Elmo WorldwideHead OfficeElmo Motion Control Ltd.60 Amal St.,P.O.Box 3078,Petach Tikva 4951360IsraelTel:+972(3)929-2300·Fax:+972(3)929-2322·info-il@elmomc..North AmericaElmo Motion Control Inc.42 Technology Way,Nashua,NH 03060USATel:+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)Te:+82-31-698-2010·Fax:+82-31-801-8078·info-asia@elmomc.eSolo Hor Installation GuideMAN-SOLHRNIG (ver.1.005)5Table of ContentsChapter 1:Safety Information...................81.1.Warnings............91.2.91.3.Directives and Standards...............101.4.CE Marking conformance....101.5.Chapter 2 Introduction.112.1.Drive Description112.2.Product Features...............122.2.1.2.2.2.Velocity Control....122.2.3.2.2.4.2.2.5.Communication Options...........132.2.7.Fault Protection..........132.3.System Architecture142.4.How to Use this Guide...................14Chapter 3:3.1.Technical Data.…163.1.1.Auxiliary Supply...16Chapter 4:Installation ...........4.1.Site Requirements…174.2.Unpacking the Drive.............174.3.Connector Types.…4.4.Mating Connectors194.5.Main and Motor Power-J1 and J2.............204.5.1.Connecting Main Power224.6.1.Connecting Motor Power................234.7.Main Feedback-1244.8.Auxiliary Feedback-J2...................314.8.1.Auxiliary Feedback Operation Modes.......334.8.2.Main and Auxiliary Feedback Combinations..........344.8.3.Auxiliary Feedback:Emulated Encoder Output Option (YA[4]=4)...........374.8.4.Auxiliary Feedback:Differential Encoder Input Option(YA[4]=2)..........394.85.Auxiliary Feedback:Differential Pulse-and-Direction Input Option (YA[4]=0)414.9./043Solo Hor Installation GuideTable of Contents64.9.1.Digital Input02）.434.9.1.1.Digital Input 5 V (TTL)........4.9.1.2.Digital Input 24 V(PLC)..454.9.2.4.9.3.4.10.4.10.1.RS-232 Communication(J2).............494.10.2.Differential RS-232 Communication (RS-422)-J2 ...................5.04.10.3.CAN Communication (2)...514.13.Heat Dissipation..534.13.1.Solo Hor Thermal Data...5.34.13.2.Heat Dissipation Data...544.13.3.Howto Use the charts..55Chapter 5:Technical Specifications ...........5.1.5.1.1.Motion Control Modes.................5.1.2.Advanced Positioning Control Modes....565.1.3.Advanced Filters and Gain Scheduling...................565.14.Fuly Programmable.565.15.5.1.6.575.1.7.Built-In Protection ..........585.1.8.5.19.Status Indication.............585.1.10.Automatic Procedures.585.2.Solo Hor Dimensions..................595.3.Environmental Conditions............5.4.Control Specifications...615.4.1.Current Loop...........5.4.2.Velocity Loop…5.4.3.5.5.Feedbacks.…6355.1.Feedback Supply Voltage..635.5.2.Main Feedback Options..................635.5.2.1.Incremental Encoder Input..635.5.2.2.5.5.2.3.Interpolated Analog(Sine/Cosine)Encoder....645.5.2.5.Tachometer.655.5.2.6.Potentiometer…665.5.3.Auxiliary Feedback Port (output mode YA[4]=4)....................................665.5.4.Auxiliary Feedback Port (input mode YA[4]=2,0)...................Solo Hor Installation GuideTable of ContentsMAN-SOLHRNIG (ver.1.005)7685.6.2.5.6.3.5.7.Communications.705.8.Pulse-Width Modulation (PWM)..705.9.Compliance with Standards...MAN-SOLHRNIG (ver.1.005)8Chapter 1:Safety InformationIn order to achieve the optimum,safe operation of the Solo Hor servo drive,it is imperativethat you implement the safety procedures included in this installation guide.This information isprovided to protect you and to keep your work area safe when operating the Solo Hor aswell as the acpanying equipment.Please read this chapter carefully before you begin the installation process.Before you start,ensure that all system ponents are connected to earth ground.Electricalsafety 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 Solo Hor servo drive contains electrostatic-sensitive ponents that can be damagedif handled 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:1This information is needed to avoid a safety hazard,which might cause bodilyinjury.Caution:This information is necessary for preventing damage to the product or toother equipment.www.elmomc.Solo Hor Installation GuideSafety Information91.1.WarningsTo avoid electric arcing and hazards to personnel and electrical contacts,neverconnect/disconnect the servo drive while the power source is on.Power cables can carry a high voltage,even when the motor is not in motion.Disconnect the Solo Hor from all voltage sources before it is opened for servicing.The Solo Hor servo drive contains grounding conduits for electric currentprotection.Any disruption 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 at least 1 minute before touching or disconnecting parts of the equipment that arenormally loaded with electrical charges (such as capacitors or contacts).Measuring theelectrical contact points with a meter,before touching the equipment,isremended.Cautions.The Solo Hor servo drive contains hot surfaces and electrically-charged ponentsduring operation.The maximum DC power supply connected to the instrument must ply with theparameters outlined in this guide.When connecting the Solo Hor to an approved 11 to 95 VDC auxiliary power supply,connect it through a line that is separated from hazardous live voltages usingreinforced or double insulation in accordance with approved safety standards.Before switching on the Solo Hor,verify that all safety precautions have beenobserved and that the installation procedures in this manual have been followed.Do not clean any of the Solo Hor drive's soldering with solvent cleaning fluids of pHgreater than 7(8 to 14).The solvent corrodes the plastic cover causing cracks andeventual damage to 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./fileadmin/zestron.-usa/daten/electronics/Product_TI1s/TI1-VIGON_EFM-US.pdfwww.elmomc.Solo Hor Installation GuideSafety InformationMAN-SOLHRNIG (ver.1.005)101.3.Directives and StandardsThe Solo Hor drives conform to the following industry safety standards:Safety StandardItemApproved IEC/EN 61800-5-1,SafetyAdjustable speed electrical power drive systemsRecognized 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 Solo Hor 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.1.4.CE Marking ConformanceThe Solo Hor servo drive is intended for incorporation in a machine or end product.Theactual end product must ply with all safety aspects of the relevant requirements of theEuropean Safety of Machinery Directive 98/37/EC as amended,and with those of the mostrecent versions 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,theSolo Hor drive meets the provisions outlined in Council Directive 73/23/EEC.The partyresponsible for ensuring that the equipment meets the limits required by EMC regulations isthe manufacturer 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 thedate of shipment.No other warranties,expressed or implied-and including a warranty ofmerchantability and fitness for a particular purpose -extend beyond this warranty.www.elmomc.Solo Hor Installation GuideMAN-SOLHRNIG (ver.1.005)11Chapter 2:IntroductionThe Solo Hor is an integrated solution designed to simply and efficiently connect Elmo'sHor servo drive directly to the application.The solution consists of the Hor together witha convenient connection interface which either eliminates or reduces development time andresources when designing an application's PCB board.This installation guide describes the Solo Hor servo drive and the steps for its wiring,installation and power-up.Following these guidelines ensures maximum functionality of thedrive and the systems to which it is connected.2.1.Drive DescriptionThe Solo Hor series of digital servo drives is designed to deliver "the highest density ofpower and intelligence".The Solo Hor is a lightweight and highly pact solution whichcan be used whenever reduced size and weight are essential to the application.The SoloHor delivers up to 1600 W of continuous power or 3200 W of peak power in a72.87cm3/4.41in3(59x24.7x50mmor2.32"x0.97"x1.96")package.The Solo Hor drive is designed for OEMs.It operates from a DC power source in current,velocity,position and advanced position modes,in conjunction with a permanent-magsynchronous brushless motor,DC brush motor,linear motor or voice coil.It is designed for usewith any type of sinusoidal and trapezoidal mutation,with vector control.The Solo Horcan operate as a stand-alone device or as part of a multi-axis system in a distributedconfiguration on a real-time work.The drive is easily set up and tuned using Elmo's Composer software tools.This Windows-basedapplication enables users to quickly and simply configure the servo drive for optimal use withtheir motor.The Solo Hor,as part of the ExtrlQ product line,is fully programmable withElmo's Composer motion control language.Power to the drive is provided by an 11 to 95 VDC isolated DC power source(not included withthe Solo Hor).A"smart"control-supply algorithm enables the Solo Hor to operate withonly one power supply with no need for an auxiliary power supply for the logic.If backup functionality is required for storing control parameters in case of power-loss,anexternal 11 to 95 VDC isolated supply should be connected via the +VL,providing maximumflexibility and backup functionality when needed.Noe This backup functionality can operate from any voltage source within the 11 to 95VDC range.This is much more flexible than to be restricted by only using a standard 24 VDCpower supply.If backup power is not required,two terminals (VP and VL)are shorted so that the main powersupply will also power the control/logic supply.In this way there is no need for a separatecontrol/logic supply.www.elmomc.Solo Hor Installation GuideIntroduction12The Solo Hor drive is available in two models:The standard model is a basic servo drive which operates in current,velocity andposition modes including PT PVT.It operates simultaneously via RS-232/RS-422 andCAN DS-301,DS-305,DS-402 munications and features a third-generationprogramming environment.The advanced model includes all the motion capabilities and munication optionsincluded in the standard model,as well as advanced positioning capabilities-ECAM,Follower and Dual Loop-and increased program size.The two models operate with both RS-232/RS-422 and CAN munication.2.2.Product Features2.2.1.Current Control·Fully digitalSinusoidal mutation with vector control or trapezoidal mutation with encoderand/or digital Hall sensors.12-bit current loop resolutionAutomatic gain scheduling,to pensate for variations in the DC bus power supply2.2.2.Velocity Control.Fully digital.Programmable Pl and FFW(feed forward)control filters.Sample rate two times current loop sample time."On-the-fly"gain scheduling.Automatic,manual and advanced manual tuning and determination of optimal gainand phase margins2.2.3.Position ControlProgrammable PIP control filterProgrammable notch and low-pass filtersSample time:four times that of the current loop.Fast event capturing inputs.PT and PVT motion modes.Fast output pare (OC)www.elmomc.