Flute Analog Servo Drive Installation Guide July 2014 (Ver. 2.301) 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 Flute 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 Ver. 1.0 May 1999 Initial release Ver. 2.0 May 2003 Manual name revised to Flute User Guide and look updated Ver. 2.1 August 2004 50 and 55 VDC models upgraded to 60 VDC models Ver. 2.2 April 2008 Updated Power Ratings Table in Appendix Ver. 2.201 February 2013 Updated Section 3.3: Flute Dimensions Ver. 2.300 April 2013 Formatted according to the new template Updated Section 5.2: Electrical Specifications Ver. 2.
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.
Flute Installation Guide MAN-FLUIG (Ver. 2.301) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 8 Cautions .......................................................................................................................... 8 Directives and Standards ................................................................................................
Flute Installation Guide Table of Contents MAN-FLUIG (Ver. 2.301) 4.6. 4.7. 4.8. Latch Mode (LM) .......................................................................................................... 27 Amplifier Enable Logic .................................................................................................. 27 Status Indications ......................................................................................................... 28 Chapter 5: 5.1. 5.2. 5.3. 5.4. 5.5.
Flute Installation Guide 7 MAN-FLUIG (Ver. 2.301) Chapter 1: Safety I nform ation In order to operate the Flute 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 Flute and accompanying equipment. Please read this chapter carefully, before you begin the installation process.
Flute Installation Guide Safety Information MAN-FLUIG (Ver. 2.301) 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. • Disconnect the Flute from all voltage sources before it is opened for servicing. • The Flute servo drive contains grounding conduits for electric current protection. Any disruption to these conduits may cause the instrument to become hot (live) and dangerous.
Safety Information Flute Installation Guide MAN-FLUIG (Ver. 2.301) 1.3.
Flute Installation Guide 10 MAN-FLUIG (Ver. 2.301) Chapter 2: Product Description This installation guide describes the Flute servo drive and the steps for its wiring, installation and power-up. Following these guidelines ensures optimal performance of the drive and the system to which it is connected. 2.1. Drive Description The Flute series of miniature servo amplifiers is designed for brushless motors in which sinusoidal commutation is performed by the motion controller.
Flute Installation Guide Product Description MAN-FLUIG (Ver. 2.301) 2.3. Fault Protection The Flute includes built-in protection against possible fault conditions, including: • Shorts between the outputs or between each output and the power input/return • Over-temperature • Under/over voltage • Failure of internal power supplies • Latch mode for each protective feature www.elmomc.
Product Description Flute Installation Guide 12 MAN-FLUIG (Ver. 2.301) 2.4. System Architecture 10.5K 10K 20K CREF1+ (J1,2) CREF1- (J1,1) 20K - AS AD 20K 10nF 100K + 44.2K - A 20K Current Loop Amp.
Flute Installation Guide Product Description MAN-FLUIG (Ver. 2.301) 2.5. How to Use this Guide In order to install and operate the Flute servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Flute Installation Guide 14 MAN-FLUIG (Ver. 2.301) Chapter 3: I nstallation 3.1. Site Requirements You can guarantee the safe operation of the Flute by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C – 50 °C (32 °F – 122 °F) Maximum case temperature 87 °C (188 °F) Note: Models for extended environmental conditions are available. 3.2.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.3. Dimensions Figure 2: Flute Dimensions www.elmomc.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.4. Mounting the Flute 3.4.1. Mounting the Heatsink The Flute dissipates its heat by natural convection, up to loads of 500 W. For higher output loads, the amplifier should be mounted on an additional heatsink or cooled by fan. There are two 4.5-mm holes in the base plate for mounting an additional heatsink, see Figure 2 3.4.2.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.5. Wiring the Flute See remark below Motion Controller CREF1+ CREF1CREF2+ CREF2- Controller's common CMRET Power wires twisted and shielded M1 M2 A B Motor C Chassis M3 FLU Isolating transformer (-) Power Supply (+) PR, Power Return Vp (+) Heatsink The controller common must be connected to the CMRET whenever the common mode difference is over 6V. Figure 3: Flute Basic Wiring www.elmomc.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.6. 3.6.1. Connections Pin Functions The Flute connections are described in the following figure and tables. Figure 4 Flute Connector Locations 3.6.1.1. Power Pin Function Remarks VP+ Positive power input PR Power input return M1 Motor power output 1 M2 Motor power output 2 M3 Motor power output 3 Table 3: Flute Power Connections www.elmomc.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.6.1.2. J1 Connector Pin #/ Function Short Form Remarks 1 Negative input of a differential amplifier: Current command input ( - ) CREF1- 2 Maximum common mode voltage: ±6 V (referred to as CMRET) • Differential input impedance: 40 kΩ Current command input ( + ) Positive input of a differential amplifier. Specification as for pin J1/1. N/C 6 N/C 7 Current monitor for M1 CM1 Analog output with a scale of ±3.9 V for ±Ip.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.6.1.3. J2 Connector Pin #/ Function Short Form Remarks 1 External voltage scales down rated value. ELCL 2 ECLRET 3 ECLP 4 External current limit - continuous • Voltage range: 0 V to 3.75 V (3.75 V = rated Ic) • Internally limited to rated value Current limits return Return for current limits signals. External current limit - peak External voltage scales down rated value. • Voltage range: 0 V to 3.75 V (3.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.6.1.4. J3 Connector Pin #/ Function Short Form Remarks 1 “Amplifier OK” indication output pin. When the amplifier is at normal operating conditions, this output is in “active low “ state. When a failure occurs, this output is changed to “open” state. Opto isolated, open collector NPN type, see Figure 1. Amplifier OK AOK 2 • “On” voltage: V OUT(On) < 0.8 V Status indication output 2. Specification as in pin J3/1.
Installation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 3.7. DC Power Supply The DC power supply can be at any voltage in the range defined in Chapter 5: Technical Specifications. The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard, all according to the applicable over-voltage category.
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) Chapter 4: Servo Control Operation 4.1. Current Command Input The Flute has two differential inputs. The input operating voltage range is ± 3.75 V, meaning that a 3.75 V signal will result in a fully rated peak current. The current limit circuits will override this signal if the peak duration exceeds 2.7 seconds and/or the required current exceeds the values set by the ECLC and ECLP signals. If the input command voltage exceeds 3.
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 4.3. Current Gain Control (CGC) The Flute amplifier is equipped with Current Gain Control (CGC) for improved performance of low induction motors. Connecting pin J2/5 to J2/4 reduces the gain of the current loop, thus enabling the use of low inductance motors without the insertion of an additional inductor. The default (pin J2/5 left open) is high gain.
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 4.4. External Current Limit - Continuous (ECLC) The continuous current limit of the Flute amplifier can be scaled down by an external voltage or by an external resistor connected from pin J2/1 (ECLC) to pin J2/2 (ECLRET). 4.4.1. External Voltage An external positive voltage (0 to 3.75 V) to terminal J2/1 (ECLC) in reference to terminal J2/2 (ECLRET) will control the continuous current limit from zero to Ic(nom).
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 4.5. External Current Limit - Peak (ECLP) The peak current limit of the Flute amplifier can be scaled down by an external voltage or by an external resistor connected between pin J2/3 (ECLP) and pin J2/2 (ECLRET). 4.5.1. External Voltage An external positive voltage (0 to 3.75 V) to terminal J2/3 (ECLP) in reference to terminal J2/2 (ECLRET) will control the peak current limit from zero to Ip(nom). Ip(new) = VECLP 3.
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 4.6. Latch Mode (LM) By connecting J2/7 to J2/8, the amplifier can be latched to Disable mode whenever a Short or Over Temperature failure occurs. Disabling the amplifier temporarily (removing the power from Enable pins J2/9 and J2/10) resets the latch. Be sure to restore the Enable connection when the reason for the event no longer exists. For permanent selection, a simple short is recommended.
Servo Control Operation Flute Installation Guide MAN-FLUIG (Ver. 2.301) 4.8. 28 Status Indications The following table lists the Flute amplifier status indications.
Technical Specifications Flute Installation Guide 29 MAN-FLUIG (Ver. 2.301) Chapter 5: Technical Specifications 15/200 10/200 6/200 2/200 20/100 15/100 10/100 3/100 25/60 15/60 10/60 Power Ratings 5/60 5.1.
Technical Specifications Flute Installation Guide MAN-FLUIG (Ver. 2.301) 5.2. Electrical Specifications Feature Details Switching frequency on the load 34 kHz (±10%) Current loop bandwidth Up to 4 kHz Current step response < 70 μsec Peak current duration (full rated peak current) Utilization dependent up to 2.7 sec ±15%, reduced by RMS current limit Offset current at normal room temperature 25°C (±1.
Technical Specifications Flute Installation Guide MAN-FLUIG (Ver. 2.301) 5.4.
Technical Specifications Flute Installation Guide MAN-FLUIG (Ver. 2.301) 5.5. 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.
Flute Installation Guide Technical Specifications MAN-FLUIG (Ver. 2.
