MINI-Saxophone Installation Guide

MINI-Saxophone Installation Guide

September 2003

Important 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 Mini-Saxophone servo drive.

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.

Information in this document is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted.

Doc. no. MISUG0903 Copyright 2003

Elmo Motion Control Ltd. All rights reserved.

Product Catalog Number:

Revision History:

Document version 2.1: September 2003 Changed pages: 1-2, 3-10

Document version 2.0: April 2003 Changed pages: 3-8, 3-10 — 3-14, 3-16 — 3-19, 3-21, 3-23

Document version 1.0: February 2003

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

Elmo Motion Control Inc. 900H River St. Kennedy Industrial Park Windsor, CT 06095 USA

Tel: +1 860 683-0095 Fax: +1 860 683-0336

Elmo Motion Control GmbH Steinbeisstrasse 41 D-78056 Villingen-Schwenningen Germany

Tel: +49 07720 8577-60 Fax: +49 07720 8577-70

www.elmomc.com

MIS-Pxx/yyyblank = StandardP = PlusPP = Plus Plus

Continuous current (A)

Maximum voltage (VAC)MIS-Pxx/yyy

blank = StandardP = PlusPP = Plus Plus

Continuous current (A)

Maximum voltage (VAC)

www.elmomc.com

Contents

Chapter 1: Safety Information............................................................................................... 1-1 1.1 Warnings......................................................................................................................... 1-1 1.2 Cautions .......................................................................................................................... 1-2 1.3 Directives and Standards .............................................................................................. 1-2 1.4 CE Mark Conformance.................................................................................................. 1-3 1.5 Warranty Information ................................................................................................... 1-3

Chapter 2: Introduction .......................................................................................................... 2-1 2.1 System Description ........................................................................................................ 2-1 2.2 Product Features ............................................................................................................ 2-1

2.2.1 Current Control............................................................................................... 2-2 2.2.2 Velocity Control .............................................................................................. 2-2 2.2.3 Position Control (MIS Plus and MIS Plus Plus)........................................... 2-2 2.2.4 Advanced Position Control (MIS Plus Plus Only)....................................... 2-2 2.2.5 Communication Options................................................................................ 2-2 2.2.6 Feedback Options ........................................................................................... 2-2 2.2.7 Fault Protection ............................................................................................... 2-3

2.3 System Architecture....................................................................................................... 2-3 2.4 How to Use this Guide .................................................................................................. 2-4

Chapter 3: Installation ............................................................................................................ 3-1 3.1 Before You Begin............................................................................................................ 3-1

3.1.1 Site Requirements ........................................................................................... 3-1 3.1.2 Hardware Requirements ................................................................................ 3-1 3.1.3 AC Input Requirements ................................................................................. 3-1 3.1.4 Recommended Wire Cross-sections (All Models) ....................................... 3-2

3.2 Unpacking the System Components............................................................................ 3-2 3.3 Mini-Saxophone Dimensions........................................................................................ 3-3 3.4 Mounting the Mini-Saxophone..................................................................................... 3-4

3.4.1 Mounting Directly onto Wall......................................................................... 3-4 3.4.2 Mounting on a DIN Rail................................................................................. 3-5

3.5 Connecting the Cables................................................................................................... 3-6 3.5.1 Wiring the Mini-Saxophone........................................................................... 3-6 3.5.2 Connecting the Power Cables........................................................................ 3-9 3.5.3 Connecting the Feedback and Control Cables ........................................... 3-12

3.6 Powering Up ................................................................................................................ 3-26 3.7 Initializing the System................................................................................................. 3-26

Chapter 4: Status Indications................................................................................................. 4-1

Appendix: Technical Specifications.................................................................................... A-1 A.1 Power Ratings ............................................................................................................... A-1 A.2 Auxiliary Power Supply............................................................................................... A-1 A.3 Analog Input ................................................................................................................. A-1 A.4 Feedback Interface ........................................................................................................ A-2 A.5 Control Specifications................................................................................................... A-3 A.6 Digital Input Interface .................................................................................................. A-4 A.7 Digital Output Interface ............................................................................................... A-5 A.8 Fault Output .................................................................................................................. A-6

Elmo MINI-Saxophone Installation Guide MISUG0903

A.9 Single-phase Operation ................................................................................................ A-6 A.10 Mechanical Specifications ............................................................................................ A-7 A.11 Environmental Conditions........................................................................................... A-7 A.12 Compliance Standards ................................................................................................. A-8

A.12.1 Quality Assurance ......................................................................................... A-8 A.12.2 Design ............................................................................................................. A-8 A.12.3 Safety............................................................................................................... A-8 A.12.4 EMC................................................................................................................. A-8 A.12.5 Workmanship................................................................................................. A-8 A.12.6 PCB.................................................................................................................. A-8 A.12.7 Packing............................................................................................................ A-8

Index...........................................................................................................................................I-1

Elmo MINI-Saxophone Installation Guide Contents MISUG0903

ii

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Mini-Saxophone 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 Mini-Saxophone and accompanying equipment. Read this chapter carefully before you begin the installation process.

Ensure that all system components are connected to earth ground. Electrical safety is provided through a low-resistance earth connection.

Only qualified personnel may install, adjust, maintain and repair the servo drive. A “qualified person” has the knowledge and authorization to perform tasks such as transporting, assembling, installing, commissioning and operating motors.

The Mini-Saxophone servo drive contains electrostatic-sensitive components that can be damaged if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build-up.

To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet doors shut.

The following safety symbols are used in this manual:

Warning: This information is needed to avoid a safety hazard, which might cause bodily injury.

Caution: This information is necessary for preventing damage to the product or to other equipment.

Note: This is auxiliary information that ensures the correct operation of the equipment.

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 Mini-Saxophone from all voltage sources before it is opened for servicing.


1-1

The Mini-Saxophone servo drive contains grounding conduits for electric current protection. Any disruption to these conduits may cause the instrument to become hot (live) and dangerous.

After shutting off the power and removing the power source from your equipment, wait at least 5 minutes before touching or disconnecting parts of the equipment that are normally loaded with electrical charges (such as capacitors or contacts). Measuring the electrical contact points with a meter before touching the equipment is recommended.

1.2 Cautions

The Mini-Saxophone servo drive contains hot surfaces and electrically-charged components during operation.

The maximum AC/DC power supply connected to the instrument must comply with the parameters outlined in this guide.

The Mini-Saxophone MIS-xx/400 series is designed to operate only from a 3-phase voltage source. The Mini-Saxophone-xx/230 series is designed to operate from a 1- or 3-phase voltage source. It can be connected directly to the line voltage. An isolation transformer is not needed.

The Mini-Saxophone drive must be connected to an approved 24 VDC auxiliary power supply through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards.

Before switching on the Mini-Saxophone, verify that all safety precautions have been observed and that the installation procedures in this manual have been followed.

Elmo MINI-Saxophone Installation Guide Safety Information MISUG0903

1-2

1.3 Directives and Standards

The Mini-Saxophone conforms to the following industry safety standards:

Item Safety Standard

Conformance to the following safety standards: Power Conversion Equipment Insulation Coordination, Including

Clearance and Creepage Distances of Electrical Equipment

Recognized UL508c (USA and Canada)In compliance with UL840

Safety of Information Technology Equipment, Including Electrical Business Equipment

In compliance with UL1950

Low Voltage Directive, 73/23/EEC In compliance with EN60204-1

The Mini-Saxophone servo drive has been developed, produced, tested and documented in accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.

1.4 CE Mark Conformance

The Mini-Saxophone 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 EN60204-1 and EN292-2 at the least.

According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive 73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the Mini-Saxophone meets the provisions outlined in Council Directive 73/23/EEC. The party responsible for ensuring that the equipment meet the limits required by EMC regulations is the manufacturer of the end product.

1.5 Warranty Information

The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description. All Elmo drives are warranted for a period of 12 months from the time of installation, or 18 months from time of shipment, whichever comes first. No other warranties, expressed or implied — and including a warranty of merchantability and fitness for a particular purpose — extend beyond this warranty.

Elmo MINI-Saxophone Installation Guide Safety Information MISUG0903

1-3


2-1

Chapter 2: Introduction

This installation guide describes the Mini-Saxophone system and the steps for its wiring, installation and powering up. Following these guidelines ensures maximum functionality of the drive and its connected system.

2.1 System Description

The Mini-Saxophone system is a powerful servo drive that operates in digital current, velocity, position and advanced position modes, in conjunction with your permanent-magnet synchronous motor. It offers excellent servo performance aligned with sinusoidal vector control, operating as a stand-alone device or as part of a multi-axis network in a distributed configuration.

The Mini-Saxophone drive is set up and tuned using Elmo’s Composer software. This Windows-based application provides a plug-and-run tool that enables users to quickly and simply configure the servo drive.

The Mini-Saxophone series' power source is a three-phase 230 to 480 VAC nominal power line. Models for single-phase 115 to 230 VAC power are also available. The control and auxiliary supplies are derived from a 24 VDC supply that is isolated from the AC power bus. This allows a safe and economical "power backup" feature that is essential for positioning systems.

2.2 Product Features

Feature Standard Plus Plus Plus CANopen interface No Yes Yes Current mode Yes Yes Yes Velocity mode Yes Yes Yes Event capturing inputs 0 0 2 Uncommitted inputs 2 2 6 Uncommitted outputs 2 2 4 User program size 2 KB 2 KB 32 KB Velocity follower (analog source) Yes Yes Yes Point-to-point positioning No Yes Yes Jogging No Yes Yes PVT No Yes Yes PT No Yes Yes Electronic gearing No No Yes Electronic CAM (ECAM) No No Yes Dual loop (position/velocity) No No Yes Pulse and direction inputs No No Yes

Elmo MINI-Saxophone Installation Guide Introduction MISUG0903

2-2

2.2.1 Current Control Fully digital Sinusoidal commutation with vector control 12-bit current loop resolution Gain scheduling

2.2.2 Velocity Control Fully digital Programmable PI control filter Sample rate four times current loop sample time Gain scheduling Automatic, manual and advanced manual tuning and determination of optimal gain

and phase margins

2.2.3 Position Control (MIS Plus and MIS Plus Plus) Programmable PID and FFW control filters

Programmable notch and low-pass filters

PT and PVT motion modes

Sample rate four times current loop sample time

Incremental encoder for position feedback Automatic, manual and advanced manual tuning and determination of optimal gain

and phase margins

2.2.4 Advanced Position Control (MIS Plus Plus Only) Position-based and time-based ECAM mode that supports a non-linear follower mode, in

which the motor tracks the master motion using an ECAM table stored in flash memory

Position follower mode for monitoring the motion of the slave axis relative to a master axis, via an auxiliary encoder input

Pulse-and-direction inputs

Dual (position/velocity) loop

2.2.5 Communication Options

Depending on drive model and application, Mini-Saxophone users can select from two communication options:

RS-232 serial communication

CANopen for fast communication in a multi-axis distributed environment

2.2.6 Feedback Options Incremental encoder only

Incremental encoder with digital Hall sensor


2-3

2.2.7 Fault Protection

The Mini-Saxophone includes built-in protection against possible fault conditions, including:

Software error handling

Status reporting for a large number of possible fault conditions

Protection against conditions such as excessive temperature, under/over voltage, loss of commutation signal, short circuits between the motor power outputs and between each output and power input

Recovery from loss of commutation signals and from communication errors

2.3 System Architecture

Figure 2-1: Mini-Saxophone Architecture Block Diagram


2-4

2.4 How to Use this Guide

In order to install and operate your Elmo Mini-Saxophone servo drive, you will use this manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully reading the safety instructions in the first chapter, the following chapters provide you with installation instructions as follows:

Chapter 3, Installation, provides step-by-step instructions for unpacking, mounting, connecting and powering up the Mini-Saxophone.

Chapter 4, Status Indications, lists the different symbols shown on the Mini-Saxophone display.

The Appendix, Technical Specifications, lists all the drive ratings and specifications.

Upon completing the instructions in this guide, your Mini-Saxophone servo drive should be successfully mounted and installed. From this stage, you need to consult higher-level Elmo documentation in order to set up and fine-tune the system for optimal operation. The following figure describes the accompanying documentation that you will require.

Figure 2-2: Elmo Documentation Hierarchy

Command Reference ManualProgramming

Setup

Installation

Composer User Manual

Elmo CANopen Implementation GuideSoftware Manual

Mini-Saxophone Installation Guide

Command Reference ManualProgramming

Setup

Installation

Composer User Manual

Elmo CANopen Implementation GuideSoftware Manual

Mini-Saxophone Installation Guide


2-5

As depicted in the previous figure, this installation guide is an integral part of the Mini-Saxophone documentation set, comprising:

The Composer User Manual, which includes explanations of all the software tools that are part of Elmo’s Composer software environment.

The Command Reference Manual, which describes, in detail, each software command used to manipulate the Mini-Saxophone motion controller.

The Software Manual, which describes the comprehensive software used with the Mini-Saxophone.

The Elmo CANopen Implementation Guide, an auxiliary document that describes the CAN communication objects used with the Mini-Saxophone.


3-1

Chapter 3: Installation

3.1 Before You Begin

3.1.1 Site Requirements

You can guarantee the safe operation of the Mini-Saxophone by ensuring that it is installed in an appropriate environment.

Feature Value

Ambient operating temperature 0° — 50° C (32° — 122° F)

Maximum relative humidity 90% non-condensing

Operating area atmosphere No flammable gases or vapors permitted in area

The Mini-Saxophone dissipates its heat by natural convection. The maximum operating ambient temperature of 0 to 5o° C (32° — 122° F) must not be exceeded.

3.1.2 Hardware Requirements

The components that you will need to install your Mini-Saxophone are:

The main power cable

The motor power cable

An auxiliary power cable

The main encoder cable

A PC for drive setup and tuning

The communication cable (RS-232 or CANopen)

The data sheet or manual of the motor to which you are connecting the drive

3.1.3 AC Input Requirements

Three-phase Supply Voltage Single-phase Supply Voltage

Circuit breaker current rating

150% - 200% of drive current 200% - 300% of drive current

Circuit breaker voltage rating

480 VAC 480 VAC

Contactor Up to 150% of drive current Up to 200% of drive current

Elmo MINI-Saxophone Installation Guide Installation MISUG0903

3-2

3.1.4 Recommended Wire Cross-sections (All Models)

Feature Details

AC input 2.0 mm2 14 AWG

Motor 2.0 mm2 14 AWG

Protective earth 2.0 mm2 14 AWG

Auxiliary power 0.5 – 1 mm2 18 - 22 AWG

3.2 Unpacking the System Components

When you receive your Mini-Saxophone system, verify that you have all of its components, as follows:

The Mini-Saxophone servo drive

The Composer software and software manual

The Mini-Saxophone is shipped in a cardboard box with Styrofoam protection.

To unpack the Mini-Saxophone:

Carefully remove the servo drive from the box and the Styrofoam.

1. Check the drive to ensure that there is no visible damage to the instrument. If any damage has occurred, report immediately to the carrier that delivered your drive.

2. To ensure that the Mini-Saxophone you have unpacked is the appropriate type for your requirements, find the part number sticker on the side of the Mini-Saxophone:

http://www.elmomc.comElmo Motion Control

P/N:S/N:

MIS-PP3/230MIS 2045003

The P/N number at the top gives the type designation as follows:

3. Verify that the Mini-Saxophone type is the one that you ordered, and ensure that the voltage meets your specific requirements.

MIS- PP4/400Nominal operatingAC voltage

Rated phase continuousRMS current

Version:Blank = Velocity

P = PlusPP = Plus Plus

MIS- PP4/400Nominal operatingAC voltage

Rated phase continuousRMS current

Version:Blank = Velocity

P = PlusPP = Plus Plus


3-3

3.3 Mini-Saxophone Dimensions

Side View

Rear View Front View

GENERAL I/O

FEEDBACK A

FEEDBACK B

COMMITTED I/O

COMM.2ANALOG INPUTS

COMM.1


3-4

3.4 Mounting the Mini-Saxophone

The Mini-Saxophone 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.

3.4.1 Mounting Directly onto Wall

The vertical mounting strip at the back of the Mini-Saxophone enables you to screw the drive directly into a wall.

To mount the Mini-Saxophone with the mounting strip:

1. On the back of the drive, push the mounting strip up until it clicks and locks. The top lip (with the hole) should be exposed.

Figure 3-1: Extending the Mounting Strip

2. Mount the Mini-Saxophone vertically onto the wall with two screws, one through the top hole of the mounting strip and one at the bottom.


3-5

3.4.2 Mounting on a DIN Rail

At the top rear of the Mini-Saxophone, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area.

To mount the Mini-Saxophone 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 3-2: Mounting Strip Pressed Down

2. Tilt the Mini-Saxophone back towards the top part of the DIN rail.

Figure 3-3: Attaching Top Part of Mounting Groove to DIN Rail


3-6

3. Press the Mini-Saxophone down to a vertical position until it clicks onto the DIN rail.

Figure 3-4: Mini-Saxophone Mounted on DIN Rail

3.5 Connecting the Cables

3.5.1 Wiring the Mini-Saxophone

Once the Mini-Saxophone is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring peak servo operation and performance with the Mini-Saxophone.

Follow these instructions to ensure safe and proper wiring:

Run a “generous” ground bus bar in your machine as close as possible to the drive location. The dimensions of the bar should not be restricted to satisfy safety earth needs only, but should also serve as the EMI central ground point. The bus bar should be wide and thick in order to minimize impedance in a wide range of frequencies that are efficient for EMI needs. The purpose of this bus bar is to create an efficient star point (single point connections). This is the optimal configuration to achieve safety, enhance EMI immunity, prevent disturbing ground loops and reduce sensitivity to the power line impedance.

It is highly recommended (not mandatory) to run this bus throughout the entire machine, including the motors.

Always ground the motor. If possible, ground it to the main ground bus bar.

Connect the various points to the ground bus bar with the shortest and thickest wires reasonably possible.

For the control, feedback, communication and auxiliary DC power supply cables, use twisted and shielded wires. For best results, the shield should have aluminum foil and copper braid. The shielded cable should have a drain wire to facilitate connecting the shield to the connector terminal.


3-7

The impedance of the wire must be kept as low as possible. The size of the wire must be thicker than actually required by the carrying current. A 24-gauge wire for control and feedback cables is satisfactory.

Use shielded wires for the motor connections as well. If the wires are long, ensure that the capacitance between the wires is not too high. Shielded/twisted/bundled cables have a significant parasitic capacitance between the conductors. Keeping the capacitance to < 10nF (typical capacitance of bundled wire is 50 Pf – 200 pF/meter) will ensure proper operation in most cases.

It is highly recommended (not mandatory) to also use shielded cable for the main AC power supply connections.

All wires and cables should be as short as possible.

Make sure that in normal operating conditions, the ground bus, ground wire, shielding wires and the drain carry no current. The only time those conductors carry current is under abnormal conditions in which electrical equipment has become a potential shock or fire hazard and while conducting external EMI interferences currents directly to the ground to prevent them from invading the drive. Failing to meet this requirement can cause drive/controller/host failure.

The Mini-Saxophone has the following connectors:

Type Port/Function

8-pin terminal Main power connector: Mains, motor power

2-pin terminal Auxiliary power connector: Logic power supply

9-pin D-type male COMMITTED I/O: Enable, Abort, Limits, Fault

15-pin high-density D-type female

GENERAL I/O: Programmable I/O

15-pin D-type female FEEDBACK A: Main encoder feedback

9-pin D-type female ANALOG INPUTS

RJ-45 COMM.1: CAN interface

9-pin D-type female COMM.2: RS-232 interface

15-pin D-type male FEEDBACK B: Auxiliary encoder

Main power, motor and auxiliary power connectors inside.


3-8

M

M1

M2

M3

AC3

AC2

COM. 1

Main Power

PC RS232MINIsax

ANLIN1 +

ANLIN1 -

ANLRET

Analog Input

FLS

RLS

LSRET

ENABLE

ENRET

STOP

STRET

IN1

OUT1

OUTRET1

OUT2

OUTRET2

Tx

Rx

COMRET

PE

ControllerFeedback B

Feedback AEncoder/Hall Sensor

+24v

CANController

CAN_H

CAN_L

CAN_GND

ANLIN2 +

ANLIN2 -

Committed I/O

IN2

IN3

IN4

INRET

CAN_SHLDDrainwire

Drainwire

11

PE

AC1

Aux. Power Supply

COM. 2

FAULT

FAULT

General I/O

IN5

IN6

OUT3

OUTRET3

OUT4

OUTRET4

9

Figure 3-5: Mini-Saxophone Detailed Connection Diagram


3-9

3.5.2 Connecting the Power Cables

Access the power terminal connections on the Mini-Saxophone servo drive by removing the front safety cover located at the bottom of the front panel of the unit, as shown below:

Figure 3-6: Removable Bottom Mini-Saxophone Panel

After removing the safety cover, the power terminal connections are visible, as follows:

Figure 3-7: Mini-Saxophone Power Connectors

ASP- 24V RET

ASP+ 24V DC

M1 M2 M3 PE PE AC1 AC2 AC3


3-10

3.5.2.1 Auxiliary Power Cable

Connect the auxiliary power supply to the 24 VDC power points using a 2-pin terminal connector, as follows:

Pin # Connector Function

1 ASP+ DC auxiliary power (+) 24V

2 ASP- DC auxiliary power (-) 24V RET

Table 3-1: Auxiliary Power Connectors

Notes for connecting the auxiliary power cable:

The 24 VDC auxiliary power supply must meet all safety standards and must be separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards.

For best noise immunity, a shielded and twisted cable is highly recommended for the +24V auxiliary power supply cable. A 2-wire shielded and twisted cable should be used.

Use 24 AWG wires.

Connect the two wires to the DC power leads of the source.

For safety reasons, the power return (common) of the power supply must be connected to the ground on the power supply side (source side).

Connect the cable shield to the closest ground connection on the power supply side.

The auxiliary power connector must be connected to a DC power source only. Connecting to an AC power source may severely damage the servo drive.

24v Power Supply

Auxiliary

+24v

MINIsax

Figure 3-8: Auxiliary Power Connection Diagram


3-11

3.5.2.2 Main AC Power and Motor Cables

Connect the main power and motor cables at the bottom of the front panel, using an 8-pin terminal connector, as follows:

Connector Function M1 Motor phase U M2 Motor phase V M3 Motor phase W PE Protective earth PE Protective earth AC1 Main voltage phase 1 AC2 Main voltage phase 2 AC3 Main voltage phase 3

Table 3-2: Main Power and Motor Connectors

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. The gauge is determined by the actual current consumption of the motor.

Connect the four wires to the AC power leads of the source.

For safety requirements, the fourth wire must be used for the protective earth connection (connected to the PE terminal).

In order to maximize EMI noise immunity, the PE connection should be kept as short as possible or, alternatively, a second PE line should be connected to the closest ground using as thick a wire as possible.

MINIsax

AC3

AC2

PE

AC1

Figure 3-9: Main Power Supply Connection Diagram


3-12

Notes for connecting the motor cable:

For best noise immunity, a shielded (not twisted) cable is highly recommended for the motor connection. A 4-wire shielded cable should be used. The gauge is determined by the actual current consumption of the motor.

The fourth wire should be used for the ground connection between the motor and the second PE terminal of the Mini-Saxophone.

Connect the shield of the cable to the closest ground connection at both ends of the cable: motor end and Mini-Saxophone end.

Be sure that the motor chassis is properly grounded.

You may connect the motor cables in any sequence: The connection order is arbitrary because the Composer will establish the proper commutation automatically during setup.

M1

M2

M3

PE

MINIsax

M

Figure 3-10: Motor Connection Diagram

Upon completing your power cable and motor cable connections, reattach the safety panel to cover the motor and power connectors.

3.5.3 Connecting the Feedback and Control Cables

The Mini-Saxophone servo drive has a front panel that provides easy-to-use connections for all required cables. These connections are through 9-pin or 15-pin D-type ports; they support several types of configurations and interfaces.

3.5.3.1 Main Encoder Feedback Cable (FEEDBACK A) The main feedback cable is used to transfer feedback data from the motor to the drive. The Mini-Saxophone accepts either of the following as a main feedback mechanism:

Incremental encoder only

Incremental encoder with digital Hall sensors

Connect the main feedback cable from the motor into the FEEDBACK A port on the Mini-Saxophone servo drive, using a 15-pin, D-type male connector.


3-13

Notes for connecting the main encoder feedback cable to FEEDBACK A:

Use twisted pairs and a shielded cable. For best results, the shield should be of aluminum foil covered by copper braid with a drain wire (to facilitate connection).

Use 24 AWG wires.

Ground the shield at the motor end, preferably to the chassis of the motor, which should be properly grounded. The drain wire can be used to facilitate connection.

At the Mini-Saxophone end, the drain wire of the shield must be connected to terminal 11.

11

Figure 3-11: Wiring the Feedback A Connector

Feedback Ametal case connector

Figure 3-12: Feedback A Connector Fully Assembled

Drain wire connected to terminal 11


3-14

Pin # Signal Function 1 HC Hall sensor C input 2 HA Hall sensor A input 3 SUPRET Hall sensor/Encoder supply voltage return 4 +5V Hall sensor/Encoder +5V supply voltage 5 CHA- Channel A complement 6 CHA Channel A 7 INDEX- Index complement 8 INDEX Index 9 — — 10 HB Hall sensor B input 11 SUPRET Supply return 12 +15V Hall sensor +15V supply voltage 13 SUPRET Supply return 14 CHB- Channel B complement 15 CHB Channel B

Table 3-3: Main Encoder Pin Assignments

2

15

14

8

7

Encoder / Hall Sensor

MIN

Isax

Feedback A1

Hall C

Hall A

CHB

CHB-

INDEX

INDEX-

CHA

CHA-

6

5

10Hall B

4Encoder / Hall +5v Supply

Hall / Encoder Supply / Voltage Return3

11

HC

HA

CHB

CHB-

INDEX

INDEX-

CHA

CHA-

HB

+5v

SUPRET

SUPRET Drain wire

Figure 3-13: Hall Sensor/Encoder Connection Diagram


3-15

3.5.3.2 Auxiliary Feedback Cable (FEEDBACK B)

Connect the auxiliary encoder cable to the FEEDBACK B connector of the Mini-Saxophone using a 15-pin D-type female connector. The Feedback B connector can be used for the following cables:

Differential encoder input

Main encoder buffered output

Pin # Signal Function 1 INDEX Auxiliary index high input 2 CHB Auxiliary channel B high input 3 CHA Auxiliary channel A high input 4 +5V Encoder supply voltage 5 SUPRET Supply return 6 CHAO Channel A output 7 CHBO Channel B output 8 INDEXO Index output 9 INDEX- Auxiliary index low input 10 CHB- Auxiliary channel B low input 11 CHA- Auxiliary channel A low input 12 SUPRET Encoder supply voltage return 13 CHAO- Channel A complement output 14 CHBO- Channel B complement output 15 INDEXO- Index complement output

Table 3-4: Auxiliary Encoder Pin Assignments


3-16

a. Differential Encoder Input

This option is used with differential auxiliary inputs, for the input of position data of the master encoder in follower or ECAM mode. This input can also be used for differential pulse-and-direction position commands.

Notes for connecting the differential encoder input cable to FEEDBACK B:

Use twisted pairs and a shielded cable. For best results, the shield should be of aluminum foil covered by copper braid with a drain wire (to facilitate connection).

Use 24 AWG wires.

The shield must be grounded at the encoder end, preferably to the chassis of the encoder, which should be properly grounded. The drain wire can be used to facilitate connection.

5

9

1

10

2

11

3

Encoder

MIN

Isax

Feedback B

SUPRET

+5v

INDEX-

INDEX

CHB-

CHB

CHA-

CHA

2

INDEX-

INDEX

CHB-

CHB

CHA-

CHA

4

Encoder supply voltage return

Encoder +5v Supply

Figure 3-14: Differential Encoder Input (Feedback B) Diagram


3-17

b. Main Encoder Buffered Output

This option is used to provide buffered main encoder signals to another controller or drive when:

The Mini-Saxophone is used as a current amplifier to provide position data to the position controller.

The Mini-Saxophone is used in velocity mode, to provide position data to the position controller.

The Mini-Saxophone is used as a master in follower or ECAM mode.

Notes for connecting the main encoder buffered output cable to FEEDBACK B: Use twisted pairs and a shielded cable. For best results, the shield should be of

aluminum foil covered by copper braid with a drain wire (to facilitate connection).

Use 24 AWG wires.

At the controller end, the shield should be connected to the closest ground connection of the controller.

5

15

8

14

7

13

6

Feedback B

SUPRET

+5v

INDEXO-

INDEXO

CHBO-

CHBO

CHAO-

CHAO

4

INDEX-

INDEX

CHB-

CHB

CHA-

CHA

Controller

MIN

Isax

Figure 3-15: Main Encoder Buffered Output (Feedback B) Diagram


3-18

3.5.3.3 Analog Inputs

The Mini-Saxophone drive is equipped with two differential, freely-programmable analog inputs. Connect the analog input cable to the ANALOG INPUTS connector of the Mini-Saxophone using a 9-pin D-type male connector.

Notes for connecting the analog input cable: Use twisted pairs and a shielded cable. For best results, the shield should be of

aluminum foil covered by copper braid with a drain wire (to facilitate connection). Use 24 AWG wires. At the controller end, the shield should be connected to the closest ground

connection of the controller (single-ended source). At the Mini-Saxophone end, leave the shield open. Terminal 9 of the Mini-Saxophone must be connected directly (not via the cable)

to the closest ground connection.

Pin # Signal Function

1 ANLIN1+ Analog input 1

2 ANLIN1- Analog input 1

3 ANLRET Analog ground

4 ANLIN2+ Analog input 2

5 ANLIN2- Analog input 2

6 GND Common return

7 — —

8 ANLRET Analog ground

9 GND Common return

Table 3-5: Analog Input Pin Assignments

MIN

Isax

ANLIN1+

ANLIN1-

ANLRET

1

2

3

Single-Ended SourceAnalog Inputs

ANLIN2+

ANLIN2-

4

5

GND 9

Figure 3-16: Analog Inputs Connection Diagram


3-19

3.5.3.4 General I/O

You may connect an uncommitted digital I/O to all versions of the Mini-Saxophone. The following options are available:

Mini-Saxophone Standard and Plus: 2 digital input and 2 digital output

Mini-Saxophone Plus Plus: 6 digital input and 4 digital output

Connect the general I/O cable to the GENERAL I/O connector of the Mini-Saxophone using a 15-pin high-density D-type male connector.

Notes for connecting the general I/O cable: Use twisted pairs and a shielded cable. For best results, the shield should be of

aluminum foil covered by copper braid.

Use 24 AWG wires.


Pin # Signal Function Remarks

1 IN1 Programmable input 1

2 IN2 Programmable input 2

3 IN3 Programmable input 3 MIS-PP only

4 IN4 Programmable input 4 MIS -PP only

5 IN5 Programmable input 5: Event capture input Main Home input

MIS-PP only

6 IN6 Programmable input 6 Event capture input Auxiliary Home input

MIS-PP only

7 OUT1 Programmable output 1

8 OUT2 Programmable output 2

9 OUT3 Programmable output 3 MIS-PP only

10 OUT4 Programmable output 4 MIS-PP only

11 INRET1 General input return

12 OUTRET1 Programmable output return 1

13 OUTRET2 Programmable output return 2

14 OUTRET3 Programmable output return 3 MIS-PP only

15 OUTRET4 Programmable output return 4 MIS-PP only

Table 3-6: General I/O Pin Assignments


3-20

Rout = 50Ω

33v

OUT1

Rout = 50Ω

33v

OUT2

OUTRET2

OUTRET1

7

12

8

13

Rin 2.49K Vz = 5.1vIN1





Rin 1.2K Vz = 5.1vIN6M

INIs

ax

INRET

Controller

1

2

3

4

5

6

11

General I/O

Rout = 50Ω

33v

OUT3

Rout = 50Ω

33v

OUT4

OUTRET4

OUTRET3

9

14

10

15

Figure 3-17: General I/O Connection Diagram


3-21

3.5.3.5 Committed I/O

You may connect up to four dedicated input and one dedicated output to the Mini-Saxophone.

Connect the committed I/O cable to the COMMITTED I/O connector on the Mini-Saxophone using a 9-pin D-type female connector.

Notes for connecting the committed I/O cable: Use twisted pairs and a shielded cable. For best results, the shield should be of

aluminum foil covered by copper braid.

Use 24 AWG wires.


Pin # Signal Function

1 FLS Forward limit switch

2 RLS Reverse limit switch

3 LSRET Limit switch return

4 ENABLE Drive enable (disabling resets any protective latch)

5 ENRET Drive enable return

6 STOP Applying power will stop the motor at maximum deceleration

7 STRET Stop return

8 FAULT Fault relay

9 FAULT Fault relay

Table 3-7: Committed I/O Pin Assignments


3-22

Rin 2.49K Vz = 5.1vFLS

Rin 2.49K Vz = 5.1vRLS

Rin 2.49K Vz = 5.1vENABLE

Rin 2.49K Vz = 5.1vSTOP

FAULT

MIN

Isax

Controller

1

2

4

5

8

Committed I/O

LSRET 3

6

7

9

ENRET

STRET

FAULT

Figure 3-18: Committed I/O Connection Diagram


3-23

3.5.3.6 RS-232 Communication (COMM.2) Using RS-232 communication, you can set the operating parameters — current control, velocity control, position control and motion-block parameters — using an ordinary commercial PC.

Connect the communication cable from the serial port of the PC (Com1 or Com2) into the COMM.2 port on the Mini-Saxophone servo drive, using a 9-pin, D-type male connector.

Notes for connecting the RS-232 communication cable to COMM.2: Use twisted pairs and a shielded cable. For best results, the shield should be of

aluminum foil covered by copper braid with a drain wire.

Use 24 AWG wires.

The shield must be connected to the ground of the host (PC). Usually, this connection is made internally at the connector/PC end. The drain wire can be used to facilitate connection.

Pin # Signal RS-232 Function

1 — —

2 Tx Transmit

3 Rx Receive

4 — —

5 COMRET Communication return

6 — —

7 — —

8 — —

9 — —

Table 3-8: RS-232 (COMM.2) Pin Assignments

2

3

5

Tx

Rx

COMRET

PC RS232RS232 Communication - COM.2

MIN

Isax

Figure 3-19: RS-232 Communication Connection Diagram


3-24

3.5.3.7 CAN Communication (COMM.1)

In order to benefit from CANopen communication and the CiA DS-301 CANopen standard, the user must have a good understanding of the basic programming and timing issues of a CANopen network. Detailed information can be found in the CANopen User Guide. The interface is electrically isolated by optocouplers. For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used simultaneously.

Connect a communication cable from the CANopen network to COMM.1 of the Mini-Saxophone, using an RJ-45 connector.

Notes for connecting the CAN communication cable to COMM.1:

Use twisted pairs and a shielded cable. For best results, the shield should be of aluminum foil covered by copper braid with a drain wire.

The male RJ connector must have a shield cover.

Use 26 - 28 AWG wires.

Ensure that the shield of the cable is connected to the shield of the male RJ connector. The drain wire can be used to facilitate connection.

Connect the shield to ground at the host (PC) end. The drain wire can be used to facilitate connection.

Connect two 120-ohm termination resistors at each end of the network cable.

Caution: When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang.

Pin # Signal CAN Function

1 CAN_H CAN_H bus line (dominant high)

2 CAN_L CAN_L bus line (dominant low)

3 CAN_GND CAN ground

4 — —

5 — —

6 CAN_SHLD CAN shield

7 CAN_GND CAN ground

8 (CAN_V+) Optional CAN external positive power

Table 3-9: CANopen (COMM.1) Pin Assignments: Mini-Saxophone Plus and Plus Plus


3-25

7

1

2

3

CAN - COM.1

CAN_GND

120Ω

CAN - Controller

MINIsax 1

7

1

2

3

CAN - COM.1

MINIsax 2

120Ω

6

6

7

1

2

3

CAN - COM.1 6

MINIsax n

Shield of RJ connector

CAN_H

CAN_L

CAN_H

CAN_L

CAN_H

CAN_L

Figure 3-20: CAN Communication Connection Diagram


3-26

3.6 Powering Up

After the Mini-Saxophone has been mounted, check that the cables are intact. The Mini-Saxophone servo drive is then ready to be powered up.

To power up the system, switch on the auxiliary power supply and then the main power supply. A d appears on the front panel display. The Mini-Saxophone is powered up and functional. For more information about the display, refer to Chapter 4, Status Indications.

3.7 Initializing the System

After the Mini-Saxophone has been connected and mounted, the system must be set up and initialized. This is accomplished using the Composer, Elmo’s proprietary Windows-based software application. Install the application and then perform setup and initialization according to the directions in the Composer Software Manual.

Chapter 4: Status Indications

The following table lists the symbols shown on the Mini-Saxophone display.

Symbol Status Action

Disable Bridge is disabled (all switches are off), no fault.

Enable All OK, drive is ready.

Under Voltage Bus voltage is too low.

Over Voltage Bus voltage is too high.

SVP Internal power supply problem.

Short Phases are shorted to each other or to the ground. Ishort = 3 × Ipeak

Temperature Drive temperature is too high.

Feedback Feedback loss.

FLS Forward switch is active according to the defined logic (IL[3]).

RLS Reverse switch is active according to the defined logic (IL[4]).

FLS & RLS Both switches are active.

Over Speed Speed exceeded high or low limitation (HL[2], LL[2]).

IC Continuous current limit is active.

Over Current Current exceeded peak current limitation.

Undeclared Fault

Fault not declared on LED; may be detected with MF command.

Elmo MINI-Saxophone Installation Guide MINUG0903

4-1

Appendix: Technical Specifications

A.1 Power Ratings

Feature Unit 1/230 2/230 3/230 5/230 1/400 2/400 3/400 4/400

Min. AC supply voltage VAC 60 140

Rated AC supply voltage VAC 1 x 115, 1 x 230, 3 x 230 3 x 400

Max. supply voltage VAC 1 x 270, 3 x 270 3 x 480

Continuous current limit (RMS)

A 1.5 2 3.5 5 1 1.5 2.5 3.5

Peak current limit (RMS) A 3 4 7 10 2 3 5 7

Switch-off threshold VDC 380 760

Shunt circuit pulse power KW 2.4 1.1 3.4

Inrush current limit A < 140

Efficiency @ rated power % > 90

A.2 Auxiliary Power Supply

Feature Details

Auxiliary power supply DC source only

Auxiliary supply input voltage 20 VDC - 30 VDC

Power rating of the source 16 W

A.3 Analog Input

Feature Details

Maximum operating differential mode voltage +20 V

Maximum common mode differential input voltage

+10 V

Input resistance 5 KΩ

Elmo MINI-Saxophone Installation GuideMISUG0903

A-1

A.4 Feedback Interface

Feature Details

Encoder supply voltage 5 V +5%

Hall sensor supply voltage 5 V +5% or 15 V -5% / +15%

Encoder supply current (pin 4 of feedback A and Feedback B)

300 mA maximum (total for both outputs)

Hall sensor supply current 50 MA maximum

Type of encoder Differential Quadrature

Interface RS-422

Input terminating resistance 200 Ω

Maximum incremental encoder frequency

Maximum absolute: 2 MHz single; 8 MHz counts (quadrature)

Input voltage range for the encoder Maximum common mode: ±7 V Maximum differential mode: ±7 V

Elmo MINI-Saxophone Installation Guide Technical Specifications MISUG0903

A-2

A.5 Control Specifications

Feature Details Current control Digital

Sinusoidal with vector control Current loop bandwidth > 1.2 KHz Current loop step response (including settling time)

300 - 400 µsec

Current rise time 150 - 200 µsec Current rise delay time The time it takes from applying the command

until the current starts to rise. This delay is due to the digital processing (100 - 200 µsec).

Current loop resolution 12 bits Analog input command resolution 12 bits Current command 12-bit analog input (same as velocity command) Commutation feedback options Digital Hall sensor and incremental encoder

Incremental encoder only Velocity control Digital

Programmable PI control filter Sampling rate x4 current loop sample time

Velocity loop bandwidth > 300 Hz Velocity command options Analog

Internally calculated by either jogging or step Note: All software-calculated profiles support on-the-fly changes.

Velocity and position feedback options

Incremental encoder only Increment encoder with digital Hall sensors

Note: With all feedback options, 1/T with automatic modes switching is activated (gap, frequency and derivative).

Position control Programmable PID and FFW control filters Programmable notch and low-pass filters

Position loop bandwidth > 80 Hz Switching method Advanced unipolar PWM PWM switching frequency Factory default: 18 KHz on the motor.

Note: The power rating is defined for 10 KHz PWM switching frequency on the motor winding. The default PWM frequency of the Mini-Saxophone is almost double (18 KHz). The PWM frequency can be reduced to half by software command in order to reduce the heat dissipation by approximately one third, without affecting the bandwidth of the drive.

Control inputs PLC level only


A-3

A.6 Digital Input Interface

Feature Details

Type of input Optically isolated Single ended

Input current (IN1 - IN4) Ω

−=

24905.6 VVinIin

Iin = 2.2 mA @ Vin = 12V

Input current (IN5 - IN6) Ω

−=

12455.6 VVinIin

Iin = 4.4 mA @ Vin = 12V

High level input voltage 12 V < Vin < 30 V, 24 V typical

Low level input voltage 0 V < Vin < 7 V

Minimum pulse width (IN1 - IN4) 1 msec

IN5 and IN6 minimum pulse width, in high-speed mode

20 µsec ≤ T ≤ 50 µsec

Notes: Home mode is high-speed mode and can be

used for fast capture and precise homing. Highest speed is achieved when turning on

optocouplers.

Typical execution time (all inputs): the time from application of voltage on input until execution is complete

500 µsec ≤ T ≤ 2 msec

The following diagram shows a digital input schematic for the Mini-Saxophone series of servo drives:

Rin 2.49K Vz = 5.1v

Figure A-1: Mini-Saxophone Digital Input

Input (i)

General input return


A-4

A.7 Digital Output Interface

Feature Details

Type of output Optically isolated

Maximum supply output (Vcc) 30 V

Maximum output current Io (maximum) (Vout = Low)

TTL level: IOL < 2 mA, VOL < 0.8 V PLC level: IOL ≅ 10 mA, VOL < 3 V

VOL @ maximum output voltage (low level)

TTL level: Vcc = 5 V, Vout = 0.8 V PLC level: Vcc = 24 V, Vout = 3 V

Minimum RL

(max)O

OLCCL

IVVR −

≥

Execution time Up to 2 msec

The following diagram shows a digital output schematic for the Mini-Saxophone series of servo drives:

Rout = 50Ω

33v

Output (i)

Output Ret (i)

Figure A-2: Mini-Saxophone Digital Output


A-5

A.8 Fault Output

The following table lists specifications for the fault output switches, to be used if a hardware failure occurs.

Amp Status Relay Contact Status

No fault Close

Fault Open

Switching current 0.25 A maximum

Switching voltage 40 V AC/DC

The following diagram describes the relay connection for the committed I/O connector:

8

9

Figure A-3: Mini-Saxophone Relay Connection

A.9 Single-phase Operation

When operating with a single-phase supply (MIS-xx/230 only), the voltage drop must be considered. Voltage drop can be calculated using the following equation:

Vout (Max Phase to phase) = 0.85*[ Vsupply (AC) - Vdrop]

Vdrop AC RMS

0

10

20

30

40

50

60

70

80

1 2 3 4 5 6 7 8 9 10 Motor Phase Current RMS

Figure A-4: Single-phase Voltage Drop Concept


A-6

A.10 Mechanical Specifications

Feature Details

Mounting method Bookshelf

Overall dimensions 180 x 123 x 75 mm (7.08 x 4.84 x 2.95 in)

Weight 1.1 kg (2.4 lb)

A.11 Environmental Conditions

Feature Details

Operating ambient temperature [0…50° C] ([32…122° F]) (Figure A-5)

Storage temperature [-20…+85° C] ([-4…+185° F])

Humidity 90% maximum non-condensing

Protection level IP20

The following graph shows the Mini-Saxophone operating ambient temperature at nominal operating voltage:

Ic

0.6 Ic

6045t 0

C

I (RMS)

Figure A-5: Operating Ambient Temperature at Nominal Operating Voltage


A-7

A.12 Compliance Standards

A.12.1 Quality Assurance

ISO9001

A.12.2 Design

Reliability prediction of electronic equipment (rating, de-rating, stress, etc.)

MIL-HDBK- 217F

Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.)

IPC-D-275 IPC-SM-782 IPC-CM-770 UL508c UL840

Type testing In compliance with VDE0160 -7

A.12.3 Safety

Power conversion equipment Recognized UL508c

Insulation coordination, including clearance and creepage distances of electrical equipment


Safety of information technology equipment, including electrical business equipment


Low voltage directive, 73/23/EEC In compliance with EN60204-1

A.12.4 EMC

Electromagnetic compatibility (EMC) In compliance with IEC 1800-3, Part 3: 1996 (adjustable speed electrical power-drive systems - EMC products standard, including specific test methods)

A.12.5 Workmanship

Acceptability of electronic assemblies In compliance with IPC-A-610, level 2

A.12.6 PCB

Acceptability of printed circuit boards In compliance with IPC-A-600, level 2

A.12.7 Packing

Protection of electrostatic sensitive devices

In compliance with EN100015


A-8

Index

A Advanced position control · 2-2 Analog input specifications · A-1 Analog inputs cable · 3-18 Auxiliary

Feedback cable · 3-15 Power cables · 3-10 Power supply · A-1

C Cables

Auxiliary power · 3-10 CAN · 3-24 Feedback and control · 3-12 Main power · 3-11 Motor · 3-9, 3-12 Power · 3-9 RS-232 · 3-23

Cabling · 3-6 Committed I/O · 3-21 Communication · 2-2 Communication cables · 3-23, 3-24 Compliance standards · 1-3, A-8 Composer · 3-26 Conformance · 1-3, A-8 Connecting

Auxiliary power · 3-10 CAN cables · 3-24 Feedback and control cables · 3-12 Main power cables · 3-11 Motor cables · 3-12 Power cables · 3-9 RS-232 cables · 3-23

Connectors · 3-7 Control specifications · A-3 Current control · 2-2

D Digital input interface · A-4 Digital output interface · A-5 Dimensions · 3-3 DIN rail mounting · 3-5 Display panel · 4-1

E Environmental conditions · A-7

F Fault output · A-6 Fault protection · 2-3 Feedback

Interface · A-2 Options · 2-2

Feedback A cable · 3-12 Feedback B cable · 3-15

G General I/O cable · 3-19 Grounding · 1-1

H Hardware requirements · 3-1

I Initializing the Mini-Saxophone · 3-26

M Main encoder buffered output cable · 3-16 Main power connector · 3-11 Mechanical specifications · A-7 Mini-Saxophone

Connectors · 3-7 Dimensions · 3-3 Display · 4-1 Hardware requirements · 3-1 Initializing · 3-26 Mounting · 3-4

Directly on wall · 3-4 On DIN rail · 3-5

Powering up · 3-26 Site requirements · 3-1 Technical specifications · A-1 Unpacking · 3-2 Wiring · 3-6

Motor cables · 3-12

Elmo MINI-Saxophone Installation Guide MINUG0903

I-1

Mounting the Mini-Saxophone · 3-4 Directly on wall · 3-4 On DIN rail · 3-5

P Position control · 2-2 Power

Ratings · A-1 Source · 2-1

Powering up the Mini-Saxophone · 3-26

S Safety · 1-1

Cautions · 1-2 Compliance standards · A-8 Standards · 1-2 Warnings · 1-1

Single-phase operation · A-6 Site requirements · 3-1 Specifications

Analog input · A-1 Auxiliary power supply · A-1 Control · A-3

Digital input interface · A-4 Digital output interface · A-5 Environment · A-7 Fault output · A-6 Mechanical · A-7 Single-phase operation · A-6

Standards · 1-2 Status indications · 4-1

T Technical specifications · A-1 Type designation number · 3-2

U Unpacking the Mini-Saxophone · 3-2

V Velocity control · 2-2

W Warranty · 1-3 Wire cross-sections · 3-2 Wiring the Mini-Saxophone · 3-6

Elmo MINI-Saxophone Installation Guide Index MINUG0903

I-2

MINI-Saxophone Installation Guide

Documents

Transcript of MINI-Saxophone Installation Guide