Elmo Drum Digital Servo Drive ユーザーズマニュアル
Contents
Chapter 1: Safety Information ........................................................................................ 1-1
1.1
Warnings.............................................................................................................. 1-2
1.2
Cautions ............................................................................................................... 1-2
1.3
Directives and Standards ................................................................................... 1-3
1.4
CE Mark Conformance....................................................................................... 1-3
1.5
Warranty Information ........................................................................................ 1-3
Chapter 2: Introduction.................................................................................................... 2-1
2.1
Drive Description................................................................................................ 2-1
2.2
Product Features ................................................................................................. 2-1
2.2.1
Current Control ...........................................................................................2-1
2.2.2
Velocity Control...........................................................................................2-2
2.2.3
Position Control...........................................................................................2-2
2.2.4
Communication Options............................................................................2-2
2.2.5
Feedback Options........................................................................................2-2
2.2.6
Fault Protection............................................................................................2-3
2.3
System Architecture............................................................................................ 2-3
2.4
How to Use this Guide ....................................................................................... 2-4
Chapter 3: Installation...................................................................................................... 3-1
3.1
Before You Begin................................................................................................. 3-1
3.1.1
Site Requirements........................................................................................3-1
3.1.2
Hardware Requirements ............................................................................3-1
3.2
Unpacking the Drive Components ................................................................... 3-3
3.3
Mounting the Drum............................................................................................ 3-4
3.4
Connecting the Cables........................................................................................ 3-5
3.4.1
Wiring the Drum .........................................................................................3-5
3.4.2
Connecting the Power Cables....................................................................3-8
3.4.2.1
Connecting the Motor Cable ................................................................ 3-10
3.4.2.2
Connecting the DC Power.................................................................... 3-10
3.4.2.3
Connecting the Optional Back-up Supply Cable ............................... 3-13
3.4.3
Feedback Control and Communication Cable Assemblies .................3-14
3.4.4
Main Feedback Cable (FEEDBACK A)...................................................3-15
3.4.5
Main and Auxiliary Feedback Combinations .......................................3-28
3.4.6
Auxiliary Feedback (FEEDBACK B).......................................................3-29
3.4.6.1
Main Encoder Buffered Outputs or Emulated Encoder Outputs Option
on FEEDBACK B (YA[4]=4)............................................................................... 3-30
3.4.6.2
Differential Auxiliary Encoder Input Option on FEEDBACK B
(YA[4]=2) ........................................................................................................ 3-32
3.4.6.3
Single-ended Auxiliary Input Option on FEEDBACK B (YA[4]=2). 3-34
3.4.6.4
Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) ...... 3-36
3.4.7
I/O Cables ..................................................................................................3-40
3.4.7.1
General I/O Port (J3) ............................................................................ 3-40
3.4.8
Communication Cables ............................................................................3-42
3.4.8.1
RS-232 Communication ........................................................................ 3-42
3.4.8.2
CANopen Communication .................................................................. 3-43
3.5
DC Power Supply ............................................................................................. 3-45
3.5.1
Powering Up ..............................................................................................3-45
Drum Installation Guide
MAN-DRUIG (Ver. 1.0)
i