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Elmo DBP SERIES Stereo Amplifier User Manual

1. Heatsink NOTE DC POWER TERMINALS ARE CONNECTED IF SINGLE PHASE IS USED OR IF SHUNT CURRENT HAS INCREASED External fuses needed AC for 3U size only Me To additional DBPs DC power common Control common Heatsink CONNECTING MORE THAN ONE DBP DBP Rev 6 93 ISOLATING TRANSFORMER NN EINE AC option Fuse O ac ecu EIU s pz Qa BE power common NOTE DC POWER TERMINALS ARE 22212 Oz Control common CONNECTED IF SINGLE PHASE Tu Heatsink IS USED OR IF SHUNT CURRENT SE HAS TO BE INCREASED A External fuses are needed DBP for 3U size only AC l option AC sejejo pe Vs To additional DC power common DBPs Control common Heatsink CONNECTING MORE THAN ONE DBP DBP Rev 6 93 73 ISOLATING TRANSFORMER 00076 DBP Fuse CLE a Q 48 DC POWER COMMON IS INTERNALLY CONNECTED a V TOCONTROL COMMON C Heatsink NOTE POWER TERMINALS ARE CONNECTED IF SINGLE PHASE USED OR IF SHUNT CURRENT HAS INCREASED REM ie ME NON External fuses are needed IISOLATED DBP for 3U size only G gg OUO DC POWER TERMINAL IS DBPs
2. connected 3 connected 20a c DC power positive Vs Z DC power common 16 AD Ground this terminal is connecred through a screw to the rack chassis 24V common for the fan supply only 24VDC 400mA for use with brushless fan DBP Rev 6 93 43 POWER TERMINALS FOR MBA DBP 6U ly phase C DC power positive Auxiliary shunt output for external shunt resistor DBP Rev 6 93 44 Signals connector 91 30 and 60 Channel aint chanel B inu B inpas 1 4 Index input 5V output There are several 5V pins The accumulative external should not exceed 200mA 15V output There ar ral 15V pins The accumulative external should not exceed 100mA Max voltage 20Vptp or 7Vrms Max current 80mA Max frequency 20KHz reference The reference voltage to the resolver must be taken from pins 1 and 2 only Sine signal comen see 1 3 7 3 15V output There are several 15V pins The accumulative external load should not exceed 100mA 15V output There are several 15V pins The accumulative external load should not exceed 100 Circuit common pe z o o o l DBP Rev 6 93 Signals 15 6 1 45 co
3. 1 lt Vil lt 1V 2V lt Vih lt 30V Source sink capability 2mA min DBP Rev 6 93 33 Power Board 60 size Supplies terminals eae External nt resistor connection 14 12 Nor POW E COM 20 18 AC 1 hase A Wit E DIN 1 i st be 26ac 24ac 32ac 30ac supp Power Board 6U size Motor terminals Hall sensor Hall sensor B Hall sensor A 24V common for the fan supply only hase C output he DIN connec ust nnected 1 lt Vil lt 1V 2V lt Vih lt 30V Source sink capability 2mA min DBP Rev 6 93 34 Control board MM coli This analog output represents the actual current in the motor The scale in A V is Ip 7 5 Ip Rated peak current of amplifier Velocity current mode hen input is left open low level the analog selection part of the amplifier is working in current mode when a high level signal is applied 2 the analog part of the amplifier is working as a high gain velocity amplifier Motion command 5V This analog output represents the current command from the position loop to the power amplifier It is useful for monitoring the position
4. The amplifier is inhibited only for the period that the inhibit cause is present Latch 1 1 Each failure latches the Inhibit and the failure message on the display For restart after clearing the failure source reset has to be performed by applying logic 0 at the reset input H R 17a E J3 21 or by turning the power off and on For safety reason it is recommended to use the amplifier in the LATCH MODE LM1 Step 6 Connecting the Motor Turn off the power Connect the leads of the motor Turn on the power For proper operation the system must have negative feedback If the motor remains in the same position and returns to the same position when you turn the motor shaft and let go then the position feedback is negative as required If the motor runs away you have positive feedback To correct the feedback just reverse th ncoder leads DBP Rev 6 93 96 9 Tables and Summaries 9 1 Display diagnostics Each amplifier s fault is stored immediately in the DCB RAM In addition to that Failure Message is displayed Following are all the valid Display Messages Load is under cont current limit CLIM Battery Low BATI Display after Recurring DIP switch l ON BAUD C O Abort condition hardware only Over Temperatur Commutation problem for brushless drives only Short
5. amplifier must not be configured into velocity mode If the resolver option is used make sure that DS11 is OFF Apply power to the amplifier and send the command BA Provide the tacho input H R 12b E J3 23 with a bi directional square wave current command 100 200 2 2 0V waveform is often employed Monitor the load current either by a current probe or by the current monitor If the current respons is not critically damped use the following procedure Short circuit Cl with a short jumper wire Replace R4 with a decade resistance box Initially set the box resistance at 10Kohm Apply the square wave test signal to the amplifier input Apply power and while monitoring the load current gradually increase the value of the box resistance until optimum response as depicted in Fig 1 is achieved Substitute the closest standard value discrete resistor for R4 and remove the decade resistance box Remove the shorting jumper across Cl and again check the response using the square wave test signal If the previous step does not yield satisfactory results if unacceptable overshooting has been noted substitute a larger value than 0 014F or if the response is overdamped substitute a smaller value than 0 01 Repetition of this procedure should yield an optimum choice for Cl Rev 6 93 99 Reference input signal C1 too large R4 too small Crit
6. 29b sine signal common un o O 298 channe a input 29b cirenit common For the main encoder o o O 30a Chanel a inp 30b rnaex output For resolver option omy 31a 316 B output 32a rndex input gt O EI Channel A output 27a 27b 30a 30b 1 31b 32a 32b Remark In the following paragraphs the terminals will be related to all the mounting types as in the following sample H R 2a E J4 13 DBP Rev 6 93 CONTROL BOARD TERMINALS OF DBP RACK VERSION 3 SIZE DBP Rev 6 93 TERMINALS LAYOUT CONTROL BOARD MOTOR OUT AC inpu SUPPLY FAN se cf Poon aw cbe EEG OU OBOOOOOOOOOOOGOG DBP PANEL H MOUNTING TYPE EUROCARD SIZE TYPES DBP Rev 6 93 2 311211 JMC PANEL H MOUNTING DOUBLE EUROCARD SIZE TYPE DBP Rev 6 93 DBP 6U RACK CONNECTORS DBP Rev 6 93 42 5 2 Mother Boards terminals MBA DBP 3U and MBA DBP 6U Use For all DBP amplifiers 30 60 size with Resolver or optical encoder feedback The encoder outputs are driven by line drivers to improve noise immunity Termination Screw type terminals for the power and D type connectors for the signals POWER TERMINALS FOR MBA DBP 3U R Function 32a c i i tor bot aud i 3 28 Motor phase i tor bot connected 26a c AC suppl connected
7. CONTROLLER PULSE PULSE DIRECTION DIRECTION NOTES 1 THE METAL FRAME OF J6 AND PIN 8 ARE INTERNALLY CONNECTED TO THE DCB COMMON THE SHIELDING SHOULD BE CONNECTED EITHER TO J6 PIN 8 OR TO THE METAL FRAME OF J6 SYMBOLS E SHIELDING DBP Rev 6 93 7 Start Up Procedures 7 1 Common procedures for all amplifiers types 7 1 1 Commutation signals format Select the position of DIP switch 1 on the upper board of the power stage according to the commutation signal format the motor has 51 positions ON down 30 OFF up 60 For all Resolver versions it should be 60 7 1 2 function Select the position of DIP switch 2 the upper board the power stage according to the motor s rated current it is less than 20 of the amplifier s rated current select DS2 to ON down Otherwise DS2 to OFF up No 7 1 3 Abort logic Make sure that the Abort input is connected to a High logic voltage source DBP Rev 6 93 85 7 1 4 Setting the auxiliary position input format This step is valid only for those applications that need to use the auxiliary position input You may skip this step if you do not use it When using an Optical encoder Set DS 7 to OFF When a the encoder has differential outputs Set DS 4 and 5 to OFF Otherwise they should be ON When using Pulse and Direction signals Set DS 7 to ON 7 1 5 Selecting the communication bus S
8. for OEM applications Velocity Signal The tracking converter technigue generates an internal signal at the output of the integrator that is proportional to the rate of change of the input angle This dc analog output velocity signal is buffered and represented at terminal H R 12b E J3 23 Max output voltage is 8V This velocity signal can be internally connected to the summing junction of the error amplifier inserting R7 see Appendix for more details However the standard procedure does not require closing the velocity loop Select maximum actual velocity of the application and calculate the maximum tracking rate T of the Resolver as follows I com lt 120 T unit is rps Resolver electrical revolution per second O number of poles of Resolver rpm revolution per minute Selecting the Resolution The resolution can be selected to be 10 12 14 16 bits by use of DIP switches 13 and 14 When selecting the resolution the rps limits should not be exceeded DBP Rev 6 93 89 10 bit 1040 rps 12 bit 260 rps 14 bit 65 rps 16 bit 16 5rps 0813 0914 Note Each resolution change must be followed by new components selection procedure When changing resolution under dynamic conditions a period of uncertainty will exist before position and velocity data is valid Encoder resolution In th
9. Guide lines for connecting non isolated AC supplies and grounding will cause an input If source of motor command is grounded use amplifier s differential input Otherwise a ground loop is created DBP Rev 6 93 69 ISOLATED SUPPLIES Isolating transformer nmm power common Control common Heatsink A Extenal fuses are needed for 3U size only Guide lines for an Isolated amplifier with an isolating power transformer Ground DC power common Control common Motor chassis Amplifier s heat sink Caution If source of motor command is grounded use amplifier s differential input Otherwise a ground loop is created DBP Rev 6 93 70 Isolating transformer NON ISOLATED DBP AC Vs DC power common is internally c connected to control common Heatsink A External fuses are needed for 3U size only Guide lines for connecting a non isolated amplifier with an isolating power transformer Ground DC power common Motor chassis Amplifier s heat sink Do not ground Control common It is internally connected to the power common Grounding the control common will create a ground loop Caution If source of motor command is grounded use amplifier s differential input Otherwise a ground loop is created DBP Rev 6 93 71 DIRECT CONNECTION THE THREE PHASE MAINS
10. ae den 27 4 7 2 Under over voltage protection 242 59 14 ei 24 27 4743 Temperature protection sses ae ne 27 4 7 4 Internal power supply failure 27 4 of commutation feedback zu ae est 27 4 7 6 Low back up Battery voltage 27 5 Description M Je den taka 33 5 1 Terminals for Horizontal and Rack mounting versions 33 5 2 Mother Boards terminals MBA DBP 3U and 60 43 522 Terminals for DBP mounted zn Er 54 544 Communication Port Connector eii coe pude EU re 64 DBP Rev 6 93 6 o Installation Procedures gu ee tg acd 65 6 1 Mounting 65 6528 N OE 65 Load re e RENE ais 66 624 SUPPLY PEE deu iin er Bean 66 6 5 Witing diagrami W ela cn n Le 67 6 51 MOR ORS WING LAGS dee Ped 67 6 5 52 7 POWER WLRING a sad a ng ok chaebol 68 655 34 Hall SENSOES WILLING ijs Ai Re Nee 77 6 5 4 RS232 Communication WIKING un sen
11. n e EXTERNAL SHUNT RESTSTOR z 444 4 34 a sist sh EMO Service Centers ck e uem RR ARUM DBP Rev 6 93 101 102 103 104 107 110 113 116 119 122 125 128 130 131 132 133 1 Description The DBP series are digital full wave thr phase servo amplifiers designed for high performance brushless servo motors in the range of up to 7KW They utilize power MOSFETs and Surface Mounting Technology which contribute to its high efficiency and compact design The DBP operates from a single AC supply either single or three phase and when using the galvanic isolation option it can be connected directly to the Mains The DBP is constructed from two main PCBs mounted on a heat sink plate The lower board contains the rectifying bridge the power switching transistors which drive the motor terminals for the power stage the switch mode power supply the protection logic commutation logic upper PCB is the Digital Control Board DCB which contains the digital control logic terminals for the control stage D type connector for the communication and a 4 digit display The DBP reguires a position sensor in order to enable its operation It can be either a Resolver or a combination of an optical encoder and Hall effect sensors When using a Resolver a small interface card is mounted on top of the DCB The DBP is available
12. 4 INTERNALLY CONNECTED TO CONTROL COMMON Heatsink CONNECTING MORE THAN ONE DBP DBP Rev 6 93 74 VS DC power common Control common Heatsink DBP External capacitance SINGLE PHASE CONNECTION See chapter 6 4 for details 11 rules about supply connections described in the previous pages are also valid for multi IBP and or single phase connection DBP Rev 6 93 75 For 135V types the standard value of Rex is 9 10hm 225W att For 270V types the standard value of Rex is 33ohm 225Watt CONNECTING THE EXTERNAL SHUNT RESISTOR DOUBLE EUROCARD SIZE ONLY DBP Rev 6 93 76 6 5 3 Hall sensors wiring HALL SENSORES CONNECTION HALL SENSORES TWISTED O SHIELDING DBP Rev 6 93 77 6 5 4 RS232 Communication wiring RS232 COMMUNICATION NOTE SHIELDING MUST BE CONNECTED AT COMPUTER END ONLY SYMBOLS A TWISTED PAIR u SHIELDING DBP Rev 6 93 78 6 5 5 RS485 Communication wiring RS 485 COMMUNICATION NOTES 1 SHIELDING MUST CONNECTED AT COMPUTER END ONLY 2 PIN No 1 TRANSMIT RECEIVE CONTROL 3 PIN No 4 5V SYMBOLS X TWISTED PAIR u SHIELDING DBP Rev 6 93 79 5485 COMMUNICATION NOTES 1 SHIELDING MUST CONNECTED AT COMPUTER END ONLY 2 PIN No 1 TRANSMIT RECEIVE CONTROL 3 PIN No 4 5V TWISTED PAIR SHIELDING DBP Rev 6 93 80 6 5 6 Main encoder wirin
13. 6 93 Ed FRONT PANEL FOR DBP 6U 14T DBP Rev 6 93 RACK 6U 21T Ja Tc z O 60 21 SIDE VIEW 1 DBP Rev 6 93 FRONT PANEL FOR 6U 21T DBP Rev 6 93 129 ENCD 3U ENCD 3U FRONT VIEW SIDE VIEW 95 132 5 45 0 222 Standard Sizes Sede NOTE For non standard sizes X 5 08 x n Imm ALL DIMENSIONS ARE IN mm DBP Rev 6 93 ENCD 6U 14 FRONT VIEW SIDE VIEW i I 1 751 E s 11 x 11 20 20 1 ALL DIMENSIONS ARE IN mm 2 X n x5 08 1 n number of T DBP Rev 6 93 EXTERNAL SHUNT RESISTOR EXTERNAL SHUNT RESISTOR ESR TOP VIEW SIDE VIEW 508 2 FRONT VIEW DBP Rev 6 93 132 List ELMO Service Centers Tel Fax 1200 Woodruff Road ISRAEL Elmo Motion Control LTD 34 Segula ST Petah Tikva 49103 03 934 5059 03 934 5126 U S A Elmo Motion Control INC Suite C 22 Greenville SC 29607 Tel 803 288 9316 Fax 803 288 9318 Elmo Motion Control Stanserstr 7 CH 6362 Stansstad Switzerland Tel 041 610775 Fax 041 610778 BENELUX AUSTRIA Kwapil POB 64 A 1091 Wien Tel 0222 342597 Fax 0222 311203 DB
14. Output level 0 5V max output current 5mA DBP Rev 6 93 48 Signals connector 94 cont 24 output 10 Motion Complete This output will go to high when motion 15 complete ae output Signals connector J6 MBA DBP 3U and MBA DBP 6U Auxiliary complementary input By or Complementary Direction input for Pulse and Direction mode Auxiliary encoder input By or Direction input for Pulse and Direction mode Auxiliary encoder input Ay or pulse input for Pulse and Direction mode Auxiliary encoder complementary input Ay or complementary Pulse and Direction mode Vol lt 0 4V Voh gt 4V Output level 0 5V max output current 5mA DBP Rev 6 93 49 Signals connector 96 cont Auxiliary encoder index input There ar ral 5V pins The accumulative external should not exceed 200mA ral 15V pins The accumulative 1 should not exceed 100mA are several 5V pins The accumulative external load should not exceed 200mA This input must connected to high level voltage to enable the amplifier _________ Forward limit switch This committed input activa subroutine Reverse limit switch This committed input activa subroutine 15 circuit J1A FAN TERMINALS MBA DBP 6U ONLY 24VDC common fan only ai 24VDC isolated supply for fan max 400mA Vil lt 1V
15. User selectable 0 10 bits 2 12 bits 4 14 bits 6 16 bits poles numbers In the S standard version zero crossing of phases B C occurs at position address 0 of the Resolver DBP Rev 6 93 Oscillator Creates sinusoidal waveform signal to excite the primary of the Resolver Oscillator Freguency Amplitude Selection R228 R233 The freguency fr and amplitude Vr needed to xcit the Resolver ar taken from the Resolver data sheet Selecting the freguency 11140 Kohm 0 1KHz lt fr KHz lt 20KHz Selecting the amplitude Pay attention that the RMS amplitude does not exceed 7Vrms or that the peak to peak ptp value is within the range of 2V lt Vr lt 20 For peak to peak value ROSS 6 Whe 2 Kohm For Vr in RMS value RASS 2 8 2 Reference Voltage level to R D R192 In order to adjust the reference voltage input level to 2Vrms select R192 as follows R192 lt 50 x Vrrms 2 Kohm For Vr ms lt 2 install R192 100 ohm DBP Rev 6 93 Signal input level R193 R194 The R D inputs Vinyms are adjusted to the sin cos Resolver outputs by Resolver output Vinrms Vrrms X Transformation ratio R193 R194 Vin ms 2 Rstator Kohm Rstator in Kohm When Vinyms lt 2V install R193 R194 100 ohm The standard R D converter will not operate for Vin ms lt 1 8V Consult factory
16. Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 50 Signals connector 78 MBA DBP 3U and MBA DBP 6U 1 Main encoder buffered output 20mA 0 5V Main encoder buffered output 20mA 0 5V 3 Main encoder buffered output 20mA 0 5V Encoder index output For resolver option only buffered output 20mA 0 5V Encoder output For resolver L ffered output 20mA 0 5V po circuit common circuit common circuit common aa mae 00 e There are several 15V pins The accumulative external should not exceed 100mA There ar ral 5V pins The accumulative external should not exceed 200mA _ oireuit 5 Remark In the following paragraphs the terminals will be related to all the mounting types as in the following sample H R 2a E J4 13 1V lt Vil lt 1V 2V lt Vih lt 30V Source sink capability 2mA min DBP Rev 6 93 51 OK o ON z gt a m A ca DBP Rev 6 93 52 DBP Rev 6 93 53 5 3 Terminals for DBP mounted in ENCD El WER TERMINALS FOR MBA DBP 3UE 30 size Motor phase A output Motor phase B output Motor phase C output Ground Attention DC power commons control commons and fan common are floating with respect to each other Do not short them unless specified For isola
17. a trapezoidal or triangular profile with the acceleration AC n slew velocity SP n set by the user Velocity Mode In the velocity mode the motor will accelerate to a specified slew speed It will hold this speed until a stop condition is received s termination modes or a new velocity direction is commanded Position Follower It can also control the motor as a position follower of a master encoder or a pulse and direction signals Holding Modes The holding modes describe the behavior of the system after it has stopped There are thr holding modes Servo Motor Off Servo Mode In the servo mode SV the system maintains stopping position by using its control law to correct for any position errors Motor Off Mode In the Motor Off mode is the power bridge and the position control are shut off and there no torgue is generated by the amplifier The Motor Off mode is useful in robotics applications in the teaching mode Rev 6 93 22 Start Modes There are thr start modes to begin a move Direct command A move can be initiated directly by a command from the host or a terminal Program A move can be initiated by a command included in the user program Input condition Another alternative is to have the move started by a conditional statement specified by the user program Program Mode A set of commands can b implemented as a user progra
18. in either panel version or rack version with two DIN 41612 connectors The rack version can be fitted in a panel mount enclosure ENCD 3U or ENCD 6U that is specially designed for a simple hook up procedure The amplifiers are fully protected against the following faults x Under over voltage x Shorts between the outputs or between the outputs to ground RMS current limit Insufficient load inductance Loss of commutation signals Excess temperatur Excess position error Analog Section Standard Features Single AC supply single or three phase Zero Deadband Motor current monitor Motor speed monitor Extra differential operational amplifier DBP Rev 6 93 Standard commutation sensors Hall effect sensors or a Resolver Galvanic isolation of the control stage option Digital Section Standard Features Accepts motion commands via RS232 or RS485 Buffering for pipe lining instructions prior to execution Battery backed RAM for storing user programs and parameters Conditional statements for controlling program execution real time Programmable time and position trip points Variables for entering and changing system parameters x 5 Uncommitted inputs 2 uncommitted high speed inputs 10 Uncommitted outputs Arithmetic and logic functions for manipulating parameters Digital filter with pro
19. input Specrfricatron RA e EEE DE 13 3 3 Sensors SDECIELGACTOW Sided WEG PIE 14 3341 AIHNEOASEA Eee dese castors 14 RESOIVER gu guum A Ru P Ex ene NR E RE 14 34a se d ua E ve Eque Us gs c 16 255232 GComntig ratron musa DANA pee VS 16 3 4222 854285 Configuration ce eO Fraser 16 3 9 backup A a Pa 16 30 4 Performance e Loy E Ra s 16 4 System a 18 365485 Checksum Protocol wa wwo nennen 18 4 2 Current CONEFOL GR VUE E ES A Ree S E rS 18 4 2 1 Current feedback Current feedback multiplier and CUES EAMG Oe Pia MESURES SE 19 4 3 Digital current TimiEsy as UR AUR RC un nn 20 4 3 1 Time dependent peak current limit 20 4 4 Digital position and speed control 21 4 5 Operation of the shunt regulator aan ue aa dee de laita e 25 4 6 Commutation signals Format i ke Senke En s 26 ASI lt FUNCTIONS IN ru el ac re were 27 441 1 Short Gircuit e
20. loop response da common ab cizcuit common There are several 5V terminals The accumulative external load should not exceed 200mA 6a Fast output 20 fe Motion Complete This output will go to high when motion is complete 1159 output Inhibit output Whenever the amplifier is inhibited this open collector output goes low 15V output Vol lt 0 4V gt 4 Output level 0 5V max output current 5mA Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 35 Control board cont Forward limit switch This committed input activates the subroutine i differential amplifier 10a 10b Negative input of See Appendix differential amplifier circuit 11b Output of See Appendix differential amplifier Tachogenerator When using the resolver option this output is the output input velocity monitor with a scale of 8V for maximum speed See 7 3 Abort input This input must be connected to high level voltage to enable the amplifier Output 1 circuit comon oo O Output 2 Fast input 6 This fast response input can capture events with a duration of less than 10us An event is defined as an input voltage transition from low to high 13a 13b 14 14b 15a 15b 16a 16b 17a Tb 1 w Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC Vol lt 0 4V Vo
21. 0b E J3 2 Vimax lt 10 R3 See schematic in chapter 4 DBP Rev 6 93 DIMENSIONAL DRAWINGS IN THE FOLLOWING DRAWINGS ALL THE DIMENSIONS ARE IN MILLIMETERS PANEG PANEL DBE ANNE e ZO estate e LL BE o o s pat eque 170 DBEA a ae dre Oe ohare Tu Bia ge LIS PANEK gt DBP le NO m ac 30 LIST ss at komad NE mite 119 RACK era o tera moe PA 122 RACK 6U Pru PE Rue ee Be E ES 125 RACK 26U 250 T E sue deed eub Le ny ed 128 ENCB BUY c ues cute a Pu REG rera PEE Dee x Rs des 130 ENGD gt GUY le bc E hehe 131 EXTERNAL SHUNT REST STOR seis MEN EN EN Ve ELLE EAS Ves 132 DBP Rev 6 93 103 PANEL H 8 6 94 DBP Rev 6 93 I 52 5 66 m 186 EE DBP1 SIDE VIEW 1 DBP Rev 6 93 DBP1 SIDE VIEW 2 DBP Rev 6 93 PANEL H DBP2 DBP2 TOP VIEW
22. DBP Rev 6 93 2 SIDE VIEW 1 2 2 0000000000000000 DBP2 SIDE VIEW 2 DBP Rev 6 93 PANEL H DBP3 DETAILA DBP3 TOP VIEW DBP Rev 6 93 DBP3 SIDE VIEW 1 56560666 DBP3 SIDE VIEW 2 DBP Rev 6 93 PANEL H DBP4 TOP VIEW DBP Rev 6 93 SIDE VIEW OFF m Tan I 1 120111 72 54 SIDE VIEW 1 DBP Rev 6 93 DBP4 SIDE VIEW 2 DBP Rev 6 93 PANEL H DBP6 SEE DETAILA Bs DETAIL A DBP Rev 6 93 FRONT VIEW DBP6 SIDE VIEW 1 DBP Rev 6 93 DBP6 SIDE VIEW 2 RACK 3U 13T KEYING PIN DBP RACK MOUNTING 3U 13T SIDE VIEW 1 DBP Rev 6 93 DBP RACK MOUNTING 3U 13 SIDE VIEW 2 DBP Rev 6 93 POWER O 2 1 FRONT PANEL FOR 3U 13T DBP Rev 6 93 RACK 3U 20T 162 54 DBP RACK MOUNTING 3U 20T SIDE VIEW 1 DBP Rev 6 93 111 76 i 32 1 H mi 020022100 22 0 000 a Es Es KEKE SE I a 2 ieu DBP RACK MOUNTING 3U 20T SIDE VIEW 2 DBP Rev 6 93 o 2 FRONT PANEL FOR DBP 3U 20T DBP Rev 6 93 RACK 6U 14T DBP RACK MOUNTING 6U 14T SIDE VIEW 1 DBP Rev 6 93 22011201622102202420212012 DBP RACK MOUNTING 60 14 SIDE VIEW 2 DBP Rev
23. DBP SERIES HARDWARE MANUAL Rev 6 93 DBP Rev 6 93 ELMO WARRANTY PERFORMANCE The warranty performance covers only ELMO s products only the elimination of problems that are due to manufacturing defects resulting in impaired function deficient workmanship or defective material Specifically excluded from warranty is the elimination of problems which are caused by abuse damage neglect overloading wrong operation unauthorized manipulations etc The following maximum warranty period applies 12 months from the time of operational startup but not later than 18 months from shipment by the manufacturing plant Units repaired under warranty have to be treated as an entity A breakdown of the repair procedure for instance of the repair of a unit into repair of cards is not permissible Damage claims including conseguential damages which exceed the warranty obligation will be rejected in all cases If any term or condition in this warranty performance shall be at variance or inconsistent with any provision or condition whether special or general contained or referred to in the Terms and Conditions of Sales set out at the back of Elmo s Standard Acknowledge Form than the later shall prevail and be effective Rev 6 93 How to LJ The DBP HARDWARI use this manual Flow Chart review carefully the following flow chart and write digital amplifi
24. INPUT 0073 17 ABROT INPUT 11 A NBUTS o 9 o 2 CH B AUX INPUT 3 CIRCUIT COMMON HOME INPUT 9 OUT1 15 0 1CH B AUX INPUT 2 INPUT 2 AA 1 INPUT 1 J6 JIA FAN MOTOR OUTPUT Rev 6 93 VS AC INPUT POWER POSITIVE MBA DBP 3UE CURRENT VELOCITY MODE 25 0 MOTOR COMMAND OUT 19 13 CHA B OUTPUT 12 15V CIRUIT COMMON 24 o 11 15V TACHO COMMON 23 10 5V CIRUIT COMMON 22 0 9 CIRCUIT COMMON RESET INPUT 21 8 CURRENT MONITOR COMMON 20 7 CIRCUIT 6 CIRCUIT INHIBIT OUTPUT 18 0 5 ANALOG INPUT INHIBIT OUTPUT 17 4 CIRCUIT COM N C 16 O 3 OUT DIFF AMP INDEX OUTPUT 15 0 2 DIFF IN CHA A OUTPUT 14 1 DIFF IN J3 CONTROL COMMON R2 lt lohm IS USED TO SHORT CONTROL COMMON TO GROUND WHEN USING ISOLATED AMP POWER GROUND COMMON 48 CIRCUIT COM 199 5V 14 15V 13 HALL C 12 HALL 11 o o o o o HALL A 10 CIRCUIT COMMON 9 0 CIRCIT COMMON 15 REVERSE LIMIT SW 14 FORWARD LIMIT SW 13 5V 12 ABROT INPUT 11 o o o o 5V 10 HOME INPUT 9 o J6 J1 8 CIRCUIT COM 7 CIRCUIT COM CIRCUIT COMMON 9 6 INDEX OUT 15V 8 5V7 4CHB OUT SINDEX OUT INDEX INPUT 6 0 o 3CHB OUT o 2CHA OUT o 1 CHA OUT MOTION COMPLETE 25 OUT 10 24 OUT 9 23 22 o OUT6 21 ON 8CIRCUIT COMMON OUT
25. P Rev 6 93 Eltromat B V Looierij 26 4760 AB Zevenbergen The Netherlands Tel 01680 25925 Telefax 01680 28485 FINLAND OY Scandrive Elsankuja 2 K 5 02231 Espoo Tel 358 0 8035044 Fax 358 0 8035055 FRANCE A 2 v SA 11 12 Rue Eugene HENAFF 78190 Trappes Tel 1 30620101 Fax 1 30626204 GERMANY IME GmbH Brugger str 8 D 78628 Rottweil Tel 0741 22091 Fax 0741 22060 DBP Rev 6 93 134 ITALY Servotecnica SRL Viale Lombardia 20 20095 Cusano Milanino MI Tel 02 66401010 Fax 02 66401020 SWEDEN Aratron AB P O B 20087 Kratsbodavagen 50 5 16120 Bromma Tel 8 981875 Fax 8 984281 UNITED KINGDOM INMOCO Limited 4 Brunel Close Drayton Fields Daventry NN11 SLE Er Tel 0327 300320 Fax 0327 300319
26. S 20 o e 2157 19 o o 645V ol 5INDEX CIRCUIT COMMON 18 0 o 4CH A AUX INPUT OUT3 17 o o 3 CH A AUX INPUT our 2 16 lo O 2 CH AUX INPUT 0 1 AUX INPUT 5V 14 52 Ot 62 o CONTROL COMMON Ja 5 INDEX INPUT e CIRCUIT COMMON 9 4 CH B INPUT 15V 8 3 CH B INPUT 2 CH AINPUT 15V7 1CH AINPUT SIN SIGNAL COMMON 6 13 OUT 7 CURRENT VELOCITY MODE 25 12 5V 11 45V CIRUIT COMMON 24 TACHO COMMON 23 CIRUIT COMMON 22 10 CIRCUIT COMMON 9 INPUT 7 RESET INPUT 21 8 INPUT 6 7 CIRCUIT COMMON COMMON 20 MOTOR COMMAND OUT 19 6 INPUT 5 5 INPUT 4 INHIBIT OUTPUT 18 4 INPUT 3 INHIBIT OUTPUT 17 3 CIRCUIT COMMON N C 16 2 INPUT 2 INDEX OUTPUT 15 1 INPUT 1 CHA A OUTPUT 14 o J2 OY 5 SIN SIGNAL INPUT o 4 COS SIGNAL COMMON o 3 COS SIGNAL INPUT 2 Vref COMMON O 1 Vref OUTPUT 13 CHA B OUTPUT 12 15V o 11 15V 9 10 5v 9 CIRCUIT COMMON 8 CURRENT MONITOR 7 CIRCUIT COM 6 CIRCUIT COM 5 ANALOG INPUT 4 CIRCUIT COM 3 OUT DIFF AMP 2 DIFF IN 1 DIFF IN 4 R2 10hm is used to short control common to ground only when ISOLATED amplifier R2 is used MA MB MC GND DBP Rev 6 93 OM MBA DBP 6UE 50 63 5 4 Communication Port Connector The serial communication is available via a 9 pins D connector Jc with the following pin
27. assignment RS232 When using an IBM XT as an host pins 4 and 5 should be connected together on the 25 pins D connector computer side When using an IBM AT as an host pins 7 and 8 should be connected together on the 9 pins D connector computer side DBP Rev 6 93 64 6 Installation procedures 6 1 Mounting The DBP series dissipates its heat by natural convection except DBPF types which are fan cooled For optimum dissipation the amplifiers have to be mounted with the fins in vertical position 6 2 Wiring DBP Proper wiring grounding and shielding techniques are important in obtaining proper servo operation and performance Incorrect wiring grounding or shielding can cause erratic servo performance or even a complete lack operation a Keep motor wires as far as possible from the signal level wiring feedback signals control signals etc b If additional inductors chokes are reguired keep the wires between th amplifier and the chokes as short as possible c Minimize lead lengths as much as is practical Although the amplifier is protected against long inductive supply wires it is recommended to keep the leads as short as possible Use twisted and shielded wires for connecting all signals command feedback Avoid running these leads in close proximity to power leads or other sources of EMI noise e Use a 4 wires twisted and s
28. condition at the power outputs 5 AMPD message appears in two cases 1 When MO Motor Off command is given 2 Position error exceeds the allowed value DBP Rev 6 93 EMP 97 9 2 Summary of DIP switches Power stage board 2 poles DIP switch DIP switch OFF UP ON DOWN psi le commutation signals format 30 commutation signals format No CFM Activate CFM Control stage board 9 poles DIP switch hannel A a 1 hannel 1 2 1 hannel 1 channel OP m Pulse Direction format Encoder channels format RS232 hannel By Tacho signal connected to error amplifier 14 bit resolution DS14 j lution DS14 ON 16 bit resolution 514 lution DS14 OFF 12 bit resolution DS13 j lution DS13 0N 16 bit resolution 513 1 lution DS13 OFF DBP Rev 6 93 98 Current loop response DBP In most applications it is not necessary to adjust the current loop to achieve the optimum response When there ar xtrem lectrical parameters in the armature circuit inductance and resistance the standard components values of 0 01uF for Cl and 100Kohm for R4 may not yield with the optimum response The current loop should be optimized as follows Insert R7 1K to connect the tacho input to the error amplifier The
29. conds A lower peak can last longer Example A motor is driven by an DBPF 10 135 amplifier at constant speed and constant current of 5A What is the maximum possible duration of a 20A peak 2 21 lt 0 892 seconds 4 4 Digital position and speed control The DCB accepts motion commands via an RS232 or RS485 communication line and receives position feedback incremental ncoder format either from an encoder or from the resolver digital circuit The DCB derives the closed loop position error by comparing the command position and the feedback position The error is processed by a digital filter to yield with an analog motor command The analog 5 volt range motor command is then amplified by the power amplifier Following is a summary of all the operating modes of the DCB and a detailed discussion of each of them Control Modes Holding Modes Start Modes Program Mode Termination Modes Status reporting Define origin modes DBP Rev 6 93 21 Control Modes The DCB can be commanded to control the position of a motor its torgue or its velocity using three basic control modes Position Mode Velocity Mode Position Follower Mode Position Mode In the position mode the motor will advance a specified distance and then stop This distance can be represented as an absolute position PA n or as a relative distance from the current position PR n The motion will follow
30. ctions 96 Stepr 6 Connecting the Motor a we s vaje re ens 96 9 Tables and Summaries ana wu ESTO RARE rn 97 9 1 Display TATAGNOSETES nn ME ka ACE MP died dal dka 97 9 2 Summary Of WI CNE W eee Bah 002628 98 Appendix A Current loop response ele a 99 DBP Rev 6 93 Appendix B Adding a velocity feedback see ages eed VR Ba Appendix Differential amplifier connection DIMENSTONAT NCA 5 pote a ete ele lame a ee DBBL nate oe oe Mio RE KE ase Tee PANED DBP 2 memme ne RAN E an iet adus PANEL eer e A PANE Shc UE PANEL ep BA EO ede tee Sen ws Re av RACK SU EA SEU SANA E plove us RACK 3072011 un ass sich Saisie linear RACK MOU LAT 9 etre Lv MEE RACK matid PT ENEB ee nenne G Awe pre s ENGCD s v det a ER Man ANE Reale ees
31. e STD mode DS12 OFF the encoder signals A B are created by the EPLD and can have only the following basic resolutions for 2 pole Resolver 256 for 10 bits 1024 for 12 bits 4096 for 14 and 16 bits When th Resolver is more than 2 poles the resolution for one shaft rotation will be Q number of Resolver poles S resolution of converter 210 512 Ge 21 When different ncoder resolution is needed th ncoder signals are generated by the EPROM and the R D resolution is no longer user selectabl This option requires DS12 at ON Special EPROM which is programmed for this resolution Rev 6 93 90 Filter R195 R196 61 C62 The function of the HF filter is to reduce the amount of noise present on the signal inputs to the 2582 reaching the Phase Sensitive Detector and affecting the outputs Values should be chosen so that 15Kohm lt R195 R196 lt 30Kohm 3 160x10 fr Reference frequency in KHz R195 in Kohm This filter gives an attenuation of 3 times at the input to the phase sensitive detector AC Coupling of Reference Input 60 Select 60 so that there is no significant phase shift at the reference frequency That is 100 x R192 LOO 184192 R192 Kohm If Rx yields less than 50K install a value of Rx 50K in the C60 eguation Maximum Tracking Rate R201 The VCO input resistor R201 sets the maxi
32. e position with the instruction TP CR The controller response should vary as the motor is turned If this does not occur check the feedback signals When using the auxiliary encoder input rotate the auxiliary encoder and interrogate the position with the instruction PY The controller response should vary as the encoder is turned If this does not occur check the feedback signals The DCB is counting quadrature pulses This means that for encoders or resolvers the answer for command will be 4 times the number of basic encoder pulses and for Pulse Direction mode it will be twice the number of pulses Step 4 Adjusting the current limits Defining the amplifier type Define the maximum current of the amplifier by the instruction MCn rated peak current of the amplifier in A as given in the table of chapter 3 For example n is 48 for DBPF 24 270 DBP Rev 6 93 95 Current limit adjustments Define the continuous current limit by the instruction CLn m n m current A Define the peak current limit by the instruction PLn m n m current in A Define the maximum peak current duration by the instruction PDn m n m seconds Step 5 Latch mode of the protective functions All the protective functions activate internal inhibit There are two modes of resetting the amplifier after the cause of the inhibit disappears Self Restart LMO
33. eak of the amplifier rated continuous and oscillations may occur in the current loop due to the fact that This can be resolved by substituting R4 with The servo amplifier can operate in the following voltage current plane Continuous Intermittent zone zone Ic Continuous current I Fig Each amplifier 15 operating area with rated values of continuous using the command CL n possible to adjust the current limits the rated values down to 10 4 3 1 Time dependent peak current limit The peak current duration function of 4 1 Peak current Voltage Current plane is factory adjusted to have this for the continuou conti a program the peak amplitude and the motor operating current befor demand The user defines th instruction PDn n cannot be more than definition a digital filter current will not exceed the continuous current limit given by Rev 6 93 shape of voltage current and peak current limits By s and PL n for the peak it is nuous and peak independently from of the rated values mable parameter which is also a the peak maximum duration of the full amplitude peak by the 2 seconds In addition to this is employed to ensure that the RMS value of the The duration of Ip is 20 lop Actual operating current before the peak demand The result of this filter is that the maximum peak can last for a maximum of 2 se
34. elect the desired communication bus as follows 92505 See DS RST 089 ON 7 1 6 Preparing the automatic baud rate selection The DCB baud rate will automatically match the host baud rate when 51 is set to ON Set DS1 to ON DBP Rev 6 93 7 2 Setting the main encoder format When a differential encoder is used Set DS 2 3 6 to OFF Otherwise they should be ON 7 3 Setting the R D circuit Set DS 2 3 6 to ON The Resolver interface circuit consists of three basic blocks R D converter The R D conversion is done by a variable resolution monolithic converter type 2S82 of Analog Devices It accepts two signals from the Resolver sine and cos and converts them into binary position data bits The resolution of the position bits is user selectable 10 12 14 and 16 only for standard encoder resolution In addition the R D creates a signal that is proportional to the Resolver velocity This signal is being used as a velocity feedback EPROM The EPROM creates Hall signals by mapping the position data bits accepted from R D into suitable Hall signals to operate a specific brushless motor In addition th ncoder index marker signal is also produced from the EPROM The EPROM is designated as follows 2 4 X S STD Encoder resolution Resolver s poles number Commutation address R D resolution Ratio of motor resolver X
35. er Pleas down the chapters that you have to follow MANUAL will lead you toward a successful start up of your in the right order performing all the steps you may proceed to the software manual If you are a new user of the DBP will familiarize you with the product Familiar with the DBP no you better not skip chapters 1 4 which Read chapters 1 2 3 4 Panel H version or Rack R w o Elmo mother board no Read chapter 5 1 Terminals Read chapter 5 2 Terminals Rack with mother board Elmo enclosure Read chapter 5 3 Terminals Read chapter 6 Installation Read chapter 7 1 Start Up Hall sensors with optical encoder Read 7 2 no Resolver Read 7 3 Adding velocity loop yes Read Appendix B Read chapter 8 Applying power Adjustments Read chapter 9 Summaries Rev 6 93 Only after TABLE OF CONTENTS Te DES CEU PE TON sw NE Re ue ne Bid e 7 25 s eR E P TR EE Ru 8 34 Technical Specification IE ie CURRUS e 9 3 1 Digital I O specification ar a a 10 322 Analog
36. ev 6 93 15 3 4 Communication 3 4 1 RS232 Configuration The RS232 is configured for 8 bit no parity full duplex and it will echo all the transmissions Baud rates 300 600 1200 2400 4800 9600 19200 38400 57600 No hardware handshaking is reguired 3 4 2 RS485 Configuration The RS485 is configured for 8 bit no parity half duplex Baud rates 300 600 1200 2400 4800 9600 19200 38400 57600 No hardware handshaking is reguired 3 5 Battery backup 180mAH battery that at rated operating and storage condition will last for at least 40 000 non operating hours 3 6 Performance Position range an guadrature counts Velocity range 600 000 counts sec Velocity resolution 1 count s Acceleration range 91 11 8x10 count s Acceleration resolution 91 SBE JE DBP Rev 6 93 16 TRANSMIT 0 3 RECEIVE 0 2 GND B DS9 SN75155 RS232 OFF RS485 ON RS485 RS232 ATINE SN75LS176 TRANSMIT RECEIVE CONTROL Notes R119 LINE TERMINATION RESISTOR USED ON BOTH ENDS OF LONG LINES NORMALLY NOT MOUNTED R802 SMD RESISTOR NORMALLY NOT MOUNTED COMMUNICATION DBP Rev 6 93 1 7 4 System Operation 4 1 RS485 and Checksum Protocol The RS485 in the DCB is configured as 8 bit no parity 1 stop bit half duplex following baud rates are available 300 600 1200 2400 4800 9600 19200 38400 57600 No hardware handshaking is reguired In the RS 485 which is a Ha
37. g ENCODER CONNECTION ENCODER DIFFERENTIAL ENCODER CONNECTION NOTES 1 THIS CONNECTION IS FOR AN ENCODER WITH 5V SUPPLY FOR AN ENCODER OF 15V SUPPLY USE J1 PIN8 INSTEAD OF PIN 7 2 THE METAL FRAME OF J1 IS INTERNALLY CONNECTED TO THE DCB COMMON THE SHIELDING SHOULD BE CONNECTED EITHER PIN 9 TO THE METAL FRAME OF JI SYMBOLS X TWISTED PAIR E SHIELDING DBP Rev 6 93 81 6 5 7 Resolver wiring RESOLVER CONNECTION RESOLVER NOTES 1 PIN 7 15V 2 PIN No 15V 3 PIN 9 AND THE METAL FRAME OF J2 ARE INTENALLY CONNECTED TO THE DCB COMMON THE SHIELDINGS OF ALL THE PAIRS SHOULD BE CONNECTED EITHER TO J2 PIN 9 OR TO THE FRAME OF J2 SYMBOLS TWISTED SHIELDING DBP Rev 6 93 82 6 5 8 Auxiliary encoder wiring AUXILIARY ENCODER CONNECTION A DIFFERENTIAL AUXILIARY ENCODER CONNECTION u oe AN NE I NOTES 1 THIS CONNECTION IS FOR AN ENCODER WITH 5V SUPPLY FOR AN ENCODER OF 15V SUPPLY USE J6 PIN 7 INSTEAD OF PIN 6 2 THE METAL FRAME OF J6 AND PIN 8 ARE INTERNALLY CONNECTED TO THE DCB COMMON THE SHIELDING SHOULD BE CONNECTED EITHER J6 PIN 8 OR TO THE METAL FRAME J6 SYMBOLS TWISTED SHIELDING DBP Rev 6 93 83 6 5 9 Pulse Direction signals wiring PULSE amp DIRECTION INPUT CONNECTION v CONTROLLER PULSE DIRECTION DIFFERENTIAL PULSE DIRECTION INPUT CONNECTION
38. g Voltage Reg Current A Vr Current A DBP 12 135 193 DBP 20 138 8 270 DBP 16 270 DBPF 12 135 DBPF 20 135 DBPF 30 135 DBpr 8 270 888 DBPP 16 270 DBPP 24 270 DBP Rev 6 93 25 4 6 signals format 60 FORMAT 120 300 0 60 120 180 240 300 360 6 zus A 30 FORMAT 180 240 360 0 4 1489 0 E nn 2 a Ecce OR E a 27 mi KZ s ACZ Vba KE na Din PRT L7 5 aan 0 it EKEK MAKKE SEIKA AAA Ban nan tp in DOR Pl jon annan 300 O 60 120 180 240 300 360 60 360 0 DBP Rev 6 93 26 4 7 Protective functions DBP All the protective functions except Low Back up Battery Voltage activate an interrupt to the main processor which inhibits the power bridge and disable current flow to or from the motor The user can interrogate the processor in order to verify the cause of the inhibit An indication of the fault will appear on the display The following protections are processed by the DCB 4 7 1 Short circuit protection The amplifier is protected against shorts between outputs or either output to ground or either output to the positive supply line 4 7 2 Under over voltage protection Whenever the DC bus voltage is unde
39. grammable gain damping and integrator Error handling end of travel emergency stop status reporting x O 600 000 guadrature counts second speed range One analog input 11 bit resolution x Master slave operation with programmable following ratio master information from an optical encoder or from Pulse and Direction inputs Dual loop capability Adjustable continuous and peak current limits 4 digit display for diagnostics 2 Type Designation DBP DBP F 24 270RRO Isolation O line Isolation Inrush current limit DBP series amplifier Fan cooling required for full rating E Optical encoder Hall sensors R Resolver Rated continuos current Rack mounting Max operating AC voltage H Panel mounting Rev 6 93 3 Technical Specification Type AC Supply Current Size Size Weight min limits Panel H Rack R Kg DBP 12 135 28 135 12 24 30 20 su 0 7 1 3 0 7 su These are the absolute minimum maximum AC supply voltage under any condition DBP Rev 6 93 General DC output voltage is 130 of input voltage 2KHz current loop response Outputs voltages of 5V 0 2A 15V 0 1A for external use Efficiency at rated current 97 Operating temperature 0 50 Storage temperature 10 F70 C 3 1 Digital l O specification Digital Inputs High Low inp
40. h gt 4V Output level 0 5V max output current 5mA DBP Rev 6 93 36 Control il 18 Analog input This input is monitored by the main When 1 lt 5V R1 470ohm should be inserted When Vi gt 57 R1 Kohm 2Vi 10 should be inserted Th UP always reads a range of 5V There several 5V terminals accumulative external load should not exceed 200mA Teise Input 3 Auxiliary encoder input Ay or pulse input for and Direction encoder input or complementary and Direction If a homing sequence is required the Index Input must be connected to Input 5 Auxiliary encoder input By or Direction input for Pulse and Direction Resolver reference Max voltage 20Vptp or 7Vrms Max current 80mA Max frequency 20KHz Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 37 Control board cont runction ah Auxiliary encoder complementary input By or Complementary Direction input for Pulse and Direction mode Resolver reference The reference voltage to the resolver must be common taken from terminals 23b and 24b only 25a There are several 5V terminals The accumulative external load should not exceed 200mA Channel B input 26a 26 27b sine signal input O see 7 3 channer B inpu
41. he resolver option this output is the output input velocity monitor with a scale of 8V for maximum speed See 7 3 common Velocity current mode When input is left open low level the analog selection part of the amplifier is working in current mode when a high level signal is applied gt 2V the analog part of the amplifier is working as a high gain velocity amplifier Not connected Oma Signals connector J4 MBA DBP 3U and MBA DBP 6U Input 1 Input 2 Input 3 Input 4 Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 47 Signals connector 94 cont Input 5 Index Input If homing seguence is reguired the Index Input must be connected to Input 5 Circuit common KLE Fast input 6 This fast response input can capture events with a duration of less than 1015 An event is defined as an input voltage transition from low to high Fast input 7 Same function as Fast Input 6 There ar l 5V pins mulative external should not exceed are ral 5V pins mulative external should not exceed EC AB There are several 5V pins accumulative external load should not exceed 200mA CEU NN e 18 circuit w Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC Vol lt 0 4V Voh gt 4V
42. hielded cable for the motor connection Shield must be connected at one end only to avoid ground loops All grounded components should be tied together at a single point star connection This point should then be tied with a single conductor to an earth ground point h After wiring is completed carefully inspect all conditions to ensure tightness good solder joint etc Rev 6 93 65 6 3 Load inductance The total load inductance must be sufficient to keep the current ripple within the limits 50 of the adjusted continuous current limit The current ripple Ir can be calculated by using the following eguation 0 5 x Vs qq S Er A L load inductance Vs Voltage of the DC supply Volts Frequency in KHz If motor inductance does not exceed this value 3 chokes should be added to each motor phase summing together the required inductance Lch L Lp Lch Choke inductance Lp Total inductance between two phases in Y connection it is the sum of two phases 6 4 AC power supply AC power supply can be at voltage It must have the capability to deliver power to the in the range defined within the technical specifications including power without significant voltage drops Any amplifier voltage below the minimum or above the maximum will disable the amplifier The recommended AC voltage are 1 2 x VAC min lt VAC 0 9 x VAC ma
43. ically damped C1 too small too large Fig 1 Typical current response waveforms DBP Rev 6 93 Appendix Adding a velocity feedback THIS PAGE IS BLANK DBP Rev 6 93 101 Appendix C Differential amplifier connection The differential amplifier is provided for your optional use It can be used for buffering inverting or elimination of common mode signals The differential amplifier inputs are available at terminals H R 9b E J3 1 H R 10b E J3 2 Terminal H R 10b E J3 2 is the inverting input terminal H R 9b E J3 1 is the non inverting input The output is on terminal H R 11b E J3 3 The differential amplifier can be internally connected to the summing junction by inserting R800 The differential amplifier may be used as a buffer or as an eliminator of common mode signals For a non inverting buffer amplifier connect the positive signal lead to terminal H R 9b E J3 1 and the negative signal lead to terminal H R 10b E J3 2 and connect terminal H R 10b E J3 2 to the circuit common For an inverting buffer amplifier connect the positive signal lead to terminal H R 10b E J3 2 the negative signal lead to terminal H R 9b E J3 1 and connect terminal H R 9b E J3 1 to the circuit common The output of the differential amplifier is given by Input voltage of terminal H R 9b E J3 1 V5 Input voltage of terminal H R 1
44. ircuit common circuit common circuit common aa mae 00 e There are several 15V pins The accumulative external should not exceed 100mA There ar ral 5V pins The accumulative external should not exceed 200mA circuit 5 Remark In the following paragraphs the terminals will be related to all the mounting types as in the following sample 1 lt Vil lt 1V 2V lt Vih lt 30V Source sink capability 2mA min DBP Rev 6 93 48 2 CH A OUT CIRCUIT COMMON 9 0 8 CIRCUIT COM CIRCUIT COM 140 7 CIRCUIT 5V 14 0 ol 6 INDEX OUT 415V 13 0 o 5INDEX OUT HALL 12 o 4CHB OUT HALLB11 o o 3CHB OUT HALL A 10 0 o o 1 CHAOUT 61 42 O 5 INDEX INPUT a CIRCUIT COMMON 9 zw CIRCUIT COMMON 9 o9 o 4 CH INPUT ol 4 COS SIGNAL COMMON 15V 8 15V8 o 3CH BINPUT 3 COS SIGNAL INPUT 5V7 15 7 9 N O 2 CH AINPUT ol 2 Vref COMMON INDEX INPUT IN SIGNAL COMMON o UT6 1CH AINPUT 5 5 COMMONS 0 1 Vref OUTPUT 13 OUT7 MOTION COMPLETE 25 12 5V OUT 10 24 11 45V OUT 9 23 10 CIRCUIT COMMON OUT8 22 9 INPUT 7 OUT6 21 0 COMMON RETE CIRCIT COMMON 15 OUTS 20 7 15V 7 CIRCUIT COMMON REVERSE LIMIT SW 14 0 OUT4 19 FORWARDLIMITSW13 o 5 ol 5INDEX CIRCUIT COMMON 18 12 0 5 INPUT 4 o 4CH A AUX
45. lf Duplex system all the Transmitters and all the Receivers share the same Multidrop wire Therefore ach character that is transmitted on the line is automatically received by all the Receivers This is an inherently confused way to transmit data and no Echo procedure can assure reliable communication In order to solve this reliability problem it is necessary to use standard protocols procedures It is important to understand that using RS485 with the DCB products without any protocol is possible This is also the default condition whenever the RS485 is activated However the reliability of the communication is only assured when activating the protocol This is done by sending the command CK1 from the host to the DCB Chapter 1 2 1 in the DCB Software manual explains the standard protocol used and supplied by Elmo 4 2 Current Control DBP The analog part of the DBP is actually a standard amplifier that operates in current mode However the DCB receives continuously analog information about the current magnitude direction and ripple This information is processed to obtain digital control of the following features Continuous current limit Peak current limit Time dependent peak current limit Current ripple Rev 6 93 18 4 2 1 Current feedback Current feedback multiplier Current loop Thr current feedbacks are obtained by meas
46. m to allow for automatic and or complex types of moves The user may specify software variables conditional statements subroutines and error routines which enable enhanced motion control Termination Modes A motion can be terminated in a variety of ways In all but emergency termination modes the motor will be decelerated gradually to a stop and then will enter of the stationary modes Servo or Motor Off a position mode move the motion will terminate naturally upon reaching the desired final position In all of the control modes the motion can be terminated by a command from the host An additional means of termination is from the local inputs Activating the forward and reverse limit switch inputs can be another means of terminating a move Upon contacting the switch th routine will be activated This is a user programmed routine that should normally include a stop command to decelerate the motor to a full stop There are two methods of generating an emergency stop The first is by an abort command from the host and the other is by the local abort input Upon receipt of either of these commands the system will go immediately to its stationary mode Another unnatural way to terminate a motion is whenever an internal amplifier inhibit due to one of the protections occurs This turns off the power stage and the motor will decelerate to a stop by fricti
47. monitor his analog output represents the actual current in the motor The scale in A V 18 7 5 Ip Rated peak current of amplifier circuit common ral 5V pins The accumulative 1 hould not 200mA 1 15V pins The accu 1 t 100 15V output 1 15V pins The accu nal should not exceed 100mA EUER Aaa aa a Channel A output Index output For resolver option only Inhibit output Relay contact potential free The relay contact is closed whenever the amplifier is enabled Contact rating 0 5 200V 10W v 6 93 56 Signals connector 03 cont 18 Inhibit output Relay contact potential free The relay contact is closed whenever the amplifier is enabled Contact rating 0 5 200V 10W Motion command 5V This analog output represents the current command from the position loop to the power amplifier It is useful for monitoring the position loop response Circuit common Reset input Circuit common Tachogenerator When using the resolver option this output is the output input velocity monitor with a scale of 8V for maximum speed See 7 3 common Velocity current mode When input is left open low level the analog selection part of the amplifier is working in current mode when a high level signal is applied gt 2V the analog part of the amplifier is working as a high gain
48. mum tracking rate of the converter and hence the velocity scaling as at the maximum tracking rate the velocity output will be 8V Decide on your reguired maximum tracking rate in revolutions per second Note that T must not xceed th specified maximum tracking rate or 1 16 of the reference freguency DBP Rev 6 93 RAO MO 12812581 where bit per rev 1 024 for 10 bits resolution 4 096 for 12 bits 16 384 for 14 bits 65 536 for 16 bits Closed Loop Bandwidth Selection C67 C68 R200 a Choose the Closed Loop Bandwidth required ensuring that fref gt 10 x Recommended bandwidth values 250Hz for 3KHz 300Hz for 5KHz 500Hz for 10KHz b Select C67 so that RO with R201 in Kohm and pw in Hz as selected above c C68 is given by C68 40 x C67 DBP Rev 6 93 92 R200 is given by 127 2 18 Tiong 28 in Hz C68 in pF R200 value should be at least three times R197 Gain Scaling Resistor R197 R197 should be installed according the following table 536Kohm for 10 bits resolution 130Kohm for 12 bits 33Kohm for 14 bits 8 2Kohm for 16 bits DBP Rev 6 93 93 8 Applying power Adjustments Important remarks A If all the previous steps were accomplished you may now disconnect the motor leads turn the power on and continue with the f
49. n mode Auxiliary encoder input Ay or pulse input for Pulse and Direction mode Auxiliary encoder complementary input Ay or complementary Pulse and Direction mode Vol lt 0 4V gt 4 Output level 0 5V max output current 5mA DBP Rev 6 93 59 Signals connector 96 cont Auxiliary encoder index input There ar ral 5V pins The accumulative external should not exceed 200mA ral 15V pins The accumulative 1 should not exceed 100mA are several 5V pins The accumulative external load should not exceed 200mA This input must connected to high level voltage to enable the amplifier er um __________ Forward limit switch This committed input activa subroutine Reverse limit switch This committed input activa subroutine circuit JIA FAN TERMINALS MBA DBP 3UE and MBA DBP 6UE 24VDC common fan only ai 24VDC isolated supply for fan max 400mA Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 60 Signals connector 78 MBA DBP 3UE MBA DBP 6UE 1 Main encoder buffered output 20mA 0 5V Main encoder buffered output 20mA 0 5V 3 Main encoder buffered output 20mA 0 5V Encoder index output For resolver op ly buffered output 20mA 0 5V Encoder index output For resolver L ffered output 20mA 0 5V po c
50. nnector 03 MBA DBP 3U 60 differential amplifier differential amplifier Circuit common Analog input This input is monitored by the main When 1 lt 5V R1 470ohm should b inserted When Vi gt 5V R1 Kohm 2Vi 10 should be inserted The UP always reads a range of 5V Circuit common Circuit common Current monitor his analog output represents the actual current in the motor The scale in A V 18 7 5 Ip Rated peak current of amplifier circuit common ral 5V pins The accumulative 1 hould not 200mA 1 15V pins The accu 1 t 100 15V output 1 15V pins The accu Channel B output nal should not exceed 100mA gt Index output For resolver option only Inhibit output Relay contact potential free The relay contact is closed whenever the amplifier is enabled Contact rating 0 5 200V 10W v 6 93 46 Signals connector 03 cont 18 Inhibit output Relay contact potential free The relay contact is closed whenever the amplifier is enabled Contact rating 0 5 200V 10W Motion command 5V This analog output represents the current command from the position loop to the power amplifier It is useful for monitoring the position loop response Circuit common Reset input Circuit common Tachogenerator When using t
51. ollowing adjustments Step 1 Applying Power Apply power and check for LED Vs of the DCB that should be ON indicating that the system supplies are present The display should read F OK If you get another message refer to the following table to find the cause of the problem Turn the power off clear the cause of the problem and re power the unit Display Display after Recurring ok n Abort conditio hardware only Amplifier s power stage disabled H 15 out of limits 11 Under or Over Voltage VOLT 15V out of limits Over Temperatur TEMP Short condition at the power outputs SHRT AMPD message appears in two cases 1 When MO Motor Off command is given 2 Position error exceeds the allowed value DBP Rev 6 93 94 Step 2 Establishing the communication Press CR carriage return in the host several times until the DCB sends the message Communication OK If you want to lock the baud rate in the DCB Turn off the power and remove the amplifier from the rack if it is a rack version Set DS1 OFF Now the baud rate you selected is stored in the SRAM It is possible to change DS1 at any time However the DCB will notice the change only upon power on or hardware reset Step 3 Checking the feedback elements Turn on the power Rotate the motor shaft manually and interrogate th
52. on only There are two modes of handling the internal amplifier inhibit Latch Mode The power stage is disabled and only a reset will release it Rev 6 93 23 Auto restart The power stage inhibit will automatically be released upon clearing the cause of the inhibit Status Reporting Status is available to the user in several ways Communication In response to the Tell Status command TS the DCB sends a coded message describing the status of the amplifier In addition the host may reguest certain information at any time This consists of the state of the system GN ZR PL KI the state of the local inputs TI the torgue level TT the current motor position TP the current motor velocity TV and the reason for a stop condition TC Refer to the DCB Software Manual for further details Hardware signal Motion complete signal This output will go to high when motion is complete Inhibit output Whenever the amplifier is inhibited this open collector output goes to low When using Elmo s mother boards a potential free relay replaces th open collector output 4 digit display Whenever a fault occurs a fault message will be displayed for easy visual information See chapter 9 1 for summary of all amplifier s fault indications Define origin modes The origin is that location at which the absolute position of the motor eguals zero This special location ma
53. r or over the limits indicated in the technical specifications the amplifier will be inhibited 4 7 3 Temperature protection Temperatur sensor is mounted on the heatsink If for reason the temperatur xceeds 85 the amplifier will be inhibited The amplifier will restart when the temperature drops below 80 C The user can always interrogate the DCB about the heatsink temperature by using the command T 4 7 4 Internal power supply failure In any case that the sum of the internal power supplies is below 13V or its difference higher than 1V the amplifier will be inhibited 4 7 5 Loss of commutation feedback Lack of either of the commutation signals will inhibit the amplifier 4 7 6 Low back up Battery voltage When the battery voltage goes below 2 4V the DCB will send a message on the communication line and will display BATT on the display Rev 6 93 27 MOTOR OUTPUTS SHUNT CONTROL RECTIFING CURRENT INRUSH LIMIT CURRENT SENSING POWER COMMON DI D2 D4 05 D6 COMMUTATION CURRENT PROCESSING SUPPLIES CONTROL PWM SIGNAL J PWM SIGNAIJS PROTECTIONS ISOLATION PROTECTIONS CURRENT FEED BACK CURRENT FEED BACK HALL SIGNAL PROCESSING DBP 3U BLOCK DIAGRAM DBP Rev 6 93 28 Display RS232 MEMORY BATTERY Asa BACK UP SHORT SIGNAL Outputs Buffers Master UNDER OVER SIGNAL Processor TEMP SIGNAL Inputs Buffer Current Feedback A
54. rted The UP reads always 5V Resolution of the digital conversion 11 bit full scale Typical offset 5 bits 08 DIGITAL GND 1000PF 4700PF T 4700PF ANALOG INPUT 4700PF J EP DIGITAL GND DIGITAL GND DIGITAL GND DIGITAL GND ANALOG INPUT DBP Rev 6 93 13 3 3 Sensors specification 3 3 1 Encoder The encoder must be incremental with two TTL channels in phase sh TEE High Low input definition Vil lt 1 5V Vih gt 3V Input voltage range 0 15 Input hy Input impedance steresis 1 5V 1Kohm to 5V Maximum frequency main encoder 150KHz Maximum frequency auxiliary encoder 250KHz Noise protection by analog and digital filters When left open th 3 3 2 Resolver input is internally pulled to high level Resolver Option Feature 10 12 14 and 16 bit resolution set by the user Maximu Veloci Encode m tracking ty output LA rate 1040 rps 10 bits tputs programmable index output Reference parameters Max vol tage 20Vp Minimum output vol Max cur rent 80mA Max frequency 20K DBP Rev 6 93 tp or 7Vrms tage 2Vrms Hz outputs guadrature and 9029 14 5 5 5 5V 5V 5 5w5 5 45V 5 5V AY PULSE AY PULSE 5 45v 5V 5V 5V 5V 5V R704 708 ARE NOT INSTALLED IN FACTORY STANDARD SETTING ENCODER INPUTS DBP R
55. se wd w W REG 78 64 5 5 8658485 Communication WLETRG 2206744 Piw 79 6 5 6 encoder wirings Re ee OW R een le 81 6 57 Resolver WIRING a a 82 6 5 8 Auxiliary encoder WILLING 49 0 16 OE 83 6 5 9 Pulse Direction signals 84 1 Start wt en EE W lenken 85 7 1 Common procedures for all amplifiers types 85 7 1 1 Commutation signals format sose deci 4 8 in 85 LOR ei o N PIER Boole 85 7 23 CADOEU o jo o EE E IE ee 85 7 1 4 Setting the auxiliary position input format 86 7 1 5 Selecting the communication bus 86 7 1 6 Preparing the automatic baud rate selection 86 7 2 Setting the main optical encoder format 87 T3 Setting the RAD zer an w E stat PE TII ae 87 8 Applying power Adjustments 545 RUP Po e wo 94 Step oh Applying ee 94 Step 2 Establishing the communication 95 Step 3 Checking the feedback elements 95 Step 4 Adjusting the current limits 95 Step 5 Latch mode of the protective fun
56. ted amplifiers connecting control common to ground is accomplished by inserting R2 short resistor on the mother board DBP Rev 6 93 54 Signals connector J1 MBA DBP 3UE MBA DBP 6UE Chanel a inu Channel aint chanel B inu B inpas 1 4 Index input 5V output There are several 5V pins The accumulative external should not exceed 200mA 15V output There ar ral 15V pins The accumulative external should not exceed 100mA Max voltage 20Vptp or 7Vrms Max current 80mA Max frequency 20KHz reference The reference voltage to the resolver must be taken from pins 1 and 2 only Sine signal comen see 1 3 7 3 15V output There are several 15V pins The accumulative external load should not exceed 100mA 15V output There are several 15V pins The accumulative external load should not exceed 100 Circuit common pe z o o o l DBP Rev 6 93 Signals 15 6 1 29 connector 03 MBA DBP 3UE MBA DBP 6UE differential amplifier differential amplifier Circuit common Analog input This input is monitored by the main When 1 lt 5V R1 470ohm should b inserted When Vi gt 5V R1 Kohm 2Vi 10 should be inserted The UP always reads a range of 5V Circuit common Circuit common Current
57. uring the voltage drop across current sensing resistors or by current transformers when using the isolation option These three signals are synthesized and multiplexed which result in a single voltage signal proportional to phases currents It is then compared to the current command The error is processed by the current amplifier to provide a voltage command to the PWM section Current loop control is obtained by op amp U21 A current amplifier and R4 C1 which form a lag lead network for current loop The standard amp is eguipped with R4 and Cl to get optimum current response for an average motor in this power range These components are mounted in solderless terminals Error amplifier Current amplifier Current feedback CFM The amplifier is equipped with a Current Feedback Multiplier turning DIP switch 2 on the upper board of the power stage to ON the signal of the current feedback is multiplied by 2 and consequently the following changes occur Current gains are multiplied by 2 Current monitor is divided by 2 Current limits are divided by 2 Dynamic range is improved Commutation ripple is reduced DBP Rev 6 93 4 3 This function should activated whenever th current of the motor are less than 20 peak limits respectively Somet imes the feedback gain was multiplied a lower value Digital current limits 19 rated current AND the p
58. ut definition Vil lt 1V Vih gt 2 4V Maximum input voltage 30V Input impedance 3 7Kohm Input hysteresis typ IV When left open low level Input threshold level can be shifted on request The fast inputs capture events input voltage level going from low to high of less then 10 duration Digital Outputs High Low output definition Vol 0 4V Voh 4V Output level 0 5V Recommended output current Iol Ioh 5mA Maximum output current 10mA The outputs are normally at low level DBP Rev 6 93 10 74 4050 U11B 74HCT4050 MOTION COMPLETE U11C 74 4050 DIGITAL OUTPUTS DBP Rev 6 93 6 93 11 FORWARD 3 LIMIT SWITCH U100A SN75C189AD REVERSE LIMIT SWITCH U100B SN75C189AD 12a 10 8 o HOME INPUT ae SN75C189AD 13a 13 11 o ABORT INPUT ae SN75C189AD 18b U102A SN75C189AD 19b EMME RE U102B SN75C189AD 20b 10 gt 8 U102C SN75C189AD 21b 13 22 11 0102 SN75C189AD 22b I5 pD U103A INDEX SLAVE SN75C189AD 4 6 16 U103B SN75C189AD 8 U103C SN75C189AD DIGITAL INPUTS 12 3 2 Analog input specification Maximum input voltage When Rl 470ohm is inserted the absolute value of the input voltage should be less than 5V When the absolute value is higher than 5V 1 2Vi 10 should be inse
59. ux Encoder Buffer Encoder Position Buffer Processor o MOTOR COMMAND Current limits CURRENT AMPLIFIER VELOCITY CURRENT MODE pam TO POSITION PROCESSOR ENCODER OUTPUTS RESOLVER OPTION VELOCITY FEEDBACK SIGNAL INPUT OPTION ERROR AMPLIFIER wo option DCB BLOCK DIAGRAM DBP Rev 6 93 29 6 4 5 2 505 RE O gt U LLI lt O A O O Q O Rev 6 93 DBP 30 Ref oscillator output R192 Ref 5 common C60 JR 9 SIN INPUT JR 10 RESOLVER TO JR 7 DIGITAL CONVERTER COS INPUT POSITION BITS HALLS 4 ENCODER ENCODER A PROCESSOR ENCODER B ENCODER I Velocity feedback 4 DCB RESOLVER OPTION BLOCK DIAGRAM DBP Rev 6 93 31 27904 252201 238 e PEPE eTeTeTere 68 62 192 197 196 233 193 52 JE n RESOLVER BOARD COMPONENTS LAYOUT DBP Rev 6 93 32 5 Terminal Description 5 1 Terminals for Horizontal and Rack mounting versions POWER BOARD 3U size R Function pue Motor phase connected connected connected connected DC power positive Vs 18a c DC power common 16
60. velocity amplifier Signals connector 74 MBA DBP 3UE MBA DBP 6UE AAEKCCC 1 1 Input 3 b Input 4 Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC DBP Rev 6 93 57 Signals connector 94 cont Input 5 Index Input If homing seguence is reguired the Index Input must be connected to Input 5 Circuit common KLE Fast input 6 This fast response input can capture events with a duration of less than 1015 An event is defined as an input voltage transition from low to high Fast input 7 Same function as Fast Input 6 There ar l 5V pins mulative external should not exceed are ral 5V pins mulative external should not exceed EC AB There are several 5V pins accumulative external load should not exceed 200mA CEU NN e 18 circuit 22 w Vil lt 1V Vih gt 2 4V Maximum input voltage 30VDC Vol lt 0 4V Voh gt 4V Output level 0 5V max output current 5mA DBP Rev 6 93 58 Signals connector 94 cont 24 output 10 Motion Complete This output will go to high when motion is complete Signals connector J6 MBA DBP 3UE and MBA DBP 6UE Auxiliary complementary input By or Complementary Direction input for Pulse and Direction mode Auxiliary encoder input By or Direction input for Pulse and Directio
61. x Note Single phase connection When using a single phase supply voltage drop due to loading is expected The magnitude of the voltage drop depends on the load current motor velocity stiffness of the power source and total bus capacitance It is recommended not to use single phase connection for output current higher than 20A For 3U size amplifiers it is recommended to add external capacitance as follows For 135V units up to 1200 For 270V units up to 600 DBP Rev 6 93 66 6 5 Wiring diagrams 6 5 1 Motor s windings MA MB ppp MC Heatsink GND Minimum acceptance Power wires twisted together Acceptable for most applications Power wires twisted and shielded MA Optimum wiring minimum RFI DBP Rev 6 93 67 6 5 2 power wiring AC POWER WIRING NON ISOLATED AC SUPPLIES A DIRECTLY TO THE MAIN B USING AUTOTRANSFORMER AC AC AC VS DC power common Control common Heatsink A Direct connection to the three phase mains grma B External fuses are needed for 3U size only Autotransformer A External fuses are needed for 3U size only Control common Heatsink B Using autotransformer with three phase mains DBP Rev 6 93 Ground Control common Motor chassis Amplifier s heatsink Do not ground Power common The power common is hot rectifier failure Caution point 68
62. y be defined in two ways First the user may send a command DH which defines the current motor position to be the origin alternate method is to request the DCB to perform the homing seguence by commanding HM Rev 6 93 24 4 5 Operation of the shunt regulator A shunt regulator is included in the power supply section of the DBP shunt regulator is a switching type wherein dissipative elements resistors are switched across the DC bus whenever the voltage reaches a predetermined level Vr The function of the shunt regulator is to regulate the voltage of the DC bus during the period of motor deceleration when there is a net energy outflow from the motor to the amplifier The amplifier handles this reverse energy just as efficiently as it provides energy to the motor hence most of the energy is passed through the amplifier to the power supply where the returning energy charges the filter capacitors above their normal voltage level as determined by the AC incoming voltage When the capacitors charge up reaches the predetermined voltage level Vr the shunt regulator begins its regulating action The bus is regulated to this range until regeneration ceases All the double Eurocard size amplifiers ar quipped with two outputs for connecting an external shunt resistor hence increasing the power dissipation capability SHUNT specifications Reg Internal External Re

Elmo DBP SERIES Stereo Amplifier User Manual

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