Elmomc ExtrIQ Digital Servo Drives-Falcon Instrukcja Użytkownika

Falcon Digital Servo Drive Installation Guide July 2014 (Ver. 1.502) www.elmomc.com

Falcon Installation Guide Safety Information MAN-FALIG (Ver. 1.502) www.elmomc.com 10 1.4. CE Marking Conformance The Falcon servo drive is intend

Falcon Installation Guide MAN-FALIG (Ver. 1.502) www.elmomc.com 11 Chapter 2: Introduction This installation guide describes the Falcon servo dri

Falcon Installation Guide Introduction MAN-FALIG (Ver. 1.502) www.elmomc.com 12 ExtrIQ products have a high power density in the range from 50 W to

Falcon Installation Guide Introduction MAN-FALIG (Ver. 1.502) www.elmomc.com 13 2.3. Product Features 2.3.1. Current Control • Fully digital •

Falcon Installation Guide Introduction MAN-FALIG (Ver. 1.502) www.elmomc.com 14 2.3.5. Feedback Options • Incremental Encoder – up to 20 Megacoun

Falcon Installation Guide Introduction MAN-FALIG (Ver. 1.502) www.elmomc.com 15 2.4. System Architecture AuxiliaryPowerSupplyPWMControllerPower S

Falcon Installation Guide Introduction MAN-FALIG (Ver. 1.502) www.elmomc.com 16 Figure 2: Elmo Documentation Hierarchy As depicted in the previous

Falcon Installation Guide MAN-FALIG (Ver. 1.502) www.elmomc.com 17 Chapter 3: Installation The Falcon must be installed in a suitable environment

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 18 Component Wire Described in Section Drawing Backup Supply Cable (

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 19 Component Wire Described in Section Drawing CAN Communication cab

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

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 20 The P/N number at the top gives the type designation as follows: Ma

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 21 3.4. Connecting the Cables The Falcon has ten connectors. 3.4.1.

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 22 The following connectors are used for wiring the Falcon. Type Func

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 23 Figure 4: Falcon Detailed Connection Diagram

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 24 3.4.2. Connecting the Power Cables The main power connector locate

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 25 Figure 5: AC Motor Power Connection Diagram 3.4.2.2. Connecting t

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 26 3.4.3. Connecting the Optional Backup Supply Cable (24 V) Power to

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 27 “Smart” Control Supply Options: • Internal DC-to-DC converter that

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 28 FEEDBACK A on the “front” of the Falcon has a 15-pin D-Sub socket.

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 29 Absolute Encoders FAL-XX/YYYQ Pin Signal Heidenhain Stegmann

Revision History Version Details 1.0 Initial release 1.2 Aug 2008 Added 3.4.7.4: Differential Pulse-and-Direction Input 1.3 Sep 2008 MTCR 0

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 30 Figure 10: Main Feedback – Interpolated Analog (Sine/Cosine) Encod

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 31 Figure 12: Main Feedback – Tachometer Feedback with Digital Hall S

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 32 Figure 14: Main Feedback – Potentiometer Feedback with Digital Hal

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 33 Figure 16: Main Feedback – Stegmann Feedback Connection Diagram

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 34 Figure 17: Main Feedback – Heidenhain Feedback Connection Diagram

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 35 3.4.6. Main and Auxiliary Feedback Combinations The Main Feedback

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 36 FEEDBACK A FEEDBACK B Ports B1 and B2 Software Setting YA[4] = 4

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 37 Below are the signals on the Auxiliary Feedback ports when set up t

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 38 Figure 18: Main Encoder Buffered Output or Emulated Encoder Output

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 39 3.4.7.2. Differential Auxiliary Encoder Input Option on FEEDBACK B

Elmo Worldwide Head Office Elmo Motion Control Ltd. 60 Amal St., P.O. Box 3078, Petach Tikva 49516 Israel Tel: +972 (3) 929-2300 • Fax: +972 (3) 9

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 40 Figure 19: Differential Auxiliary Encoder Input Option on FEEDBACK

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 41 3.4.7.3. Single-Ended Auxiliary Input Option on FEEDBACK B (YA[4]=

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 42 Figure 20: Single-Ended Auxiliary Input Option on FEEDBACK B – Con

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 43 3.4.7.4. Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 44 Figure 21: Pulse-and-Direction Input Option on FEEDBACK B – Connec

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 45 Below are the signals on the Auxiliary Feedback ports when set up t

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 46 Figure 22: Differential Pulse-and-Direction Input Option on FEEDBA

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 47 3.4.8. I/O Cables The Falcon has two I/O ports, J1 and J2. J1 is a

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 48 Figure 23: General J1 I/O Connection Diagram

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 49 3.4.8.2. General Input Port (J2) Port J2 has a 15-pin high density

Falcon Installation Guide MAN-FALIG (Ver. 1.502) 5 Table of Contents Chapter 1: Safety Information ...

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 50 Figure 24: General Input J2 Connection Diagram

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 51 3.4.9. Communication Cables The communication cables use an 8-pin

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 52 Figure 25: RS-232 Connection Diagram 3.4.9.2. CAN Communication N

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 53 Figure 26: CAN Connection Diagram Caution: When installing CAN co

Falcon Installation Guide Installation MAN-FALIG (Ver. 1.502) www.elmomc.com 54 3.5. Powering Up After the Falcon has been mounted, check that the

Falcon Installation Guide MAN-FALIG (Ver. 1.502) www.elmomc.com 55 Chapter 4: Technical Specifications This chapter provides detailed technical i

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 56 4.1.5. Feedback Options • Incremental Encoder – up to

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 57 4.1.7. Built-In Protection • Software error handling •

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 58 4.2. Falcon Dimensions

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 59 4.3. Power Ratings Feature Units 15/60 30/60 15/100

Falcon Installation Guide Table of Contents MAN-FALIG (Ver. 1.502) 6 3.4.7.4. Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) ... 43

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 60 4.4. Environmental Conditions Feature Operation Condit

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 61 Pins Type Port Connector Location 15 D-Sub Socket F

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 62 4.6. Control Specifications 4.6.1. Current Loop Featur

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 63 4.6.2. Velocity Loop Feature Details Controller type

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 64 4.7. Feedbacks The Falcon can receive and process feedb

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 65 4.7.3. Digital Halls Feature Details Halls inputs • H

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 66 4.7.5. Resolver Feature Details Resolver format • Sin

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 67 4.7.7. Potentiometer Feature Details Potentiometer For

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 68 4.8. I/Os The Falcon has: • 10 Digital Inputs • 5 Dig

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 69 Feature Details Connector location Figure 28: Digital

Falcon Installation Guide MAN-FALIG (Ver. 1.502) www.elmomc.com 7 Chapter 1: Safety Information In order to achieve the optimum, safe operation of

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 70 Feature Details Connector Location Executable time If

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 71 4.9. Communications Specification Details Connector L

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 72 4.12. Compliance with Standards Specification Details

Falcon Installation Guide Technical Specifications MAN-FALIG (Ver. 1.502) www.elmomc.com 73 EMC Approved IEC/EN 61800-3, EMC Adjustable speed elect

Falcon Installation Guide Safety Information MAN-FALIG (Ver. 1.502) www.elmomc.com 8 1.1. Warnings • To avoid electric arcing and hazards to pers

Falcon Installation Guide Safety Information MAN-FALIG (Ver. 1.502) www.elmomc.com 9 1.3. Directives and Standards The Falcon conforms to the foll