Whistle/Tweeter
Digital Servo Drives
Installation Guide















April 2008 (Ver. 1.2)







www.elmomc.com





Notice
This guide is delivered subject to the following conditions and restrictions:
This guide contains proprietary information belonging to Elmo Motion Control Ltd.
Such information is supplied solely for the purpose of assisting users of the Whistle
and Tweeter servo drives in their installation.
The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.
Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo
Motion Control Ltd.
Information in this document is subject to change without notice.
Document No. MAN-WHTWIG
Copyright
2008
Elmo Motion Control Ltd.
All rights reserved.
Whistle/Tweeter Catalog Numbers:
Maximum DC
Operating Voltage
Continuous Current
(Amps)
Version:
Blank = Standard
A = Advanced
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
W H I-
A
X X /Y Y Y
R
T = Tachometer &
Potentiometer
I = Interpolated
Analog
Encoder

Maximum DC
Operating Voltage
Continuous Current
(Amps)
Version :
Blank = Standard
A = Advanced
Feedback:
Blank = Incremental
Encoder
and/or Halls
R = Resolver
TWE-
A
XX/YYY
R
T = Tachometer &
Potentiometer
I = Interpolated
Analog
Encoder
Related Products:
Evaluation Board Catalog Number
Evaluation Board User Manual
WHI-EVLBRD-1 (available upon request)
MAN-EVLBRD-WHI (available on our web site)
Revision History:
Ver. 1.2
April 2008
Updated Power Ratings Table in Appendix
Ver. 1.1
May 2007
Added WHI-15/60, WHI-10/100 and WHI-15/100
Ver. 1.02
Oct. 2006
Correction to Interpolated Analog Encoders
(MAN-WHTWIG.PDF)

Ver. 1.01
July 2006
Correction to PT & PVT in standard models
(MAN-WHTWIG.PDF)

Ver. 1.0
June 2006
Initial release
(MAN-WHTWIG.PDF)


Elmo Motion Control Ltd.
64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel
Tel: +972 (3) 929-2300
Fax: +972 (3) 929-2322
info-il@elmomc.com

Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
info-us@elmomc.com

Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (0) 7720-85 77 60
Fax: +49 (0) 7720-85 77 70
info-de@elmomc.com


www.elmomc.com




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 ................................................................................................. 2-2

2.2.1

Current Control ...........................................................................................2-2

2.2.2

Velocity Control...........................................................................................2-2

2.2.3

Position Control...........................................................................................2-2

2.2.4

Advanced Position Control........................................................................2-2

2.2.5

Communication Options............................................................................2-3

2.2.6

Feedback Options........................................................................................2-3

2.2.7

Fault Protection............................................................................................2-3

2.3

System Architecture............................................................................................ 2-4

2.4

How to Use this Guide ....................................................................................... 2-4

Chapter 3: Installation...................................................................................................... 3-1

3.1

Site Requirements ............................................................................................... 3-1

3.2

Unpacking the Drives......................................................................................... 3-1

3.3

Pinouts ................................................................................................................. 3-2

3.3.1

Connector Types..........................................................................................3-2

3.3.2

Connector J1 .................................................................................................3-3

3.3.3

Connector J2 .................................................................................................3-4

3.4

Mounting ............................................................................................................. 3-4

3.4.1

Whistle ..........................................................................................................3-4

3.4.2

Tweeter .........................................................................................................3-5

3.5

Integrating the Whistle or Tweeter on a PCB .................................................. 3-6

3.5.1

Traces ............................................................................................................3-6

3.5.2

Grounds and Returns..................................................................................3-6

3.6

The Whistle/Tweeter Connection Diagram..................................................... 3-8

3.7

Main Power and Motor Power .......................................................................... 3-9

3.7.1

Connecting Motor Power ...........................................................................3-9

3.7.2

Connecting Main Power...........................................................................3-10

3.8

Auxiliary Supply
(for drive logic)
................................................................ 3-10

3.8.1

Single Supply .............................................................................................3-11

3.8.2

Separate Auxiliary Supply .......................................................................3-11

3.8.3

Shared Supply............................................................................................3-12

3.9

Main Feedback .................................................................................................. 3-13

3.10

Auxiliary Feedback........................................................................................... 3-17

3.10.1

Main and Auxiliary Feedback Combinations .......................................3-18

3.10.2

Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)...3-19

Whistle/Tweeter Installation Guide

MAN-WHTWIG (Ver. 1.2)


i
3.10.3

Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2)3-21

3.10.4

Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ...3-23

3.11

I/Os ............................................................................................................. 3-25

3.11.1

Digital Input...............................................................................................3-25

3.11.2

Digital Output............................................................................................3-27

3.11.3

Analog Input ..............................................................................................3-28

3.12

Communications ............................................................................................... 3-29

3.12.1

RS-232 Communication ............................................................................3-29

3.12.2

CANopen Communication ......................................................................3-30

3.13

Powering Up...................................................................................................... 3-32

3.14

Initializing the System...................................................................................... 3-32

3.15

Heat Dissipation................................................................................................ 3-32

3.15.1

Whistle Thermal Data...............................................................................3-32

3.15.1.1 Whistle Thermal Data........................................................................... 3-32
3.15.1.2 Heat Dissipation Data........................................................................... 3-32
3.15.1.3 How to Use the Charts ......................................................................... 3-33
3.15.2

Tweeter Thermal Data ..............................................................................3-34

3.16

Evaluation Board and Cable Kit.........................