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Hornet and Bee Digital Servo Drive Installation Guide September 2012 (Ver. 1.3) www.elmomc.com

Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) www.elmomc.com 10 1.4. CE Marking Conformance The Hornet and Bee servo dr

Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) www.elmomc.com 11 Chapter 2: Introduction This installation guide describes the Hornet and

Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) www.elmomc.com 12 • MIL-STD-461- Requirements for the Control of Electromagnet

Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) www.elmomc.com 13 2.3. Product Features 2.3.1. Current Control • Fully digit

Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) www.elmomc.com 14 2.3.5. Feedback Options • Incremental Encoder – up to 20 Me

Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) www.elmomc.com 15 2.4. System Architecture Figure 1: Hornet/Bee System Block

Hornet and Bee Installation Guide Introduction MAN-HRBEIG (Ver. 1.3) www.elmomc.com 16 Figure 2: Elmo Digital Servo Drive Documentation Hierarchy A

Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) www.elmomc.com 17 Chapter 3: Installation The Hornet and Bee must be installed in a suitab

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 18 3. To ensure that the Hornet or Bee you have unpacked is the

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 19 3.3. Connectors The Hornet and Bee have nine connectors. 3.3

Notice This guide is delivered subject to the following conditions and restrictions: • This guide contains proprietary information belonging to Elmo

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 20 3.3.2. Pinouts The pinouts in this section describe the func

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 21 3.3.2.2. Connector J2 Pin (J2) Signal Function 1 +5V Enc

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 22 3.4. Mounting 3.4.1. Hornet The Hornet was designed for mou

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 23 3.4.2. Bee The Bee was designed for mounting on a printed ci

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 24 3.5. Integrating the Hornet or Bee on a PCB The Hornet and B

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 25 1. When wiring the traces of the above functions, on the Int

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 26 3.6. The Hornet/Bee Connection Diagram Figure 5: Hornet/Bee

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 27 3.7. Main Power and Motor Power The Hornet and Bee receive

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 28 3.7.2. Connecting Main Power Connect the VP+, PR and PE pins

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 29 3.8.1. Single Supply A single isolated DC power supply can p

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) 9

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 30 3.8.3. Shared Supply A "Main" DC Power Supply can

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 31 3.9. Main Feedback The Main Feedback port is used to transfe

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 32 Figure 11: Main Feedback- Incremental Encoder Connection Dia

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 33 Figure 13: Main Feedback – Resolver Connection Diagram Figu

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 34 Figure 15: Main Feedback – Tachometer Feedback Connection Di

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 35 Figure 17: Main Feedback – Potentiometer Feedback Connectio

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 36 3.10.1. Main and Auxiliary Feedback Combinations The Main Fe

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 37 3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 38 Figure 19: Emulated Encoder Buffered Output – Recommended Co

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 39 3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Optio

Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) 4 Table of Contents Chapter 1: Safety Information ...

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 40 Figure 22: Single-ended Auxiliary Encoder Input - Recommende

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 41 3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 42 Figure 25: Pulse-and-Direction Auxiliary Encoder Input – Buf

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 43 3.11. I/Os The Hornet and Bee have: • 6 Digital Inputs • 2

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 44 Figure 27: Digital Input Connection Diagram

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 45 3.11.2. Digital Output Pin (J1) Signal Function Pin Posit

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 46 3.11.3. Analog Input Pin (J2) Signal Function Pin Positio

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 47 3.12. Communications The communication interface may differ

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 48 Figure 30: RS-232 Connection Diagram 3.12.2. CANopen Commun

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 49 Figure 31: CANopen Network Diagram Caution: When installin

Hornet and Bee Installation Guide Table of Contents MAN-HRBEIG (Ver. 1.3) 5 3.8.3. Shared Supply ...

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 50 3.13. Powering Up After the Hornet or Bee is connected to it

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 51 3.15.1.2. Heat Dissipation Data Heat Dissipation is shown in

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 52 3.15.1.3. How to Use the Charts The charts above are based u

Hornet and Bee Installation Guide Installation MAN-HRBEIG (Ver. 1.3) www.elmomc.com 53 3.16. Evaluation Board and Cable Kit A circuit board is avai

Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) www.elmomc.com 54 Chapter 4: Technical Specifications This chapter provides detailed techn

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 55 4.1.5. Feedback Options • Incremental Encoder –

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 56 4.1.7. Built-In Protection • Software error han

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 57 4.2. Dimensions 4.2.1. Hornet 4.2.2. Bee

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 58 4.3. Power Ratings 4.3.1. Hornet Feature Units

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 59 4.3.2. Bee Feature Units 3/60 2.5/100 Minimum

Hornet and Bee Installation Guide Table of Contents MAN-HRBEIG (Ver. 1.3) 6 4.5.1. Current Loop ...

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 60 4.4. Environmental Conditions Feature Operation

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 61 4.5. Control Specifications 4.5.1. Current Loop

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 62 4.5.2. Velocity Loop Feature Details Controller

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 63 4.6. Feedbacks The Hornet and Bee can receive an

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 64 Figure 33: Main Feedback - Encoder Phase Diagram

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 65 4.6.2.3. Interpolated Analog (Sine/Cosine) Encod

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 66 4.6.2.5. Tachometer* Feature Details Tachometer

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 67 4.6.3. Auxiliary Feedback Port (output mode YA[4

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 68 4.6.4. Auxiliary Feedback Port (input mode YA[4]

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 69 4.7. I/Os The Hornet and Bee have: • 6 Digital

Hornet and Bee Installation Guide MAN-HRBEIG (Ver. 1.3) www.elmomc.com 7 Chapter 1: Safety Information In order to achieve the optimum, safe operati

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 70 4.7.2. Digital Output Interface Feature Details

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 71 4.8. Communications Specification Details RS-23

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 72 4.10. Compliance with Standards Specification D

Hornet and Bee Installation Guide Technical Specifications MAN-HRBEIG (Ver. 1.3) www.elmomc.com 73 EMC Approved IEC/EN 61800-3, EMC Adjustable spee

Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) www.elmomc.com 8 1.1. Warnings • To avoid electric arcing and hazards to

Hornet and Bee Installation Guide Safety Information MAN-HRBEIG (Ver. 1.3) www.elmomc.com 9 1.3. Directives and Standards The Hornet and Bee conform