Bassoon Installation Guide
Contents
1. FEED BACK A 3 YA 4 4 YA 4 2 YA 4 0 J8 39 Differential an Elmo L Buffered i Main Incremental gt Encoder Signal Encoder L Input B output eS B input Analog B input CIC IC Differential E e Differential E or osition or Single Interpolated Data Single Elmo P Emulated in ended ended Analo Incremental A input Auxiliary A input Pulse x inpu h Direction 8 Encoder Incremental a o Incremental Incremental j Commands Sin Cos Format Encoder EH Encoder Encoder I le signals are en H E j J Analo BIB Anal FB Encoder A input quadrature Encoder f B Erode Analog differential or f or Input Encoder amp buffered Resolver f Resolver JL Q Resolver D DI Position El 5 Data us B Emulated in Incremental Encoder Resolver The a Input JU signals are AIB quadrature aH F differential A input zm amp buffered Resolver PE Typical Applications Any application where the main encoder is used not only for the drive but also for other purposes such as position controllers and or other drives Analog Encoder applications where position data is required in the Encoder s quadrature format Resolver applications where position data is required in the Encoder s quadrature format Any application where two feedbacks are used by the drive Port B serves as an input2. Figure 3 6 Main Power Supply Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 10 3 5 3 Connecting the Auxiliary Power Cable J4 Connect the auxiliary power supply to the J4 port on the front of the Bassoon using a 2 pin Molex plug Remember you are working with DC power be sure to exercise caution The required voltage is 24 VDC S Notes for 24 VDC auxiliary power supply connections Use a 24 or 26 AWG twisted pair shielded cable The 24 VDC auxiliary power supply must meet all safety requirements and must be separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards For safety reasons connect the return common of the 24 VDC source to the closest ground Connect the cable shield to the closest ground near the 24 VDC source Before applying power first verify the polarity of the connection 1 24VDC 24 VDC auxiliary power supply 2 RET24VDC Return common of the 24 VDC auxiliary power supply HAR0070A Table 3 3 Auxiliary Power Cable Plug Bassoon 24v Isolated Auxiliary Power Supply 24v BAS0014A Figure 3 7 Auxiliary Power Supply J4 Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 11 3 5 4 Feedback and Control Cable Assemblies The Auxiliary Power Cable J4 the Feedback cables J2 and J3 and the I O cable
3. INDEX Hall A HC Cn HB u m m um um m HA m 5v m SUPRET SUPRET Incremental Encoder with Hall Sensor Encoder Hall 5v Supply Hall Encoder Supply Voltage Return BAS0015A Figure 3 10 Main Feedback Incremental Encoder Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 14 Bassoon Feedback A J3 Sine Cosine Encoder Encoder 5v Supply Encoder Supply Return BAS0016A Bassoon Feedback A J3 Resolver S1 S3 S2 S4 R1 R2 SUPRET BAS0017A Figure 3 12 Main Feedback Resolver Connection Diagram Bassoon Installation Guide MAN BASIG Ver 1 0 3 5 6 Installation 3 15 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 port FEEDBACK P J2 can be used in combination with the Main Feedback port FEEDBACK A J3 Feedback B can be set by software as follows FEEDBACK B J2
4. HOD 29 09 BAS_FIN_HS Figure A 4 Fin Type Heatsink Dimensions Bassoon Installation Guide Technical Specifications A 15 MAN BASIG Ver 1 0 47 60 BAS L Shape Figure A 5 L Shaped Heatsink Dimensions A 13 Standards Compliance A 13 1 Quality Assurance ISO 9001 2000 Quality Management A 13 2 Design Specification Details Reliability prediction of electronic equipment MIL HDBK 217F rating de rating stress etc IPC D 275 Printed wiring for electronic equipment IPC SM 782 clearance creepage spacing conductors sizing etc PC CM 770 UL508c UL840 In compliance with IEC68 Type testing Bassoon Installation Guide Technical Specifications A 16 MAN BASIG Ver 1 0 A 13 3 Safety Specification Details In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination including clearance and creepage distances of electrical equipment In compliance with UL60950 Safety of information technology equipment including electrical business equipment In compliance with EN60204 1 Low voltage directive 73 23 EEC A 13 4 EMC Specification Details In compliance with Electromagnetic compatibility EMC EN55011 Class A with EN61000 6 2 Immunity for industrial environment according to IEC61000 4 2 criteria B IEC61000 4 3 criteria A IEC61000 4 4 criteria B TEC610
5. INDEXO INDEXO CHBO c o o 7 d m CHBO CHAO CHAO BAS0023A Figure 3 13 Main Encoder Buffered Output or Emulated Encoder Output on J2 Connection Diagram Bassoon Installation Guide Installation 3 17 MAN BASIG Ver 1 0 3 5 6 2 Differential Auxiliary Encoder Input Option on FEEDBACK B 32 YA 4 2 The Bassoon can be used as a slave by receiving the position on Port B of the master encoder data in Follower or ECAM mode Below are the signals on the Auxiliary Feedback port when set up to run as a differential auxiliary encoder input Pin Signal Function Pin Position 1 SUPRET Supply return 2 5 V Encoder 5 V supply voltage 5 V 200 mA 3 INDEX Auxiliary index low input 4 INDEX Auxiliary index high input 5 CHB Auxiliary channel B low input 6 CHB Auxiliary channel B high input 7 CHA Auxiliary channel A low input UM 8 CHA Auxiliary channel A high input Table 3 7 Differential Auxiliary Encoder Input Pin Assignments on J2 Feedback B J2 Encoder aq Encoder supply voltage return SUPRET NN gt 5v gt L WI Encoder 5v Supply l j 1 L f1 mm T mm INDEX 4 WE Pod E ia 1 1 l 1 ia 8 m lt i INDEX 8 ws S E mm lt d INI a lt q CHB 6 i L AES bd f1 mm gt
6. F Humidity 90 maximum non condensing Maximum Operating Altitude 10 000m 30 000 feet Protection level IP20 Bassoon Installation Guide Technical Specifications A 5 MAN BASIG Ver 1 0 A 5 Bassoon Connectors A 5 1 Connector Types The table below shows the connector panel of the Bassoon Connector Maker amp No Pins Type Mating Plug on Cable Port Connector Location RJ 45 jack bd s mates with RJ 45 plug J8 CARPE Molex 35363 0800 2 mm Pitch J2 J5 Molex 35363 1200 Molex 35363 0200 ms olex Supply E Auxili mates with 35507 0200 ae a BM n Molex 35363 0400 Input M Digital Main Molex 35363 0300 Output HE Feedback Input 5 08 mm Pitch Phoenix MSTBA 2 5 7 G 5 08 Main Terminal Block with MSTB 2 5 7 ST 5 08 Power BAS0028A Maximum voltage 125 V supply grs L Auxiliary Digital E Feedback Withstanding voltage 500 VAC A Main igi e T Feedback Insulation resistance gt 1000 MQ di MI Terminal contact Phosphor bronze Analog I V UL files E29179 UL 94 V 0 TUS Cable connector Molex 35507 XX00 where XX is the number of leads BAS0028A Bassoon Installation Guide Technical Specifications A 6 MAN BASIG Ver 1 0 A 6 Aux
7. 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 Bassoon 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 Bassoon 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 warr
8. A 4 Feedback options A 7 A 8 A 9 A 10 A 11 Feedback supply voltage A 8 Standards 1 3 System architecture 2 3 T Technical specifications A 1 Temperature 3 1 Type designation number 3 3 U Unpacking 3 3 V Velocity control 2 1 Ww Warranty 1 3 Wiring the Bassoon 3 5
9. Connect the cable shield to the ground near the controller according to the manufacturer s recommendations Pin Signal Function Pin Position 1 OUT1 Programmable output 1 2 OUTRET1 Programmable output return 1 3 OUT2 Programmable output 2 4 OUTRET2 Programmable output return 2 HAR0071A Table 3 11 Digital Output Cable Pin Assignment Digital Outputs J6 Controller Rout 200 OUTI ms S 9 3 Rout 200 OUT2 m i BAS0021A Figure 3 18 Digital Output Connection Diagram Bassoon Installation Guide Installation 3 23 MAN BASIG Ver 1 0 3 5 7 3 Analog Input Port J7 S Notes for connecting the analog input cable Use 24 26 or 28 AWG twisted pair shielded cable Connect the cable shield to the ground near the signal source controller according to the manufacturer s recommendations Pin Signal Function Pin Position 1 ANLIN1 Analog input 1 2 ANLINI Analog input 1 3 ANLRET Analog ground HAROO69A Table 3 12 Analog Input Cable Pin Assignments Analog Inputs J7 Single Ended Source ANLIN1 Ne ey T 1 I I 1 I lt 2 2 l ANLIN1 x L I a ET ANLRET ur A NE ER BAS0022A I Figure 3 19 Analog Input with Single ended Source Bassoon Installation Guide Installation 3 24 MAN BASIG Ver 1 0 3 5 8 Communi
10. ati iii amun L GCN di A 16 ALS WorkmansHhipiu ua y a UN IE QU S S UN UNT ao A 16 PST HGP CD uu anan atina D ea cen side A E A 16 A 13 7 Piotta A 16 Bassoon Installation Guide MAN BASIG Ver 1 0 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Bassoon 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 Bassoon and accompanying equipment Please read this chapter carefully before you begin the installation process Before you start 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 Bassoon 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 pro
11. for the auxiliary incremental encoder differential or single ended For applications such as Follower ECAM or Dual Loop Port B serves as an input for Pulse amp Direction commands differential or single ended Table 3 5 Main Feedback Auxiliary Feedback Combinations Bassoon Installation Guide Installation 3 16 MAN BASIG Ver 1 0 3 5 6 1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Option on FEEDBACK B J2 YA 4 4 Through FEEDBACK B the Bassoon can provide buffered main or emulated encoder signals to another controller or drive This option can be used when The Bassoon is used as a current amplifier to provide position data to the position controller The Bassoon is used in velocity mode to provide position data to the position controller The Bassoon is used as a master in Follower or ECAM mode Below are the signals on the Auxiliary Feedback ports when set up to run as a buffered outputs or emulated outputs of the main encoder on FEEDBACK A Pin Signal Function Pin Position 1 SUPRET Supply return 2 5 V NA 3 INDEXO Index complement output 4 INDEXO Index output 5 CHBO Channel B complement output 6 CHBO Channel B output 7 CHAO Channel A complement output 8 CHAO Channel A output sss Table 3 6 Main Encoder Buffered Output or Emulated Encoder Output Pin Assignments on J2 Feedback B J2 Controller SUPRET 5v
12. from affecting the drive Failing to meet this requirement can result in drive controller host failure After completing the wiring carefully inspect all wires to ensure that the crimp terminals are firmly attached to the wire ends and that the wires are firmly connected to their connectors The following connectors are used for wiring the Bassoon Type Function Port 8 pin RJ 45 CANopen J8 8 pin RJ 45 CANopen J9 8 pin RJ 45 RS 232 n 8 pin Molex Auxiliary J2 Feedback 12 pin Molex Main Feedback J3 2 pin Molex Auxiliary power JA supply 8 pin Molex Digital input J5 4 pin Molex Digital output J6 3 pin Molex Analog input J7 7 pin Phoenix Main power Power CANopen Auxiliary Power Supply Digital Input Digital Output Analog Input Main Power Connector Location jo Auxiliary Feedback Main Feedback BAS0028A Table 3 1 Bassoon Connectors Installation Bassoon Installation Guide MAN BASIG Ver 1 0 N eo N n c o n RS 232 J1 Bassoon n c o Q o z lt S ad s s e ses 635 f 6 36 2 a vem gene ene e padece d eee L ee MES I e e e CANopen J9 CAN Controller Bassoon Feedback B i 2 5 c Q o OUTRET1 OUTRET2 ANALIN1 ANAL
13. 00 4 5 criteria B TEC61000 4 6 criteria A IEC61000 4 8 criteria A IEC61000 4 11 criteria B C A 13 5 Workmanship In compliance with IPC A 610 level 2 Acceptability of electronic assemblies A 13 6 PCB In compliance with IPC A 600 level 2 Acceptability of printed circuit boards A 13 7 Packing In compliance with EN100015 Protection of electrostatic sensitive devices Bassoon Installation Guide MAN BASIG Ver 1 0 Index A Advanced position control 2 2 Ambient operating temperature 3 1 Analog input Cable 3 23 Specifications A 13 Auxiliary Feedback cable 3 15 Power cable 3 10 Power supply 2 1 B Bassoon Connection diagram 3 7 Connectors 3 6 Dimensions A 3 Initializing 3 27 Installation 3 1 Mounting Directly on wall 3 5 On DIN rail 3 4 Powering up 3 27 Technical specifications A 1 Type designation number 3 3 Unpacking 3 3 Wiring 3 5 C Cables Auxiliary feedback 3 15 Auxiliary power 3 10 Communication 3 24 I O 3 20 Main Power 3 9 Motor 3 8 CANopen 3 24 3 25 Communication 2 2 Communication cables 3 24 Compliance standards 1 3 A 15 Composer 2 1 3 27 Conformance 1 3 A 15 Connecting Auxiliary power cable 3 10 Main power cable 3 9 Motor cables 3 8 Power cables 3 8 Connection diagram 3 7 Control connector A 5 Control specifications A 6 A 7 Current control 2 1 D Differe
14. 522 Connector UU Aa Motor cable Motor Cable Power 3 5 2 2 Connector E Power cable hA Auxiliary Power Cable J4 3 5 3 Bassoon Installation Guide MAN BASIG Ver 1 0 Installation RS 232 and or CANopen Described Component Connector in Section Main Feedback Cable J3 3 5 5 Auxiliary Feedback if needed J2 3 5 6 Digital Input Cable if needed J5 3 5 6 Digital Output Cable if needed J6 3 5 6 Communication Cables J1 J8 J9 358 PC for drive setup and tuning Motor data sheet or manual Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 1 3 AC Power Requirements Below are the Bassoon s AC power requirements Component Single Phase Supply Voltage Circuit breaker current rating 200 300 of drive current Circuit breaker voltage rating 230 VAC Contactor Up to 20076 of drive current 3 2 Unpacking the Drive Components Before you begin working with the Bassoon system verify that you have all of its components as follows The Bassoon servo drive The Composer software and software manual The Bassoon cable kit if ordered separately The Bassoon is shipped in a cardboard box with styrofoam protection To unpack the Bassoon 1 Carefully remove the servo drive from the box and the Styrofoam 2 Check the drive to ensure that there is no visible damage t
15. Bassoon Digital Servo Drive Installation Guide 8 8 g RESA June 2004 Motion Control 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 Bassoon 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 Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion Control Ltd Information in this document is subject to change without notice Document No MAN BASIG Copyright 2004 Elmo Motion Control Ltd All rights reserved Bassoon Catalog Number BAS AX 230 Version T L Feedback Blank Standard Blank Incremental Encoder A Advanced and or Halls Continuous Current R Resolver Amps Interpolated Nominal AC Analog Encoder Operating Voltage Cable Kit Catalog Number HAR CABLEKIT kit available upon request Related Document MAN CABLEKIT available on our website Revision History Ver 1 0 June 2004 Elmo Motion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 MAN BASIG pdf Initial Release Elmo Motion Contro
16. Encoder Communication RS 232 and CANopen Resolver or Main Encoder Controller SMPS 24 VDC Auxiliary Encoder Emulated Output Protection Current Feedback Figure 2 1 Bassoon System Block Diagram Bassoon Installation Guide Introduction MAN BASIG Ver 1 0 2 4 How to Use this Guide In order to install and operate your Elmo Bassoon 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 Bassoon The Appendix Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Bassoon 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 CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual Composer User Manual Digital Servo Drive Cable Kit Bassoon Installation Guide Figure 2 2 Elmo Documentation H
17. IN1 ANLRET ANALIN1 ANALIN1 ANLRET Feedback A Main Feedback IL 639 Ies 7 lt Power Connector M3 AUX SUPPLY 24Voc BAS0010A Isolated Transformer ON ion Diagram Bassoon Detailed Connect Figure 3 4 Bassoon Installation Guide MAN BASIG Ver 1 0 Installation U ULI ACT AC2 PE PE Mi M2 M3 Pin Positons f f f f f PE M1 M2 PE M3 AC2 ed AC1 Motor cable x BAS0009A Power cable 3 5 2 Connecting the Power Cables The main power connector located at the bottom of the Bassoon as follows Pin Function Cable ACI Main Voltage Phase 1 Power AC2 Main Voltage Phase 2 Power PE Protective earth Power AC DC Motor Motor Cable Cable PE Protective earth Motor Motor M1 Motor phase Motor N C M2 Motor phase Motor Motor M3 Motor phase Motor Motor O When connecting several motors all lt ee e must be wired in an identical manner Table 3 2 Connector for Main Power and Motor Cables 3 5 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 order is arbitrary because the Composer will establish the proper commutation automatically during setup However if you plan to copy the set up to
18. anties expressed or implied and including a warranty of merchantability and fitness for a particular purpose extend beyond this warranty Bassoon Installation Guide MAN BASIG Ver 1 0 Chapter 2 Introduction This installation guide describes the Bassoon servo drive and the steps for its wiring installation and powering up Following these guidelines ensures maximum functionality of the drive and the system to which it is connected 2 1 Drive Description The Bassoon is a powerful servo drive that operates in digital current velocity position and advanced position modes in conjunction with a permanent magnet synchronous brushless motor or DC brush motor The Bassoon features flexible sinusoidal and trapezoidal commutation with vector control The Bassoon can operate as a stand alone device or as part of a multi axis network in a distributed configuration The Bassoon drive is set up and tuned using Elmo s Composer software This Windows based application enables users to quickly and simply configure the servo drive for optimal use with their motor The Bassoon connects directly to 110 230 VAC single phase power source A separate 24 VDC power supply serves as both the auxiliary supply and the backup supply This allows a safe and economical power backup feature that is essential for positioning systems Two variations of the Bassoon are available the Standard version and the Advanced version which features advanced pos
19. cation Cable Port J1 J8 J9 The communication cables use an 8 pin RJ 45 plug that connects to the J1 port RS 232 the J8 port CANopen and or J9 CANopen on the front of the Bassoon The communication interface may differ according to the user s hardware The Bassoon can communicate using the following options a RS 232 full duplex b CANopen c RS 232 and CANopen can be used simultaneously RS 232 communication requires a standard commercial 3 core null modem cable connected from the Bassoon to a serial interface on the PC The interface is selected and set up in the Composer software In order to benefit from CANopen communication the user must have an understanding of the basic programming and timing issues of a CANopen network The interface is electrically isolated by opto couplers and isolated power is supplied by the Bassoon For ease of setup and diagnostics of CAN communication RS 232 and CANopen can be used simultaneously 3 5 8 1 RS 232 Communication e Notes for connecting the RS 232 communication cable J1 port Use a 26 or 28 AWG twisted pair shielded cable The cable should have an aluminum foil shield covered by copper braid with a drain wire 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 or shield to facilitate connection The male RJ plug must have a shield cover Ensure that the sh
20. duct 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 fr Bassoon Installation Guide Safety Information 1 2 MAN BASIG Ver 1 0 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 Bassoon from all voltage sources before it is opened for servicing The Bassoon servo drive contains grounding conduits for electric current protection Any disruption to these conduits may cause the device to become hot live and dangerous After shutting off the power and removing the power source from your equipment wait at least 1 minute 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 P P P P 1 2 Cautions The Bassoon servo drive contains hot surfaces and electr
21. e RLS FLS INH 3 IN3 Programmable input 3 general purpose RLS FLS INH 4 INA Programmable input 4 HAR0068A general purpose RLS FLS INH 5 IN5 Programmable input 5 event capture Main Home general purpose RLS FLS INH 6 IN6 Programmable input 6 event capture Auxiliary Home general purpose RLS FLS INH 7 INRET Programmable input return 8 INRET Programmable input return Table 3 10 Digital Input Cable Pin Assignments 3 21 Installation Controller Digital Inputs J5 Bassoon Installation Guide MAN BASIG Ver 1 0 Vz 5 1v ae Ed ci E a Vz 5 1v Rin 2 5K Vz 5 1v Rin 2 5K Vz 5 1v Rin 2 5K Vz 5 1v Rin 1 25K Vz 5 1v Rin 1 25K uoosseg BAS0020A Figure 3 17 Digital Input Connection Diagram Bassoon Installation Guide Installation 3 22 MAN BASIG Ver 1 0 3 5 7 2 Digital Output Port J6 S Notes for connecting the digital output cable Use 24 or 26 AWG twisted pair shielded cable
22. e dominant high 2 CANL CAN L busline dominant low 3 CAN GND CAN ground 4 _ i 6 CAN SHLD Shield connected to the RJ plug cover 7 CAN GND CAN ground 8 gt Pin Position Table 3 14 CANopen J8 J9 Cable Pin Assignments Bassoon Installation Guide MAN BASIG Ver 1 0 Installation Bassoon 1 CAN Controller 3 26 CAN Interface Drain 9 Wire ee lessi Shield L PRESS 4 EE lt gt H i P U CAN_H r r o Jy 1200 Y 4 CAN L 4 e CAN GND 6 i I Shield 1 1 H 1 mi i Ha Mi 3 E CAN GND i i Ln e I Bassoon 2 CAN Interface t Wire Shield 5 CAN GND I v Bassoon3 CAN Interface Drain I Wire 295 e Pod P auf 335 Shield of RJ connector Caution i i When installing CANopen communication ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang 1200 BAS0019A Figure 3 21 CANopen Connection Diagram Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 27 3 6 Powering Up Afte
23. e You Begift v ag C Cuan give o aa c Eos OU MI 3 1 3 1 1 Site Requirements dete mete ede ne e e t e en it E 3 1 3 1 2 Hardware Requirements perirent ated tulle peas 3 1 2 9 AC Power Requirements eee eee tee ese tes atas 3 3 3 2 Unpacking the Drive Components siriano 3 3 3 3 Assembling the Heatsink nesesario evi eot a Lu oh emen dea Uo eint E 3 4 3 4 Mounting the Basson suli 3 4 3 4 1 Mounting on a DIN Raill tvi yiii pte aule 3 4 3 4 2 Mounting Directly onto a Wal scalino 3 5 3 5 Connecting the Cable satana RSN e usya ass 3 5 3 5 1 Witing th e Bass00rb sauna CO PROC tain aa votis 3 5 3 5 2 Connecting the Power Cables ici 3 8 3 5 2 1 Connecting the Motor Cable us da oie te octies 3 8 3 5 2 2 Connecting the Main Power Cable ione 3 9 3 5 3 Connecting the Auxiliary Power Cable JA sss 3 10 3 5 4 Feedback and Control Cable Assemblies nter nnno 3 11 3 5 5 Main Feedback Cable Port 3 irte rende 3 12 3 5 6 Main and Auxiliary Feedback Combinations sss 3 15 3 5 6 1 Auxiliary Feedback Buffered or Emulated Output 3 16 3 5 6 2 Auxiliary Feedback Differential Encoder Input Option 3 17 3 5 6 3 Auxiliary Feedback Single Ended Encoder Input 3 18 3 5 6 4 Auxiliary Feedback Pulse amp Direction Input 3 19 307 CUE ADCS NOM E 3 20 3 5 7 1 Digital In
24. e main encoder with up to 5 MHz pulses e Emulated output of the resolver or interpolated analog encoder e Fast output compare OC optically isolated A 1 7 Built In Protection e Software error handling e Abort hard stops and soft stops Status reporting Protection against Shorts between motor power outputs Shorts between motor power output and power input return Failure of internal power supplies Overheating Over Under voltage Loss of feedback Following error Current limits Bassoon Installation Guide Technical Specifications A 3 MAN BASIG Ver 1 0 A 2 Bassoon Dimensions 24 0 16 E F Z 24 0 16 M 76mm 3in IoII ZIIII II BAS0003A Bassoon Installation Guide Technical Specifications A 4 MAN BASIG Ver 1 0 A 3 General Specifications VAC 255 Maximum Supply Voltage Maximum Output Power from the Drive 240 Efficiency at Rated Power DC trapezoidal Commutation Continuous RMS Current limit Ic Sinusoidal Commutation Continuous RMS Current limit Ic Peak current limit RMS RMS output power without heatsink PWM Switching Frequency KHz 22 5 default on the motor Switching Method Advanced Unipolar PWM 105 x 44 X 76 mm A T 317 x30 Wall Mount Bookshelf or DIN Rail A 4 Environmental Conditions Operating ambient temperature 0 40 C 32 104
25. er jogging or step Note All software calculated profiles support on the fly changes Velocity sampling time 140 200 usec x2 current loop sample time Velocity sampling Rate up to 8 KHz A 7 3 Position Loop Controller type 1 2 4 PIP Position command options Software Pulse and Direction Position sampling time 280 400 usec x 4 current loop sample time Position sampling rate up to 4 KHz Bassoon Installation Guide Technical Specifications A 8 MAN BASIG Ver 1 0 A 8 Feedback A 8 1 Feedback Supply Voltage Feature Details J3 main encoder supply voltage 5 V 5 200 mA maximum J2 auxiliary encoder supply voltage 5 V 5 200 mA maximum A 8 2 Incremental Encoder Encoder format A Band Index Differential Quadrature Maximum incremental encoder Maximum absolute 5 MHz pulses frequency Minimum quadrature input period 112 nsec PIN Minimum quadrature input high low 56 nsec period PHL Minimum quadrature phase period 28 ns PPH Maximum encoder input voltage range Common mode 7V Differential mode 7V Phase A Input P PHL HI oai P ala Figure A 1 Encoder Phase Diagram Bassoon Installation Guide Technical Specifications A 9 MAN BASIG Ver 1 0 A 8 3 Digital Halls Halls inputs Ha Hg Hc Single ended inputs Built in hysteresis for noise immunity Input voltage Nominal operating range OV lt Vi Hal lt 5V Maximum abso
26. gh speed mode and can be used for fast capture and precise homing High speed input has a digital filter set to same value as digital filter EF of main encoder Highest speed is achieved when turning on optocouplers ZA XS Ul speed mode AL S uJnjeJ jndui jesaues Figure A 2 Digital Input Schematic Bassoon Installation Guide Technical Specifications A 12 MAN BASIG Ver 1 0 A 9 2 Digital Output Interface Type of output Optically isolated collector and open emitter Maximum supply output Vcc Maximum output Iout max lt 10 mA current Io max Vout Low VOL maximum Vout on lt 0 3 V 0 02 Iout 10mA output voltage low Digital Output level External resistor RL must be selected to limit output current to no more than 10 mA BAS0028A _ Vec VOL Io max Executable time If output is set to one of the built in functions Home flag Brake or AOK execution is immediate upon detection 0 lt T lt 4xTS If output is set to General output and is executed from a program the typical time is approximately 0 5 msec Rout 20Q OUTput i OUTput Ret i HAR0061A Figure A 3 Digital Output Schematic Bassoon Installation Guide Technical Specifications A 13 MAN BASIG Ver 1 0 A 9 3 Analog Input J7 Maximum operating differen
27. he Bassoon is mounted you are ready to wire the device Proper wiring grounding and shielding are essential for ensuring safe immune and optimal servo performance of the Bassoon Use twisted pair shielded wires for control feedback and communication ports For best results use an aluminum foil shield covered by copper braid with a drain wire The drain wire is a non insulated wire that is in contact with parts of the cable usually the shield It is used to terminate the shield and as a grounding connection The impedance of the wire must be as low as possible The size of the wire must be thicker than actually required by the carrying current 24 or 26 AWG wire for control and feedback cables is satisfactory Bassoon Installation Guide MAN BASIG Ver 1 0 Installation Use shielded wires for motor connections as well If the wires are long ensure that the capacitance between the wires is not too high C 30 nF is satisfactory for most applications Keep all wires and cables as short as possible Keep the motor wires as far away as possible from the feedback control and communication cables Ensure that in normal operating conditions the shielded wires and drain carry no current The only time these conductors carry current is under abnormal conditions when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground in order to prevent them
28. he motor chasis Drain Wire or Shield HAR0067A Figure 3 9 The Main Feedback J3 Cable The wiring of the Main Feedback cable depends on the type of device used Incremental Encoder wiring Interpolated Analog Encoder wiring and Resolver wiring are shown in the table below Bassoon Installation Guide MAN BASIG Ver 1 0 Installation 3 13 pT mepoltedAndogg Incremental Encoder Sine Cosine Encoder Resolver BAS X 230_ BAS X 230I BAS XX 230R Pin Signal Function Signal Function Signal Function 1 HC Hall sensor C input NC NC 2 HB Hall sensor B input NC NC 3 HA Hall sensor A input NC NC 4 SUPRET Supply return SUPRET Supply return SUPRET Supply return 5 SUPRET Supply return SUPRET Supply return SUPRET Supply return 6 5V Encoder Hall 5V Encoder Hall NC 5 V supply 5 V supply 7 INDEX Index complement R Reference complement R2 Vref complement f 1 TS 50mA Maximum 8 INDEX Index R Reference R1 Vref f 1 TS 50mA Max 9 CHB Channel B cmplmnt B Cosine B complement S4 Cosine B complement 10 CHB Channel B B Cosine B S2 Cosine B 11 CHA Channel A cmplmnt A Sine A complement S3 Sine A complement 12 CHA Channel A A Sine A S1 Sine A Table 3 4 Main Feedback Cable Pin Assignments Feedback A J3 Hall C Hall B CHA CHA CHB CHB INDEX c o o p 2 m
29. i 4 mm CHB 7 WE i c 1 1 1 1 di AI n u 8 E d e ia 1 1 1 1 f m lt e CHA BAS0024A Figure 3 14 Differential Auxiliary Encoder Inputs on J2 Connection Diagram Bassoon Installation Guide MAN BASIG Ver 1 0 Installation 3 5 6 3 Single ended Auxiliary Input Option on FEEDBACK B The Bassoon can be used as a slave by receiving the position data on Port B of the master encoder Below are the signals on the Auxiliary Feedback port when set up to run as a single ended 32 in Follower or ECAM mode auxiliary input Pin Signal Function 1 SUPRET Supply return 2 5V Encoder Hall 5 V supply voltage 5 V 200 mA 5 n 4 INDEX Index bill Z 6 CHB Channel B x 8 CHA Channel A YA 4 2 Pin Position HAR0068A Table 3 8 Single ended Auxiliary Encoder Input Pin Assignments on J2 Feedback B J2 SUPRET gt ae ee mma Encoder 5v gt BE 5v c o o o a Supply Voltage Return BAS0025A Figure 3 15 Single ended Auxiliary Encoder inputs on J2 Connection Diagram 3 18 Bassoon Installation Guide MAN BASIG Ver 1 0 Installation 3 5 6 4 Pulse and Direction Input Option on FEEDBACK B 32 YA 4 0 This mode is used for input of differential or single ended pulse and direction position commands 3 19 Below are the signals on the Auxiliary Feedback po
30. ically charged components during operation The maximum AC power supply connected to the instrument must comply with the parameters outlined in this guide The Bassoon drive must be connected to an approved 24VDC auxiliary power supply through a line that is separated from hazardous line voltages using reinforced or double insulation in accordance with approved safety standards The Bassoon X 230 series is designed to gets its power from a 30 255 VAC single phase power source It can be connected directly to the line voltage An isolation transformer is not needed Before switching on the Bassoon verify that all safety precautions have been observed and that the installation procedures in this manual have been followed gt gt P gt D Bassoon Installation Guide Safety Information 1 3 MAN BASIG Ver 1 0 1 3 Directives and Standards The Bassoon conforms to the following industry safety standards Safety Standard Item In compliance with UL508c and Conformance to the following safety standards UL840 Power Conversion Equipment Insulation Coordination Including Clearance and Creepage Distances of Electrical Equipment In compliance with UL60950 Safety of Information Technology Equipment formerly UL1950 Including Electrical Business Equipment In compliance with EN60204 1 Low Voltage Directive 73 23 EEC The Bassoon servo drive has been developed produced
31. ield of the cable is connected to the shield of the RJ plug The drain wire can be used to facilitate the connection Pin Signal Function Pin Location 1 E 2 3 Tx RS 232 transmit 4 5 COMRET Communication return 6 Rx RS 232 receive 1 7 8 ES Table 3 13 RS 232 J1 Cable Pin Assignments Bassoon Installation Guide MAN BASIG Ver 1 0 RS232 Communication J1 c o o o vo m Installation 3 25 PC RS232 3 N 6 mm COMRET 5 EN RT i 2 NN a V Drain Ex uem Wire Shield Shield of RJ connector Figure 3 20 RS 232 Connection Diagram 3 5 8 2 CANopen Communication BAS0018A Notes for connecting the CANopen communication cable J8 and or J9 port Use a 26 or 28 AWG twisted pair shielded cable The cable should have an aluminum foil shield covered by copper braid with a drain wire 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 or shield to facilitate connection The male RJ plug must have a shield cover Ensure that the shield of the cable is connected to the shield of the RJ plug The drain wire can be used to facilitate the connection Connect a termination 120 ohm resistor at each of the two ends of the network cable Pin Signal Function 1 CAN H CAN H buslin
32. ierarchy As depicted in the previous figure this installation guide is an integral part of the Bassoon documentation set comprising The Composer Software Manual which includes explanations of all the software tools that are part of Elmo s Composer software environment The SimplIQ Command Reference Manual which describes in detail each software command used to manipulate the Bassoon motion controller The SimplIQ Software Manual which describes the comprehensive software used with the Bassoon Bassoon Installation Guide MAN BASIG Ver 1 0 Chapter 3 Installation 3 1 Before You Begin 3 1 1 Site Requirements You can guarantee the safe operation of the Bassoon by ensuring that it is installed in an appropriate environment Feature Ambient operating temperature Value 0 to 40 C 32 to 113 F Maximum operating altitude 10 000 m 30 000 ft Maximum relative humidity 90 non condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available operating ambient temperature of 0 to 40 C 32 to 104 F must not be The Bassoon dissipates its heat by natural convection The maximum exceeded 3 1 2 Hardware Requirements The components that you will need to install your Bassoon are Described Component Connector in Section Diagram Main Power Cable Power 3
33. iliary Power Supply 34 Auxiliary power supply DC source only Auxiliary supply input 24 V 20 voltage Auxiliary supply input 8 VA maximum power Auxiliary Power supply BAS0028A A 7 Control Specifications A 7 1 Current Loop Controller type Vector digital Compensation for bus On the fly automatic gain scheduling voltage variations AC brushless sinusoidal DC brushless trapezoidal DC brush Linear Motors Motor types Moving coils Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a pair of PI controls of AC current signals and constant power at high speed Current loop bandwidth gt 2 5 KHz Current sampling time Programmable 70 100 usec Current sampling rate up to 16 KHz Bassoon Installation Guide Technical Specifications MAN BASIG Ver 1 0 A 7 2 Velocity Loop Velocity control Fully digital Programmable PI and FFW control filters On the fly gain scheduling Automatic manual and advanced manual tuning Velocity and position feedback Incremental Encoder options Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative Velocity command options Analog Internally calculated by eith
34. itioning capabilities Both versions operate with RS 232 and or CANopen communications 2 2 Product Features 2 2 1 Current Control Fully digital Sinusoidal commutation with vector control or trapezoidal commutation with resolver 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 Velocity Control Fully digital Programmable PI and FFW feed forward control filters Sample rate two times current loop sample time On the fly gain scheduling Automatic manual and advanced manual tuning and determination of optimal gain and phase margins Bassoon Installation Guide Introduction MAN BASIG Ver 1 0 2 2 3 Position Control Programmable PIP control filter Programmable notch and low pass filters 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 Sample rate four times current loop sample time Fast event capturing inputs 2 2 4 Advanced Position Control in Advanced model 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 PT and PVT motion modes Dual position velocity loop Fast output compare OC 2 2 5 Communication Options Depending on the application Basso
35. l GmbH Steinbeisstrasse 41 EC D 78056 Villingen Schwenningen Germany E m O Tel 49 07720 8577 60 Motion Control Fax 49 07720 8577 70 www elmomc com Bassoon Installation Guide MAN BASIG Ver 1 0 Contents Chapter 1 Safety Informationen 1 1 1 1 Warnings een or p SD CERE AE 1 2 1 2 Gautiorissiiesteten atte 220 E rl 1 2 1 3 Directives and Standards cose ein orm i ret Dee ripetuto tio oe bre D en 1 3 1 4 CE MATE C nformance u eos Postero aep Breed aio 1 3 1 5 Warranty Information xoc ese conte Va era e Re pe OA SIR Cope De Rai s 1 3 Chapter 2 ITIrOd ctI atv eiim exo quas iip m vised ERI KO EU v oses UV NN aH A ERG veren Sede 2 1 2 1 Drive Descriptions edem TOU e RE HEATER E e Era 2 1 2 2 Product Bed Pe nodi bte qdtatik vbi det tuto e RA futur cft ERE d asua 2 1 22 1 Current Control bos are 2 1 22 2 Velocity Contro knnen n umu huq u Sua au de 2 1 2 2 Pesig orm C ODETO Su w n RUN i wa ea 2 2 2 2 4 Advanced Position Control in Advanced model only 2 2 22 5 Communication Options nunsio dee cg Ro eii reed in 2 2 2 2 6 Feedback Options xui roe rici ob no et t eda FR 2 2 2 2 7 Fault Protection i Lei 2 3 2 3 System AXCDBPeCEUTO verde dede divas aee UMA ne ce A RU Gre u 2 3 247 low to Usethis Guides yu na aa E a S na eU qe Ei ea 2 4 Chapter 3 Installation a a Ra rioni ze serie eee erio rece scorie nere nre nee nese eie nice nio ee ce nre nie nere eeso niso 3 1 31 Befor
36. lignment e Automatic motor phase sequencing A 1 4 Fully Programmable e Third generation programming structure with motion commands e Event capturing interrupts e Event triggered programming A 1 5 Feedback Options e Incremental Encoder up to 20 Mega Counts 5 Mega Pulse per second e Digital Halls up to 2 KHz e Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder e Absolute Encoder e Interpolated Analog Sine Cosine Encoder up to 250 KHz analog signal Internal Interpolation up to X4096 Automatic Correction of amplitude mismatch phases mismatch signals offset Encoder outputs buffered differential Resolver Programmable 10 15 bit resolution Up to 512 Revolution Per Second RPS Encoder outputs buffered differential e Elmo drives provide supply voltage for all the feedback options Bassoon Installation Guide Technical Specifications A 2 MAN BASIG Ver 1 0 A 1 6 Input Output Analog Inputs with up to 14 bit resolution Programmable digital inputs optically isolated Inhibit V Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion General purpose Homing e Fast event capture inputs optically isolated e Programmable digital outputs Brake Control Amplifier fault indication CGeneral purpose Servo enable indication e Buffered and differential outputs of th
37. lute 1V lt Vin Hall lt 15V High level input voltage V mHigh gt 2 5V Low level input voltage V intow lt 1V Input current Sink current when input pulled to the common 3ma Source current 1 5 ma designed to also support open collector Halls Maximum frequency fmax 2 KHz A 8 4 Interpolated Analog Encoder Sine Cosine Analog encoder format Sine and Cosine signals Analog input signal level Offset voltage 2 2 V 2 8 V Differential 1V peak to peak Maximum analog signal frequency fmax 250 kHz Interpolation multipliers Programmable x4 to x4096 Maximum counts frequency 20 mega counts sec Automatic errors correction Signals amplitude mismatch Signals phase shift Signals offset Bassoon Installation Guide Technical Specifications A 10 MAN BASIG Ver 1 0 A 8 5 Resolver Feature Resolver format Sine Cosine Differential Maximum electrical frequency 512 revolutions sec RPS A 8 6 Encoder Outputs Feature Encoder output format A B Index Differential outputs Quadrature Output current capability Driving differential loads of 200 Q Available at options Buffered outputs of main input incremental encoder Emulated encoder outputs of analog encoder Emulated encoder outputs of the resolver Maximum frequency fmax 5 MHz pulses output Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of em
38. ly snap the drive onto a DIN rail in your work area To mount the Bassoon on a DIN rail 1 Ifthe mounting tab is attached to the top of the Bassoon remove it by pushing it down and slipping it out of the slot see the figure below Mount the upper slit on the back of the Bassoon on the upper edge of the DIN rail Tilt the bottom of the Bassoon towards the bottom of the DIN rail until you hear a click BAS0009A DWG BASOD05A ce Figure 3 2 Mounting the Bassoon on a on DIN Rail Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 4 2 Mounting Directly onto a Wall The mounting strips at the back of the Bassoon enables it to be screwed directly into a wall If it is not already assembled in the upper slot in the back of the Bassoon assemble the upper mounting tab now To mount the Bassoon onto a wall 1 On the back of the drive fully extend the top mounting strip so that the end with the holes are exposed The bottom strip is delivered already extended 2 Mount the Bassoon vertically onto the wall with two M4 round head screws and washers one through the top hole of the mounting strip and one at the bottom BAS0008A DWG BASO004A Le Figure 3 3 Extending the Mounting Strips and Attaching the Screws 3 5 Connecting the Cables 3 5 1 Wiring the Bassoon Once t
39. ntial auxiliary input 3 15 Digital input Cable 3 20 Digital output Cable 3 22 Digital output interface A 12 Dimensions A 3 DIN rail mounting 3 4 E Environmental conditions A 4 F Fault protection 2 3 Feedback Connector A 5 Options 2 2 A 7 Supply voltage A 8 Feedback options A 8 A 9 A 10 A 11 G Grounding 1 1 Analog input cables 3 23 Auxiliary power cable 3 10 CANopen cables 3 25 Digital input cable 3 20 Digital output cable 3 22 Main feedback cables 3 11 Motor cables 3 8 RS 232 cable 3 24 Bassoon Installation Guide Index _ gt MAN BASIG Ver 1 0 H Hardware requirements 3 1 3 3 Heatsink Assembling 3 4 Specifications A 14 I I O cables 3 20 Initializing the Bassoon 3 27 M Main encoder buffered outputs 3 16 Main feedback cable 3 12 Main power cable 3 9 Maximum Operating altitude 3 1 Relative humidity 3 1 Motor cables 3 8 Mounting the Bassoon 3 4 Directly on wall 3 5 On DIN rail 3 4 P Position control 2 2 Power Backup 2 1 Power cables 3 8 Powering up the Bassoon 3 27 Pulse and direction input 3 19 R Relative humidity 3 1 RS 232 3 24 S Safety 1 1 Cautions 1 2 Compliance standards A 16 Standards 1 3 Warnings 1 2 Single ended auxiliary input 3 15 3 18 Site requirements 3 1 Specifications Analog input A 13 Control A 6 A 7 Digital output interface A 12 Environment
40. o the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 Toensure that the Bassoon you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Bassoon It looks like this Y E l mo PIN BAS 1 230 C Motion Control www elmomc com BAS0027A The P N number at the top gives the type designation as follows BAS A1 230 Version Feedback Blank Standard Blank Incremental Encoder A Advanced and or Halls Continuous Current R Resolver Amps Interpolated Nominal AC Analog Encoder Operating Voltage 4 Verify that the Bassoon type is the one that you ordered Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 3 Assembling the Heatsink When an external heatsink device is required attach it with four screws to the left side of the Bassoon as depicted in the following diagrams Y si BAS0033A BAS0041A DWG Figure 3 1 Attaching the Heatsink To mount the finned heatsink use M4 screws and spring washers To mount the L shaped heatsink use conical head M4 screws 3 4 Mounting the Bassoon The Bassoon has been designed for two standard mounting options Mounting on a DIN rail Attaching directly to the wall with screws 3 4 1 Mounting on a DIN Rail At the top rear of the Bassoon a horizontal groove lets you quickly and easi
41. on 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 up to 20 Mega Counts 5 Mega Pulse per second Digital Halls up to 2 KHz Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder Absolute Encoder Interpolated Analog Sine Cosine Encoder up to 250 KHz analog signal e Internal Interpolation programmable up to X4096 e Automatic Correction of amplitude mismatch phase mismatch signals offset e Encoder outputs buffered differential Resolver Programmable 10 15 bit resolution e Up to 512 Revolution Per Second RPS e Encoder outputs buffered differential Elmo drives provide supply voltage for all the feedback options MAN BASIG Ver 1 0 Bassoon Installation Guide Introduction 2 2 7 Fault Protection The Bassoon 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 return Recovery from loss of commutation signals and from communication errors 2 3 System Architecture Analog
42. other drives then the phase order on all copy drives must be the same S Notes for connecting the motor cables For best immunity it is highly recommended to use a shielded not twisted cable for the motor connection A 4 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connect the shield of the cable to the closest ground connection at the motor end The forth wire should be used for the ground connection between the motor and the second PE terminal of the Bassoon Be sure that the motor chassis is properly grounded Bassoon BAS0011A Figure 3 5 AC Motor Power Connection Diagram Installation Bassoon Installation Guide MAN BASIG Ver 1 0 3 5 2 2 Connecting the Main Power Cable Connect the main power supply cable to the AC1 AC2 and PE terminals of the main power connector Notes for connecting the AC power cable For best immunity a shielded not twisted cable is recommended not mandatory for gt the AC power supply cable A 3 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connect the two power wires Neutral and Phase to the AC power leads of the source For safety requirements the third wire must be used for the protective earth connection connected to the PE terminal Bassoon gt EB mm Va Em n BAS0013A
43. p t Port braille 3 20 3 5 7 2 Digital Output Port Ysl 3 22 3 5 Z 9 Analog Input Port J7 au s anl aaa ana ERU Eu 3 23 A A T Bassoon Installation Guide Contents ii MAN BASIG Ver 1 0 3 5 8 Communication Cable Port J1 J8 J9 aodio unde tai orate dtd 3 24 3 5 8 1 RS 252 Communication doeet e Ree Rn 3 24 3 5 82 CANopen Communication eese 3 25 2 6 Powernng Up eem Pas ki ere i hua n ehay y a taie 3 27 3 7 Initializing the SysteMsein siistisi ari n ie pto rie ass 3 27 Appendix Technical Specifications A 1 AST Features dose nti Chama dde Re CU aaa A 1 Alc Motion Control Modes u u anna giusta tap av dass A 1 A 1 2 Advanced Positioning Motion Control Modes sss A 1 A 1 3 Advanced Filters and Gam Scheduling scooter eret ode A 1 ATA Fully Programmahkble rotten tires Sev ione eee dern A 1 AL 5 Feedback CM ONS uento ote eio Facio auno aee deal A 1 2S doo pU QUEUE soaked na manqa aiar a A 2 A7 Built In Protection n e eei ian A 2 4 2 Bassoon Dimensions ie enne uere enr S aya a sh A 3 Ad General Specifications uu ti d ee us Nave EQ NE veo FU UG eson Ed Eo Ras A 4 264 Environmental Conditions n Gar estet BG Fe acd A 4 AS Bassoon Connectors doyra et t e e e e ERI PEE E ER IER eR eats A 5 AS Connector Types u iste tete ett re tre t been ee er
44. r the Bassoon has been mounted check that the cables are intact The Bassoon servo drive is then ready to be powered up Caution a Before applying power ensure that the AC power is within the range specified for the Bassoon To power up the system first switch on the auxiliary power and then the main power supply Note that this order is recommended but not critical if a problem occurs the system is well protected The two color LED turns green to indicate proper functioning 3 7 Initializing the System After the Bassoon 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 Install the application and then perform setup and initialization according to the directions in the Composer Software Manual Bassoon Installation Guide MAN BASIG Ver 1 0 Appendix Technical Specifications A 1 Features A 1 1 Motion Control Modes e Current Torque up to 14 KHz sampling rate e Velocity up to 7 KHz sampling rate Position up to 3 5 KHz sampling rate A 1 2 Advanced Positioning Motion Control Modes e PTP PT PVT ECAM Follower Pulse and Direction Dual Loop e Fast event capturing inputs e Fast output compare OC A 1 3 Advanced Filters and Gain Scheduling e On the Fly gain scheduling of current and velocity e Velocity and position with 1 2 4 PIP controllers e Automatic commutation a
45. rts when set up to run as a single ended pulse and direction input Feedback B J2 SUPRET c o o o c m DIR CHB PULS CHA Pin Signal Function Pin Position 1 SUPRET Supply return 2 5V NA amp We A a 5 6 DIR CHB Direction input push pull 5 V or open collector 7 HAR0068A 8 PULS CHA Pulse input push pull 5 V or open collector Table 3 9 Pulse and Direction Auxiliary Encoder Pin Assignments on J2 Controller Supply Voltage Return L DIRECTION CARS 22729 24000A VENERA 22 c NE nanas wa DAP LLE VES SEO BAS0026A Figure 3 16 Pulse and Direction Auxiliary Encoder Pins on J2 Connection Diagram Bassoon Installation Guide Installation 3 20 MAN BASIG Ver 1 0 3 5 7 I O Cables The following table lists the I O cables that you should connect according to your specific requirements YO Description Total Port Digital input 6 J5 Digital output 2 Je Analog input 1 J7 3 5 7 1 Digital Input Port J5 S Notes for connecting the digital input cable Use 24 or 26 AWG twisted pair shielded cable Connect the cable shield to the ground near the signal source controller according to the manufacturer s recommendations Pin Signal Function Pin Position 1 IN1 Programmable input 1 general purpose RLS FLS INH 2 IN2 Programmable input 2 general purpos
46. s J5 J6 and J7 all use 2 mm pitch Molex Sherlock connectors These connectors snap together quite easily but require a small standard screwdriver for disassembly To disassemble the Molex connector simply 1 slip the screwdriver into the lock this will cause the lock to disengage and 2 twist the screwdriver downward with light pressure on the handle see the figure below lt LE BAS0030A Figure 3 8 Disconnecting Molex Connectors S Notes for assembling Feedback and Control cable assemblies Use 24 or 26 AWG twisted pair shielded cables On the motor side connections ground the shield to the motor chassis On controller side connections follow the controller manufacturer s recommendations concerning shield and or drain wire connections Bassoon Installation Guide Installation MAN BASIG Ver 1 0 3 12 3 5 5 Main Feedback Cable Port J3 The main feedback cable is used to transfer feedback data from the motor to the drive The Bassoon accepts the following as a main feedback mechanism Incremental encoder only Incremental encoder with digital Hall sensors Digital Hall sensors only Incremental Analog Sine Cosine encoder option Resolver option Connect the main feedback cable from the motor to the J3 port on the front of the Bassoon using a 12 pin Molex plug Connectthe drain wire to pin 4 If the cable has no drain wire connect the shield to pin 4 Ground the shield to t
47. tet tons A 5 A 5 2 Control and Feedback Connector Specifications A 5 AS Auxiliary Power Supply J4 Iran ta Ernie s ed onere ocho dis A 6 AU Control Specifications culinaria A 6 AZ Current 00p3 nette a t PO ep tenis A 6 PLN elocity LOO u uu la n a ista buda Su ius Si met uil tus A 7 AZo PositiottLo0p is treinta emt eedem A 7 PS Feedback u saat sich ion app nts dues nid pad telam aa kisa Rc Ern wnt ass ta COS e drum REN A 8 A 8 1 Feedback Supply Vota ge nino A 8 2 Incremental Encodefustsiditoatatitatvt tali E tabo ida epe tiat A 8 Aso Poetilandia A 9 A 8 4 Interpolated Analog Encoder Sine Cosine sss A 9 A 8 5ResolVer a n H A 10 59 6 Encoder OUDDUES contre sn manka sei et BE iae opo gy A 10 Co arg ER A 11 A 9 1 Digital Input Interfaces eie t rer enit ep tente ot Se rre bea Ri A 11 A02 Digital Output Interface a A 12 A 9 3 Analog Input JZ suscitavit vex tr D pei iere o qe voe a A 13 A TO CommunicatiOTis u u nene Egan deti A 13 A 11 Pulse Width Modulation PWM 5 ioter ett Vea sono ra e den tn rl e eon A 14 A12 Heatsink Specifications ie coton trt vet ti remite egi ert Pelr Ebene MV rr UE A 14 A I9 orandards CompliattesuceearequipeceNt b ro ima Qe Srt RUP CON B Ve IDE CEU GRAS A 15 A 13 1 Quality ASSUrance coalition A 15 ATOZ DEESIE Di A E E A 15 A133 anca A 16 ATA EMG
48. tial mode 10 V voltage Maximum absolute differential input 16 V voltage Differential input resistance Analog input command resolution 14 bit inputs BAS0028A A 10 Communications Signals RxD TxD Gnd Full duplex serial communication for setup and control Baud Rate of 9 600 115 200 bits sec CANbus Signals CAN H CAN L CAN_GND Maximum Baud Rate of 1 Mbits sec Version 505301 V4 01 Device Profile drive and motion control DSP 402 BAS0028A Bassoon Installation Guide Technical Specifications A 14 MAN BASIG Ver 1 0 A 11 Pulse Width Modulation PWM PWM switching frequency on the load 2 Ts factory default 22 KHz on the motor A 12 Heatsink Specifications The following table indicates the RMS output power when operating the Bassoon at nominal DC bus voltage RMS output power without heatsink o 4 gt If the input voltage is lower the RMS output current without a heatsink is higher Two types of heatsinks are recommended for ensuring maximum continuous output power of the drive Finned Heatsink L Shaped Heatsink 3 30 X 13 2 00 X 12 A 1 58 2 05 12 50 P_i 0 71 00 D Bei FRESA 11 00 94 30 TU D Tee o 59 00 104 50 7 TN O
49. ulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Bassoon Installation Guide Technical Specifications A 11 MAN BASIG Ver 1 0 A 9 I O s The Bassoon has 6 Digital Inputs 2 Digital Outputs 1 Analog Input A 9 1 Digital Input Interfaces Type of input Optically isolated Single ended PLC level Vin 6 5V 25009 Tin 2 2 mA Vin 12 V I nput current lin Input current for _ Vin 6 5V lin _ high speed 12500 inputs DI p lin 4 4 mA Vin 12V Digital Input High level input 15 vy lt Vin lt 30 V 24 V typical voltage B Low level input 0V lt Vin lt 6 5 V SE voltage Hb Minimum pulse _ 4x TS where TS i line ti width x I5 where I5 1s sampling time BAS665828 Execution time If input is set to one of the built in functions Home all inputs Inhibit Hard Stop Soft Stop Hard and Soft Stop the time from application of voltage on input Forward Limit Reverse Limit or Begin execution is immediate upon detection 0 lt T 4 x TS until execution is If input is set to General input execution depends on complete program Typical execution time 0 5 msec High speed T 5 usec inputs i Notes mum pulse Mid high Home mode is hi
Download Pdf Manuals
Related Search