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Raven
Current Mode Servo Amplifiers for Brushless Motors with
Sinusoidal Commutation in
Extended Environmental Conditions
Installation Guide
April 2008 (Ver. 1.1)
www.elmomc.com
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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 Raven servo drives in their 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 Motio
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Raven Installation Guide Contents i MAN-RAVIG (Ver. 1.1) Contents Chapter 1: Safety Information ...............................................................................................1-1 1.1 Warnings.........................................................................................................................1-1 1.2 Cautions ..........................................................................................................................1-2 1.3 Conformance to S
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Raven Installation Guide Contents ii MAN-RAVIG (Ver. 1.1) A.5.3 Safety....................................................................................................................A-3 A.5.4 EMC......................................................................................................................A-4 A.5.5 Workmanship......................................................................................................A-4 A.5.6 PCB ......................................
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Raven Installation Guide 1-1 MAN-RAVIG (Ver. 1.1) Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Raven servo amplifier, it is imperative that you implement the safety procedures included in this user guide. This information is provided to protect you and to keep your work area safe when operating the Raven and accompanying equipment. Read this chapter carefully before you begin the installation process. Ensure that all system components are conne
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Raven Installation Guide Safety Information 1-2 MAN-RAVIG (Ver. 1.1) To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo amplifier while the power source is on. Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Raven from all voltage sources before it is opened for servicing. After shutting off the power and removing the power source from your equipment, wait at least 5 minutes b
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Raven Installation Guide 2-1 MAN-RAVIG (Ver. 1.1) Chapter 2: Introduction This user guide is intended for the design engineer who is integrating an Elmo Motion Control Raven servo amplifier into a machine. 2.1 ExtrIQ Product Family Elmo Motion Control's ExtrIQ product family is a set of durable motion control products for applications operating under extreme environmental conditions. The products are capable of withstanding the following extreme conditions: Non-operating Ambient
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Raven Installation Guide Introduction 2-2 MAN-RAVIG (Ver. 1.1) 2.2 Product Description The Raven is a series of miniature ExtrIQ current mode servo amplifiers for brushless motors with sinusoidal commutation. Although highly compact, the Raven can withstand extended environmental conditions and support up to 35 Amps. This high power density servo amplifier can deliver up to 4800 W of peak power or 2400 W of continuous power in a miniature package. The servo amplifier offers significant
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Raven Installation Guide Introduction 2-3 MAN-RAVIG (Ver. 1.1) 10.5K 10nF 20K 10K 100K CREF1+ (J1,2) 20K - AS 44.2K AD CREF1- (J1,1) 20K + Current Loop - Amp. A 20K + Current loop Phase 1 20K 10K Current loop Phase 2 - CREF2+ (J1,4) 20K AD CREF2- (J1,3) 20K + 20K Current loop Phase 3 ECLC(J2,1) 1K ECLP(J2,3) 1K ECLRET(J2,2) Current CM1(J1,7) 21K Limits PWM CM2(J1,8) 21K CM3(J1,9) 21K CMRET(J1,10) Dr4 Dr3 AOK(J3,1) M1 Dr5 Dr2 SO1(J3,2) Current M2 Sensing Dr6 Dr1 M3 SO2(J3,3) Protections VP
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Raven Installation Guide Introduction 2-4 MAN-RAVIG (Ver. 1.1) 2.5 How to Use this Guide Installation is the first step in integrating and operating the Elmo Raven servo amplifier. 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 and connecting the Raven. Chapter 4, Servo Control Operation, explains how t
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Raven Installation Guide 3-1 MAN-RAVIG (Ver. 1.1) Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Raven by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature -40 °C ~ 70 °C (- 40 °C ~ 160 °F) Maximum case temperature 87 °C (188 °F) Note: Models for extended environmental conditions are available. 3.2 Unpacking the Amplifier Components To unpack the Raven: Carefully remove the servo am
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Raven Installation Guide Installation 3-2 MAN-RAVIG (Ver. 1.1) 3.3 Raven Dimensions Figure 3-1: Raven Dimensions
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Raven Installation Guide Installation 3-3 MAN-RAVIG (Ver. 1.1) 3.4 Mounting the Raven 3.4.1 Mounting the Heatsink The Raven dissipates its heat by natural convection, up to loads of 500W. For higher output loads, the amplifier should be mounted on an additional heatsink or cooled by fan. There are two 4.5-mm holes in the base plate for mounting an additional heatsink (see Figure 3-1). 3.4.2 Mounting on the PC Board When mounting the Raven on a PC board, four screws (in addition to t
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Raven Installation Guide Installation 3-4 MAN-RAVIG (Ver. 1.1) 3.5 Wiring the Raven Figure 3-2: Basic Wiring
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Raven Installation Guide Installation 3-5 MAN-RAVIG (Ver. 1.1) 3.6 Connections 3.6.1 Pin Functions The Raven connections are described in the following figure and tables. Figure 3-3: Raven Connector Locations Pin Function Remarks VP+ Positive power input PR Power input return M Motor power output 1 1 M Motor power output 2 2 M Motor power output 3 3 Table 3-3: Raven Power Connections
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Raven Installation Guide Installation 3-6 MAN-RAVIG (Ver. 1.1) Pin #/ Short Form Function Remarks 1 Current command Negative input of a differential amplifier: input ( - ) CREF1- Input operating voltage range: ±3.75 V Maximum input voltage: ±20 V (see section 4.1) Maximum common mode voltage: ±6 V (referred to as CMRET) Differential input impedance: 40 kΩ 2 Current command Positive input of a differential amplifier. input ( + ) Specification as for pin J1/1. CREF1+
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Raven Installation Guide Installation 3-7 MAN-RAVIG (Ver. 1.1) Pin #/ Short Form Function Remarks 1 External current External voltage scales down rated value. limit - continuous ELCL Voltage range: 0 V to 3.75 V (3.75 V = rated Ic) Internally limited to rated value 2 Current limits Return for current limits signals. return ECLRET 3 External current External voltage scales down rated value. limit - peak ECLP Voltage range: 0 V to 3.75 V (3.75 V = rated Ip) Internal
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Raven Installation Guide Installation 3-8 MAN-RAVIG (Ver. 1.1) Pin #/ Short Form Function Remarks 1 Amplifier OK “Amplifier OK” indication output pin. When the amplifier is at normal operating conditions, this AOK output is in “active low “ state. When a failure occurs, this output is changed to “open” state. Opto isolated, open collector NPN type. See Figure 2-1. Maximum voltage = 30 V Maximum current = 8 mA. “On” voltage: V < 0.8 V OUT(On) 2 Status output 1 Status
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Raven Installation Guide Installation 3-9 MAN-RAVIG (Ver. 1.1) 3.7 DC Power Supply The DC power supply can be at any voltage in the range defined in the technical specifications (Appendix of this guide). The supply source must comply with the safety aspects of the relevant requirements, in accordance with the most recent version of the standard EN60950 or equivalent Low Voltage Directive Standard, all according to the applicable over-voltage category. If the power source to the power s
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Raven Installation Guide 4-1 MAN-RAVIG (Ver. 1.1) Chapter 4: Servo Control Operation 4.1 Current Command Input The Raven has two differential inputs. The input operating voltage range is ± 3.75 V, meaning that a 3.75 V signal will result in a fully rated peak current. The current limit circuits will override this signal if the peak duration exceeds 2.7 seconds and/or the required current exceeds the values set by the ECLC and ECLP signals. If the input command voltage exceeds 3.75 V,
