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Tuba Digital Servo Drive Installation Guide April 2008 (Ver. 1.3) www.elmomc.com

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.3) 2-2 2.2.3 Position Control  Programmable PIP control filter  Programmable notch and low-

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.3) 2-3  Elmo drives provide supply voltage for all the feedback options 2.2.7 Fault Protec

Tuba Installation Guide Introduction MAN-TUBIG (Ver. 1.3) 2-4 2.4 How to Use this Guide In order to install and operate your Elmo Tuba servo drive,

Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installe

3.1.2.3 Power Connectors Component Connector Described in Section Photo External DC Link Cable B1, B2 on External DC Link Cable 3.4.2.3 Main Power

3.1.2.5 Feedback and I/O Connectors Component Port on Tuba Described in Section Diagram Analog Inputs (if needed) ANALOG I/O 3.4.8.1 CEL0040A-DWGC

3.1.2.6 Other Items Needed Component Described in Section Diagram PC for drive setup and tuning Motor data sheet or manual 3.2 Unpacking the D

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 DI

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

Press the Tuba down to a vertical position until it clicks onto the DIN rail. Figure 3-4: Tuba Mounted on DIN Rail 3.4 Connecting the Cables 3.4.1

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

 Keep the motor wires as far away as possible from the feedback, control and communication cables.  Ensure that in normal operating conditions, th

Figure 3-5: Tuba Detailed Connection Diagram Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.3) 3-9

3.4.2 Connecting the Power Cables Access the power terminal connections on the Tuba servo drive by removing the front safety cover located at the bot

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

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 th

3.4.3 Connecting the Auxiliary Supply Cable (24v) Connect the auxiliary supply to the 24VDC terminal block on the bottom of the Tuba. Remember, you a

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 instr

3.4.5 Main Feedback Cable (Feedback A) The main feedback cable is used to transfer feedback data from the motor to the drive. The Tuba accepts the f

Absolute Encoders TUB XX/YYYQ Pin Signal Heidenhain Stegmann 1 HC Hall C Hall C 2 HA Hall A Hall A 3 SUPRET Supply return Supply return

10151487Incremental Encoderwith Hall SensorTubaFeedback A1Hall CHall BCHBCHB-INDEXINDEX-CHACHA-2512Encoder / Hall +5v SupplyHall / Encoder Supply /

Contents Chapter 1: Safety Information...1-1 1.1 Warnings

58743Sine / CosineEncoderFeedback A6TUB0005A1514Encoder +5v SupplyEncoder Supply ReturnB+B-R+R-A+A-+5vSUPRETTubaB+B-R+R-A+A- Figure 3-14: Main Feedba

only one tachometer port is available at a time Figure 3-16: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection Diagram for Bru

Figure 3-18: Main Feedback – Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3-19: Main Feedback –

Figure 3-20: Main Feedback – Stegmann Feedback Connection Diagram Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.3) 3-21

Figure 3-21: Main Feedback – Heidenhain Feedback Connection Diagram Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.3) 3-22

3.4.6 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but n

FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 Potentiometer Input B1 - outputB2 - outputsame as B1A - inputPotentiometerP

3.4.7 Auxiliary Feedback (FEEDBACK B) When using one of the auxiliary feedback options, the relevant functionality of FEEDBACK B ports are software s

TubaTubaTubaTuba Figure 3-22: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B - Connection Diagram Tuba Installation Guide

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 e

3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)...3-31 3.4.8 I/O Cables...

TubaTubaTubaTuba Figure 3-23: Differential Auxiliary Encoder Input Option on FEEDBACK B - Connection Diagram Tuba Installation Guide Installation

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 enco

TubaTubaTubaTuba Figure 3-24: Single-ended Auxiliary Input Option on FEEDBACK B - Connection Diagram Tuba Installation Guide Installation MAN-TUBIG

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 posi

TubaTubaTubaTuba Figure 3-25: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Figure 3-26: Differential Pulse-and-

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 sep

3.4.8.2 Digital Inputs (on 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 cab

Figure 3-28: Digital Inputs (on General I/O port) Connection Diagram Tuba Installation Guide Installation MAN-TUBIG (Ver. 1.3) 3-35

3.4.8.3 Digital Outputs (on COMMITTED I/O Port) The Tuba servo drive is equipped with a 15-pin, high-density, D-sub socket for digital outputs. When

Tuba Digital Outputs Figure 3-29: Digital Outputs (on COMMITTED I/O port) Connection Diagram Tuba Installation Guide Installation MAN-TUBIG (Ver. 1

A.14.7 Packing...A-18 A.14.8 Environm

3.4.9 Communication Cables The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen ports on the front of the Tuba. T

Figure 3-30: RS-232 Connection Diagram 3.4.9.2 CANopen Communication (on the COMM.2 Ports) Notes for connecting the CANopen communication cable:

7123CAN_GND120ΩCAN - Controller6CAN_HCAN_LDrainWire712367123CAN - InterfaceCAN_GND6CAN_HCAN_L71236CAN_HCAN_LCAN_GNDDrainWireDrainWire7123671236CAN_G

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:

Appendix: Technical Specifications A.1 Features A.1.1 Motion Control Modes • Current/Torque - up to 14 kHz sampling rate • Velocity - up to 7 kHz

A.1.6 Input/Output • Analog Inputs – up to 14-bit resolution • Programmable digital inputs, optically isolated  Inhibit \ Enable motion  Softwar

A.2 Tuba Dimensions Rear View Front ViewSide View Tuba Installation Guide Technical Specifications MAN-TUBIG (Ver. 1.3) A-3

A.3 Mounting Dimensions Rear View A.4 Mechanical Specifications Feature Details Mounting Method  Wall Mount ("Bookshelf")  DIN Rail Overal

A.5 Power Ratings Feature Units 12/230 15/230 20/230 12/460 15/460 20/460 Minimum supply voltage VAC 60 140 Nominal supply voltage VAC 1 x 115,

A.7 Tuba Connections The following connectors are used for wiring the Tuba. Pins Type Maker & Part No. Port 5 Motor M1, M2, M3 2 Ground PE,

Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Tuba servo drive, it is imperative that you implement the safety

A.7.1 Auxiliary Supply Feature Details Auxiliary power supply DC source only Auxiliary supply input voltage 24 V +15% Auxiliary supply input po

A.8.2 Velocity Loop Feature Details Controller type PI Velocity control  Fully digital  Programmable PI and FFW control filters  On-the-fly gain s

A.9 Feedbacks A.9.1 Feedback Supply Voltage Feature Details Main encoder supply voltage 5 V +5% @ 200 mA maximum Auxiliary encoder supply voltage 5

A.9.3 Digital Halls Feature Details Halls inputs  HA, HB, HC.  Single ended inputs  Built in hysteresis for noise immunity. Input voltage Nomina

A.9.5 Resolver Feature Details Resolver format  Sine/Cosine  Differential Input resistance Differential 2.49 kΩ Resolution Programmable: 10 ~ 15

A.9.7 Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Tuba Potentiometer Resistance

A.10 I/Os The Tuba has: 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs A.10.1 Digital Input Interfaces (on GENERAL I/O port) Feature Details

A.10.2 Digital Output Interface (on COMMITTED I/O port) Feature Details Connector Location Type of output  Optically isolated  Open collector and

A.10.3 Analog Input Feature Details Maximum operating differential voltage ± 10 V Maximum absolute differential input voltage ± 16 V Differential i

A.12 Pulse Width Modulation (PWM) Feature Details PWM resolution 12-bit PWM switching frequency on the load 2/Ts (factory default 22 kHz on the mot

1.1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power sou

A.14 Standards Compliance A.14.1 Quality Assurance Specification Details ISO 9001:2000 Quality Management A.14.2 Design Specification Details MIL-H

A.14.6 PCB Specification Details In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards A.14.7 Packing Specification Details

Index 2 24v Auxiliary Power Connector · 3-8 A AC Motor Power Connection Diagram · 3-11 Advanced position control · 2-2 Advanced Positioning Motion Con

Digital Outputs · 3-8 Digital Outputs · 3-36 Dimensions · A-3 DIN rail mounting · 3-6 Documentation Hierarchy · 2-4 E Environmental conditions · A-5 E

COMMITTED I/O · 3-8 FEEDBACK A · 3-8 FEEDBACK B · 3-8 GENERAL I/O · 3-8 Position control · 2-2 Potentiometer · 3-15, 3-20 Power cables · 3-10 Power Ra

1.3 Directives and Standards The Tuba conforms to the following industry safety standards: Safety Standard Item Recognized UL508c Power Conversio

Tuba Installation Guide MAN-TUBIG (Ver. 1.3) 2-1 Chapter 2: Introduction This installation guide describes the Tuba servo drive and the steps for i