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eBay 1. Introduction This installation guide describes the Drum servo drives and the steps for its wiring, installation and power-up. Following these guidelines ensures maximum functionality of the drive and the system to which it is connected. 2. Drive Description The Drum series are highly resilient digital servo drives designed to deliver ?the highest density of power and intelligence?. The Drum delivers up to 9.6 kW of continuous power or 15.8 kW of peak power in a compact package. The digital drives are based on Elmo?s advanced SimplIQ motion control technology. They operate from a DC power source in current, velocity, position and advanced position modes, in conjunction with a permanent-magnet synchronous brushless motor, DC brush motor, linear motor or voice coil. They are designed for use with any type of sinusoidal and trapezoidal commutation, with vector control. The Drum can operate as a stand-alone device or as part of a multi-axis system in a distributed configuration on a real-time network. The drives are easily set up and tuned using Elmo?s Composer software tools. This Windows- based application enables users to quickly and simply configure the servo drive for optimal use with their motor. The Drum, as part of the SimplIQ product line, is fully programmable with Elmo’s Composer motion control language. Power to the drives is provided by a 12 to 195 VDC isolated DC power source (not included with the Drum). The power stage is fully isolated from the control stage. With the exception of the Drum xx/400 model, a ?smart? control-supply algorithm enables the Drum to operate with only one power supply with no need for an auxiliary power supply for the logic. Note: All Drum xx/400 models require an auxiliary supply voltage. The use of an auxiliary power supply is mandatory for the XX/400 devices. If backup functionality is required to store control parameters in case of power-loss, an external 12 to 195 VDC isolated supply should be connected (via the CAN connector on the Drum), to provide maximum flexibility and backup functionality, when needed. Note: This backup functionality can operate from any voltage source within the 12 to 195 VDC range. This is much more flexible than being restricted to only using a standard 24 VDC power supply. If backup power is not needed, then the main power supply will also power the control/logic supply. In this way there is no need for a separate control/logic supply. 3. Product Features 3.1 Current Control ? Fully digital ? Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digital Hall sensors ? 12-Bit current loop resolution ? Automatic gain scheduling, to compensate for variations in the DC bus power supply 3.2. Velocity Control ? Fully digital ? Programmable PI 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 gain and phase margins 3.3. Position Control ? Programmable PIP control filter ? Programmable notch and low-pass filters ? Position follower mode for monitoring the motion of the slave axis relative to a master axis, via an auxiliary encoder input ? Pulse-and-direction inputs ? Sample time: four times that of current loop ? Fast event capturing inputs ? PT and PVT motion modes ? Position-based and time-based ECAM mode that supports a non-linear follower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory ? Dual (position/velocity) loop ? Fast output compare (OC) 3.4. Communication Options Drum users can use two communication options: – RS-232 serial communication – CAN for fast communication in a multi-axis distributed environment

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