Elmo WorldwideHead OfficeElmo Motion Control Ltd.60 Amal St.,P.O.Box 3078,Petach Tikva 49516IsraelTe:+972(3)929-2300·Fax:+972(3)929-2322·info-il@elmomc.North AmericaElmo Motion Control Inc.42 Technology Way,Nashua,NH 03060USATe:+1(603)821-9979·Fax:+1(603)821-9943·info-us@elmomc.EuropeElmo Motion Control GmbHHermann-Schwer-Strasse 3,78048 VS-VillingenGermanyTel:+49(0)7721-9447120·Fax+49(0)7721-9447130·info-de@elmomc.ChinaElmo Motion Control Technology(Shanghai)Co.Ltd.Room 1414,Huawen Plaza,No.999 Zhongshan West Road,Shanghai(200051)ChinaTe:+86-21-32516651·Fax:+86-21-32516652·info-asia@elmomc..Asia PacificElmo Motion Control APAC Ltd.B-601 Pangyo Innovalley,621 Sampyeong-dong,Bundang-gu,Seongnam-si,Gyeonggi-do,South Korea(463-400)Tel:+82-31-698-2010·Fax:+82-31-801-8078·info-asia@elmomc.Eagle HV Installation GuideTable of ContentsChapter 1:Safety Information.....81.2.Cautions........Directives and Standards..............101.4.CE Marking Conformance.....111.5.Warranty Infomation ..........11Chapter 2:Product Description .............122.1.ExtrlQ Product Family..122.2.Drive Description...132.3.Product Features............142.3.1.Current Control............2.3.2.Velocity Control........142.3.3.Position Control.…142.3.4.Communication Options...142.3.5.Feedback Options ........152.3.6.Fault Protection..............2.4.System Architecture...........162.5.How to Use this Guide....16Chapter 3:Installation ..........3.1.Before You Begin.173.1.2.Hardware Requirements ..............173.2.Unpacking the Drive Components......193.3..203.3.1.Connector Types...203.4.Mounting the Eagle HV...........223.5.Connecting the cables.....233.5.1.Wiring the Eagle HV....................3.5.2.3.5.3.Connecting the Power cables..263.5.3.1.Connecting the Motor cable..............................293.5.3.2.Connecting the Dc Power...303.5.3.3.Direct-to-Mains Power Source (Non-Isolated Rectifier)...............303.534.Battery Supply343.5.4.Connecting the Control and Backup Supply (24V)...............................343.5.5.Feedback and Control Cable Assemblies.............353.5.6.Main Feedback Cable (Feedback A).....363.5.7.Main and Auxiliary Feedback Combinations..........453.5.8.Auxiliary Feedback (Feedback B).........47Eagle HV Installation GuideTable of Contents63.5.8.1.Main Encoder Buffered Outputs or Emulated Encoder OutputsOption on FEEDBACK B (YA[4]=4).......................3.5.8.2.Differential Auxiliary Encoder Input Option on Feedback B3.5.8.3.Single-Ended Auxiliary Input Option on Feedback B (YA[4]=2)....523.5.8.4.Pulse-and-Direction Input Option on Feedback B(YA[4]=0).......543.5.9.583.5.10.1.RS-232 Communication.....613.5.102.CAN Communication..623.6.Powering Up.643.7.Heat Dissipation.........643.7.1.Eagle HVThermal Data...4.653.73.Howto Use the charts....66Chapter 4:Technical Specifications...........67.674.1.1.Motion Control Modes...............674.1.2.Advanced Positioning Control Modes........674.13.Advanced Filters and Gain Scheduling............67674.1.5.Feedback Options............4.1.6..694.1.7.Built-In Protection..694.18.Accessories....................4.1.9.Status Indication.…704.1.10.Automatic Procedures............4.2..714.3.Power Ratings for 400 VModels..724.4.Power Ratings for 700 V Models........734.5.Power Ratings for 800 V Models..............744.6.Auxiliary Supply (Only for S type drive)......4.7.Environmental Conditions.4.8.Control Specifications....764.8.1.Current Loop......764.8.2.Velocity Loop.4.8.3.Position Loop............774.9.4.9.1.Feedback Supply Voltage.84.9.2.Main Feedback Options...........4.9.2.1.Incremental Encoder Input..784.9.2.2.Digital HallS.....794.9.2.3.Interpolated Analog (Sine/Cosine)Encoder..................79Eagle HV Installation GuideTable of Contents74.9.2.5.Tachometer..............804.9.2.6.Potentiometer.814.9.3.4.9.4.Auxiliary Feedback Port (output mode YA[4]=4)...84.9.5.Auxiliary Feedback Port (input mode YA[4]=2,0)...................834.10.1.Digital Input Interfaces.....844.10.2.Digital Output Interface......854.12.Pulse-Width Modulation(pWM）.….86Eagle HV Installation GuideMAN-EAGVIG (Ver.1.503)8Chapter 1:Safety InformationIn order to operate the Eagle HV servo drive safely,it is imperative that you implement thesafety procedures included in this installation guide.This information is provided to protect youand to keep your work area safe when operating the Eagle HV and acpanying equipment.Please read this chapter carefully,before you begin the installation process.Before you start,make sure that all system ponents are connected to earth ground.Electrical safety is provided through a low-resistance earth connection.Only qualified personnel may install,adjust,maintain and repair the servo drive.A qualifiedperson has the knowledge and authorization to perform tasks such as transporting,assembling,installing,missioning and operating motors.The Eagle HV servo drive contains electrostatic-sensitive ponents that can be damaged ifhandled incorrectly.To prevent any electrostatic damage,avoid contact with highly insulatingmaterials,such as plastic film and synthetic fabrics.Place the product on a conductive surfaceand ground yourself in order to discharge any possible static electricity build-up.To avoid any potential hazards that may cause severe personal injury or damage to the productduring operation,keep all covers and cabi doors shut.The following safety symbols are used in this manual:Warning:This information is needed to avoid a safety hazard,which might cause bodilyinjury.Caution:This information is necessary for preventing damage to the product or to otherequipment.www.elmomc.Eagle HV Installation GuideSafety InformationMAN-EAGVIG (Ver.1.503)91.1.WarningsTo avoid electric arcing and hazards to personnel and electrical contacts,neverconnect/disconnect the servo drive while the power source is on.Disconnect the Eagle HV from all voltage sources before it is opened for servicing.The Eagle HV servo drive contains grounding conduits for electric current protection.Anydisruption to these conduits may cause the instrument to bee hot (live)and dangerous.After shutting off the power and removing the power source from your equipment,wait atleast 1 minute before touching or disconnecting parts of the equipment that are normallyloaded with electrical charges (such as capacitors or contacts).It is remended tomeasure the electrical contact points with a meter before touching the equipment.1.2.CautionsThe Eagle HV servo drive contains hot surfaces and electrically-charged ponents duringoperation.The maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting to Eagle HV to an approved isolated 24 VDC auxiliary power supply,connect it through a line that is separated from hazardous live voltages using reinforced ordouble insulation in accordance with approved safety standards.Before switching on the Eagle HV,verify that all safety precautions have been observed andthat the installation procedures in this manual have been followed.Do not clean any of the Eagle HV drive's soldering with solvent cleaning fluids of pH greaterthan 7(8 to 14).The solvent corrodes the plastic cover causing cracks and eventual damageto the drive's PCBs.Elmo remends using the cleaning fluid Vigon-EFM which is pH Neutral(7).For further technical information on this remended cleaning fluid,select the link:://www.zestron./filea dmin/zestron.-usa/daten/electronics/Product Tl1s/TI1-VIGON_EFM-US.pdfwww.elmomc.Eagle HV Installation GuideSafety InformationMAN-EAG VIG (Ver.1.503)101.3.Directives and StandardsThe Eagle HV conforms to the following industry safety standards:Safety StandardItemIn pliance withAdjustable speed electrical power drive systemsIEC/EN 61800-5-1,SafetyIn pliance with UL 508CPower Conversion EquipmentIn pliance with UL 840Insulation Coordination Including Clearances andCreepage Distances for Electrical EquipmentIn pliance with UL 60950-1Safety of Information Technology Equipment(formerly UL 1950)Including Electrical Business EquipmentIn pliance with EN 60204-1Low Voltage Directive 73/23/EECThe Eagle HV servo drive has been developed,produced,tested and documented inaccordance with the relevant standards.Elmo Motion Control is not responsible for anydeviation from the configuration and installation described in this documentation.Furthermore,Elmo is not responsible for the performance of new measurements or ensuringthat regulatory requirements are met.www.elmomc.Eagle HV Installation GuideSafety InformationMAN-EAGVIG (Ver.1.503)111.4.CE Marking ConformanceThe Eagle HV servo drive is intended for incorporation in a machine or end product.The actualend product must ply with all safety aspects of the relevant requirements of the EuropeanSafety of Machinery Directive 98/37/EC as amended,and with those of the most recentversions of standards EN 60204-1 and EN 292-2 at the least.According to Annex lll of Article 13 of Council Directive 93/68/EEC,amending Council Directive73/23/EEC concerning electrical equipment designed for use within certain voltage limits,theEagle HV meets the provisions outlined in Council Directive 73/23/EEC.The party responsiblefor ensuring that the equipment meets the limits required by EMC regulations is themanufacturer of the end product.1.5.Warranty InformationThe products covered in this manual are warranted to be free of defects in material andworkmanship and conform to the specifications stated either within this document or in theproduct catalog description.All Elmo drives are warranted for a period of 12 months from thetime of installation,or 18 months from time of shipment,whichever es first.No otherwarranties,expressed or implied-and including a warranty of merchantability and fitness fora particular purpose -extend beyond this warranty.www.elmomc.Eagle HV Installation GuideMAN-EAGVIG (Ver.1.503)12Chapter 2:Product DescriptionThis installation guide describes the Eagle HV servo drive and the steps for its wiring,installation and power-up.Following these guidelines ensures optimal performance of the driveand the system to which it is connected.2.1.ExtrIQ Product FamilyElmo Motion Control's Extr/Q product family is a set of durable motion control products forapplications operating under extreme environmental conditions.The products are capable ofwithstanding the following extreme conditions:FeatureOperation ConditionsRangeAmbientNon-operating50℃t0+100℃(-58℉to212F)TemperatureconditionsRangeOperating conditions-40℃t0+71℃(-40℉to160F)TemperatureNon-operating40℃to+71°C(-40Fto160F)within3ShockconditionsminAltitudeNon-operatingUnlimitedconditionsOperating conditions-400mto12,000m(-1312to39370feet)HumidityNon-operatingUp to 95%non-condensing humidity atconditionsOperating conditionsUp to 95%non-condensing humidity at25 C(77 F),up to 90%non-condensingVibrationOperating conditions20Hzto2000Hz,14.6gMechanicalNon-operating40g;Half sine,11 msecShockconditionsOperating conditions+20g;Half sine,11 msecAll Extr/Q products have been tested using methods and procedures specified in a variety ofextended environmental conditions(EEC)standards.Based on Elmo Motion Control's innovative ExtrlQ core technology,they support a wide rangeof motor feedback options,programming capabilities and munication protocols.www.elmomc.