 MAN-HAWIG (Ver. 1.401) Chapter 2: I ntroduction This installation guide describes the Hawk servo drive and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the drive and the system to which it is 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.
Hawk Installation Guide Introduction MAN-HAWIG (Ver. 1.401) Based on Elmo Motion Control’s innovative ExtrIQ core technology, they support a wide range of motor feedback options, programming capabilities and communication protocols. 2.1.1. Drive Description The Hawk series of digital servo drives is designed to deliver “the highest density of power and intelligence”. The Hawk delivers up to 4.8 kW of continuous power or 8.0 kW of peak power in a 119. 6 cc (6.95 in³) package (80 x 24.5 x 61 mm or 3.
Hawk Installation Guide Introduction MAN-HAWIG (Ver. 1.401) 2.2. Product Features 2.2.1. 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 2.2.2.
Introduction Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 2.2.5.
Hawk Installation Guide Introduction MAN-HAWIG (Ver. 1.401) 2.3. System Architecture Figure 1: Hawk System Block Diagram 2.4. How to Use this Guide In order to install and operate your Elmo Hawk servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Introduction Hawk Installation Guide MAN-HAWIG (Ver. 1.
Hawk Installation Guide 18 MAN-HAWIG (Ver. 1.401) Chapter 3: I nstallation The Hawk 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 Hawk by ensuring that it is installed in an appropriate environment.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3. To ensure that the Hawk you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Hawk. It looks like this: The part number at the top gives the type designation as follows: 4. Verify that the Hawk type is the one that you ordered, and ensure that the voltage meets your specific requirements. 3.3. Pinouts The Hawk has nine connectors. 3.3.1.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.3.2.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Pin (J1) Signal Function 27 +5 V Encoder +5 V supply voltage. Maximum output current: 200 mA. 28 COMRET Common return 29 AUX PORT INDEX Auxiliary port index (bidirectional) 30 CAN_COMRET CAN communication return 31 CAN_L CAN_L busline (dominant low) 32 CAN_H CAN_H busline (dominant high) 3.3.3.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.4. Mounting the Hawk The Hawk was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm square pins. When integrating the Hawk 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 Hawk be soldered directly to the board.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.5. Integrating the Hawk on a PCB The Hawk is designed to be mounted on a PCB, either by soldering its pins directly to the PCB or by using suitable socket connectors. In both cases the rules in the following sub-sections 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.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 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 Hawk. Each input has a separate floating return (INRET1 for input 1 and INRET2 for input 2, etc.). To retain isolation, the Input Return pins, as well as other conductors on the input circuit, must be laid out separately. 3.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 3.6. The Hawk Connection Diagram Figure 4: The Hawk Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.7. Main Power and Motor Power The Hawk receives power from main supply and delivers power to the motor. The table below describes the pinout connections to the main power and motor power cables. Pin Function Cable Pin Positions VP+ Pos.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.7.2. Connecting Main Power Connect the VP+, PR and PE pins on the Hawk in the manner described in Section 3.5 (Integrating the Hawk on a PCB). Note: The source of the 12 to 195 VDC Main Power Supply must be isolated. Figure 6: Main Power Supply Connection Diagram (no Auxiliary Supply) 3.8.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 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 7: 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.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 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 7 and the upper portion of Figure 9). If backup functionality is required for continuous operation of the drive’s logic in the event of a main power-out, a backup supply can be connected by implementing “diode coupling” (see the Aux. Backup Supply in Figure 9).
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 3.9. Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 10: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 11: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder Connection Diagram www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 12: Main Feedback – Interpolated Analog (Sine/Cosine) Encoder with Digital Hall Sensors Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Figure 13: Main Feedback – Resolver Connection Diagram www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 14: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 15: Main Feedback – Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 16: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 17: Main Feedback – Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 18: Main Feedback – Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 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, Analog Encoder, Tachometer, Potentiometer or Absolute Encoder as the main feedback device. The absolute model provides differential emulated encoder output.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.10.1. 40 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 Hawk 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: Main Feedback Auxiliary Feedback Software Setting YA[4] = 4 (Aux.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.10.2. Pin (J1) Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) Signal Function 28 COMRET Common return 29 INDEX Auxiliary index output 5 CHBO Auxiliary Channel B output 4 CHAO Auxiliary Channel A output Pin Positions Notes: • The Emulated Encoder Output Option is only available when using a Resolver, Analog Encoder, Tachometer or Potentiometer as the main feedback device.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 20: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 21: Emulated Encoder Differential Output – Highly Recommended Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.10.3. Pin (J1) Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) Signal Function 27 +5 V Encoder supply voltage 6 SUPRET Supply return 29 INDEX Auxiliary index input 5 CHB Auxiliary channel B input 4 CHA Auxiliary channel A input Pin Positions Note: The Hawk’s Auxiliary Feedback is single-ended. When mounted on an integration board, circuitry can be added to make it differential (Figure 24 (highly recommended)).
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 23: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Figure 24: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram 3.10.4. Pin (J1) Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) Signal Function 28 COMRET Common return 5 DIR/CHB Direction input (push/pull 5 V or open collector) 4 PULS/CHA Pulse input (push/pull 5 V or open collector) Pin Positions Note: The Hawk’s Auxiliary Feedback is single-ended.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 25: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram Figure 26: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Figure 27: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram, Highly Recommended 3.11. I/Os The Hawk has: • 6 Digital Inputs • 4 Digital Outputs • 1 Analog Input I/O J1 J2 Total Digital Input 6 - 6 Digital Output 4 - 2 Analog Input - 1 1 www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.11.1. Digital Input Each of the pins below can function as an independent input.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 28: Digital Input Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.11.2.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 29: Digital Output Connection Diagram www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.11.3. Analog Input Pin (J2) Signal Function 3 ANLIN1+ Analog input 1+ 4 ANLIN1- Analog input 1- 2 ANLRET Analog ground Pin Positions Table 9: Analog Input Pin Assignments Figure 30: Analog Input with Single-Ended Source www.elmomc.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.12. Communications The communication interface may differ according to the user’s hardware. The Hawk 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 Hawk to a serial interface on the PC. The interface is selected and set up in the Composer software.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 31: RS-232 Connection Diagram 3.12.2. CAN Communication Notes for connecting the CAN 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.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Figure 32: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 3.13. Powering Up After the Hawk 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 Hawk has been connected and mounted, the system must be set up and initialized. This is accomplished using the Composer, Elmo’s Windows-based software application.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 3.15.2. Heat Dissipation Data Heat Dissipation is shown in graphically below: Hawk 48V Power Dissipation Hawk 60V Power Dissipation www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) Hawk 100V Power Dissipation Hawk 200V Power Dissipation www.elmomc.
Hawk Installation Guide Installation MAN-HAWIG (Ver. 1.401) 3.15.3. 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 Hawk. 3.
Installation Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 3.16. Evaluation Board and Cable Kit A circuit board is available for evaluating the Hawk. 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 33: The Evaluation Board (available upon request) Evaluation Board Evaluation Board User Manual Catalog Number: EVA-WHI/GUI/BEL MAN-EVLBRD-WHI-BEL-GUI.pdf (available on our web site) www.
Hawk Installation Guide 61 MAN-HAWIG (Ver. 1.401) Chapter 4: Technical Specifications This chapter provides detailed technical information regarding the Hawk. 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 Hawk's features determine how it controls motion, as well as how it processes host commands, feedback and other input. 4.1.1.
Hawk Installation Guide Technical Specifications MAN-HAWIG (Ver. 1.401) 4.1.5.
Hawk Installation Guide Technical Specifications MAN-HAWIG (Ver. 1.401) 4.1.7. Built-In Protection • Software error handling • Abort (hard stops and soft stops) • Status reporting • Protection against: Shorts between motor power outputs Shorts between motor power outputs and power input/return Failure of internal power supplies Over-heating • Continuous temperature measurement.
Hawk Installation Guide Technical Specifications MAN-HAWIG (Ver. 1.401) 4.2. Hawk Dimensions www.elmomc.
Technical Specifications Hawk Installation Guide 65 MAN-HAWIG (Ver. 1.401) R35/100 R75/60 R45/60 R75/48 R45/48 50/100 25/100 20/100 35/60 Units 25/60 Feature 20/60 Power Ratings for up to 100 V models 35/48 4.3.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) Minimum supply voltage VDC 46 Nominal supply voltage VDC 170 Maximum supply voltage VDC 195 Maximum auxiliary supply voltage VDC 195 Maximum continuous power output W Efficiency at rated power (at nominal conditions) % 1600 2700 R30/200 Units 20/200 Feature 17/200 Power Ratings for 200 V models 10/200 4.4.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.6.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.7. Control Specifications 4.7.1.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.7.2.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8. Feedbacks The Hawk can receive and process feedback input from diverse types of devices. 4.8.1. Feedback Supply Voltage The Hawk has two feedback ports (Main and Auxiliary). The Hawk supplies voltage only to the main feedback device and to the auxiliary feedback device if needed. Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum Auxiliary encoder supply voltage 5 V +5% @ 200 mA maximum 4.8.2.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8.2.2. Digital Halls Feature Details Halls inputs • HA, HB, HC. • Single ended inputs • Built in hysteresis of 1 V 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 > 2.5 V Low level input voltage: V InLow < 1 V Input current Sink current (when input pulled to the common): 5 mA Maximum frequency fMAX : 2 kHz 4.8.2.3.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8.2.4. 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.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8.2.6. Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 to 5 V supplied by the Hawk Potentiometer Resistance 100 Ω to 1 kΩ … above this range, linearity is affected detrimentally Input Resistance 100 kΩ Resolution 14 bit www.elmomc.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8.3. Auxiliary Feedback Port (output mode YA[4]= 4) Feature Details Emulated output • A, B, Index • Single ended Output current capability 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.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.8.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0) Feature Details Encoder input, pulse and direction input Input voltage • 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 Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.9. I/Os The Hawk has: • 6 Digital Inputs • 4 Digital Outputs • 1 Analog Input 4.9.1. Digital Input Interfaces Feature Details Type of input • Optically isolated • Each input has its own return Input current for all inputs Iin = 2.4 mA @ Vin = 5 V High-level input voltage 2.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.9.2. 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) ≤ 15 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V RL The external resistor RL must be selected to limit the output current to no more than 15 mA.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.10. 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. CAN 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: • DSP 305 Device Profile (drive and motion control): • DSP 402 4.11.
Technical Specifications Hawk Installation Guide MAN-HAWIG (Ver. 1.401) 4.12. 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.
Hawk Installation Guide Technical Specifications MAN-HAWIG (Ver. 1.
