harmonic rtl series catalog

8/12/2019 Harmonic Rtl Series Catalog

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DIGITAL SERVO DRIVE for BRUSHLESS or BRUSH MOTORS

RTL Series

DESCRIPTIOnRTL Series Servo Driver combies CAnope etworig with 100%digital cotrol of brushless or brush motors i a off-lie poweredpacage that ca operate from sigle or three-phase mais withcotiuous power output to 4 W.Stadard models use quad A/B digital ecoders for feedbac. Twoother versios are available for use with resolvers or si/cos aalogecoders.

RTL Series operates as a Motio Cotrol Device uder the DSP-402protocol of the CAnope DS-301 V4.01 (En 50325-4) applicatiolaer. DSP-402 modes supported iclude: Prole Positio, ProleVelocit, Prole Torque, Iterpolated Positio (PVT), ad Homig.Drive commissioig is fast ad simple usig HDM software operatiguder Widowscommuicatig with RTL Series via CAn or a RS-232 li. CAn address selectio is b a 16-positio rotar switch othe frot pael. If there are more tha ftee devices o a CAn bus,the additioal address bits eeded ca come from programmableiputs, or ca be set i ash memor. Prole Positio Mode doesa complete motio idex o commad with S-curve acceleratio &

deceleratio, top speed, ad distace programmable. I PVT mode,the cotroller seds out a sequece of poits each of which is aicremet of a larger, more complex move tha a sigle idex orprole. The drive the uses cubic polomial iterpolatio to coectthe dots such that the motor reaches each poit (Positio) at thespecied velocit (Velocit) at the prescribed time (Time).

Homig mode is cogurable to wor with a variet of limit,idex, ad home switches such that the drive moves the motorito a positio that has a absolute referece to some part of themachie. Eleve logic iputs are programmable as limit or homeswitches, stepper/ecoder pulse iputs, reset, digital torque orvelocit referece, or motor over-temperature. A twelfth iput isdedicated to the drive Eable fuctio. Three programmable logic

outputs are for reportig a drive fault or other status idicatios.A fourth opticall-isolated output ca drive a motor brae fromthe exteral +24 Vdc power suppl or ca be programmed as alogic output.I additio to CAnope motio commads, RTL Series ca operateas a stad-aloe drive. Curret ad velocit modes accept 10Vdc aalog, digital 50% PWM or PWM/polarit iputs. I positiomode iputs ca be icremetal positio commads from step-motor cotrollers i Pulse/Directio or CW/CCW format, 10 Vdcaalog, or A/B quadrature commads from a master-ecoder. Pulseto positio ratio is programmable for electroic gearig.

Power output of the drive varies with the iput power which carage from 100 to 240 Vac, ad from 47 to 63 Hz. Either sigleor three phase mais ca be used givig RTL Series the abilit towor i the widest possible rage of idustrial settigs. Sigal adcotrol circuits are isolated from the high-voltage power supplad iverter stage that coect to the mais. A +24 Vdc iputpowers cotrol circuits for eep-alive operatio permittig thedrive power stage to be completel powered dow without losigpositio iformatio or commuicatios with the cotrol sstem.

Cotrol Modes Idexer, Poit-to-Poit, PVT

Cammig, Gearig, Positio, Velocit, Torque

Commad Iterface Stepper commads

Single-ended or Differential selectable

CAnope

ASCII ad discrete I/O

10V positio/velocit/torque commad

PWM velocit/torque commad

Master ecoder (Gearig/Cammig)

Commuicatios CAnope

RS232

Feedbac Digital quad A/B ecoder Aalog si/cos ecoder (-S versios) Resolver (-R versios) Secodar ecoder / emulated ecoder out

Digital Halls

I/O - Digital

12 iputs, 4 outputs

Dimesios: mm [i] 7.5 x 5.5 x 2.5 [191 x 140 x 64]

Ml V I Ip

RTL-230-18 100 - 240 6 18

RTL-230-36 100 - 240 12 36

RTL-230-40 100 - 240 20 40

Add -S to part umbers above for si/cos feedbac,or add -R for resolver feedbac models.


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RTL SeriesGEnERAL SPECIFICATIOnS

Test coditios: We coected load: 2 mH lie-lie. Ambiet temperature = 25 C. Power iput = 230 Vac, 60 Hz, 1

MODEL RTL-230-18 RTL-230-36 RTL-230-40 Same specs for -S ad -R models

OUTPUT CURREnT Pea Curret 18 (12.7) 36 (25.5) 40 (28.3) Adc (Arms, siusoidal)

Pea time 1 1 1 sCotiuous curret (note 1) 6 (4.24) 12 (8.5) 20 (14.1) Adc (Arms, siusoidal)

InPUT POWERMais voltage, phase, frequec 100~240 Vac, 10%, 1 or 3 , 47~63 HzMais curret 20 Arms+24 Vdc Cotrol power +20 to +32 Vdc, 500 mA max Required for operatio

DIGITAL COnTROLDigital Cotrol Loops Curret, velocit, positio. 100% digital loop cotrolSamplig rate (time) Curret loop: 15 Hz (67 s), Velocit & positio loops: 3 Hz (333 s)

Bus voltage compesatio Chages i bus or mais voltage do ot affect badwidthMiimum load iductace 200 H lie-lie

COMMAnD InPUTS (nOTE: DIGITAL InPUT FUnCTIOnS ARE PROGRAMMABLE) Distributed Control Modes

CAnope Positio, Velocit, Torque, Homig, Prole, ad Iterpolated prole modesDevicenet Compatible with Alle-Bradle PLCs

ASCII Multiple drives accessible from a sigle RS-232 portStand-alone mode

Aalog torque, velocit, positio referece 10 Vdc, 12 bit resolutio Dedicated differetial aalog iputIput impedace 74.8 Betwee Ref(+), Ref(-)

Digital positio referece Pulse/Directio, CW/CCW Stepper commads (2 MHz maximum rate)Quad A/B Ecoder 2 M lie/sec, 8 Mcout/sec (after quadrature)

Digital torque & velocit referece PWM , Polarit PWM = 0% - 100%, Polarit = 1/0PWM 50% PWM = 50% 50%, o polarit sigal requiredPWM frequec rage 1 Hz miimum, 100 Hz maximum

PWM miimum pulse width 220 sIdexig Up to 32 programs ca be lauched from iputs or ASCII commads. Each program ca

cosist of moves, I/O commads, time delas, ad other programmable operatios.Cammig Master quadrature ecoder provides positio as idex to cam table.

Digital iputs iitiate cam fuctios.

DIGITAL InPUTS number 12

Iputs [In1~5,11,12] 74HC14 Schmitt trigger, 330 s RC lter, Vi-LO < 1.35 Vdc, Vi-HI >3.65 Vdc, +24 Vdc max[In1] dedicated to drive eable fuctio, other iputs are programmable

Iput [In6] 74HC14 Schmitt trigger, 100 s RC lter, Vi-LO < 1.35 Vdc, Vi-HI >3.65 Vdc, +12 Vdc maxIputs [In7~10] Sigle-eded: Comparator with 2.5 Vdc referece, 100 s RC lter, Vi-LO 2.45 Vdc

Differetial: RS-485 lie receiver o iput pairs [In9-7], ad [In10-8], 100 s RC lters, +12 Vdc maxAll iputs 10 pull-up to +5 Vdc or pull-dow to groud, selectable i groups, active level programmable

DIGITAL OUTPUTS (nOTE 2) number 4

[OUT1], [OUT2], [OUT3] Curret-siig MOSFET with 1 pullup to +5 Vdc through diode Curret ratig 1 Adc max, +40 Vdc max. Fuctios programmable

Exteral bac diode required if drivig iductive loadsBrae [OUT4] Opto-isolated, curret-siig with bac diode to +24 Vdc, 1 Adc max

MULTI-MODE EnCODER PORTAs Iput Secodar digital quadrature ecoder (A, /A, B, /B, X, /X), 121 termiatig resistors 18 M-couts/sec, post-quadrature (4.5 M-lies/sec)As Output Quadrature ecoder emulatio with programmable resolutio to 4096 lies (65,536 couts) per rev

from aalog si/cos ecoders or resolvers. Buffered sigals from digital quad A/B/X primar ecoderA, /A, B, /B, X, /X, from 26LS31 differetial lie driver

RS-232 PORT Sigals RxD, TxD, Gd i 6-positio, 4-cotact RJ-11 stle modular coectorMode Full-duplex, DTE serial commuicatio port for drive setup ad cotrol, 9,600 to 115,200 baudProtocol Biar ad ASCII formats

CAn PORTS Sigals CAnH, CAnL, Gd i 8-positio RJ-45 stle modular coector, wired as per CAn Cia DR-303-1, V1.1

Format CAn V2.0b phsical laer for high-speed coectios compliatData CAnope Device Prole DSP-402Address selectio 16 positio rotar switch o frot pael with 3 additioal address bits available as

digital iputs or programmable to ash memor (7-bit addressig, 127 odes per CAn etwor)

STATUS InDICATORS Drive Status Bicolor LED, drive status idicated b color, ad bliig or o-bliig coditio

CAn Status Bicolor LED, status of CAn bus idicated b color ad bli codes to CAn Idicator Specicatio 303-3

REGEnERATIOn Operatio Iteral solid-state switch drives exteral rege resistor (see Orderig Guide for tpes)

Cut-I Voltage +HV > 390 Vdc Rege output is o, (optioal exteral) rege resistor is dissipatig eergDrop-Out Voltage +HV < 380 Vdc Rege output is off, (optioal exteral) rege resistor ot dissipatig eergTolerace 2 Vdc For either Cut-I or Drop-Out voltage

nOTES: 1. Heatsiig ad/or forced-air coolig is required for cotiuous output power ratig

2. Brae[OUT4] is programmable as motor brae, or as geeral purpose digital output


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RTL Series

EnCODER

DIGITAL QUAD A/B EnCODER Tpe Quadrature, differetial lie driver outputs

Sigals A, /A, B, /B, (X, /X, idex sigals optioal)Frequec 5 MHz lie frequec, 20 MHz quadrature cout frequec

AnALOG EnCODER Tpe Si/cos, differetial lie driver outputs, 0.5 Vpea-pea (1.0 Vpea-pea differetial)

cetered about 2.5 Vdc tpical. Commo-mode voltage 0.25 to 3.75 VdcSigals Si(+), si(-), cos(+), cos(-)Frequec 230 Hz maximum lie (ccle) frequecIterpolatio 10 bits/ccle (1024 couts/ccle)

DIGITAL HALLS

Tpe Digital, sigle-eded, 120 electrical phase differeceSigals U, V, WFrequec Cosult Harmoic Drive for speeds >10,000 RPM

EnCODER POWER SUPPLy Power Suppl +5 Vdc @ 400 mA to power ecoders & Halls

Protectio Curret-limited to 750 mA @ 1 Vdc if overloadedEcoder power developed from +24 Vdc so positio iformatio is ot lost whe AC mais power is removed

MOTOR COnnECTIOnS Phase U, V, W PWM outputs to 3-phase ugrouded We or delta coected brushless motors

Hall U, V, W Hall sigalsDigital Ecoder A, /A, B, /B, X, /X, o stadard modelsAalog Ecoder Si(+), si(-), cos(+), cos(-), X, /X, o -S versios (X & /X idex sigals are digital)Hall & ecoder power +5 Vdc @ 400 mA maximumMotemp [In5] Motor overtemperature sesor iput, 4.99 to +5 Vdc or groud

Sigal groud Retur for ecoder, Halls, ad temperature sesorBrae [OUT4] Curret-siig motor brae driver

+24 Vdc From drive +24 Vdc power suppl to power motor braeFrame groud For motor cable shield

FEEDBACk SPECIFICATIOnS

GEnERAL SPECIFICATIOnS (COnTInUED)

PROTECTIOnS HV Overvoltage +HV > 400 Vdc Drive PWM outputs tur off util +HV is less tha overvoltage

HV Udervoltage +HV < 60 Vdc Drive PWM outputs tur off util +HV is greater tha udervoltageDrive over temperature IGBT > 80 C 3 C Drive PWM outputs tur off util IGBT temperature is below thresholdShort circuits Output to output, output to groud, iteral PWM bridge faultsI2T Curret limitig Programmable: cotiuous curret, pea curret, pea timeMotor over temperature Drive shuts dow whe motor over-temperature switch chages to high-resistace state, or opesFeedbac power loss Fault occurs if feedbac is removed or +5 V is


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RTL Series

R

E G E N

+

R

E G E N

-

R E G E N

+

R E G E N

-

3.00 (76,2)

1.5 (38,1)

7.15 (181,6) 5.54 (140,7)

2.55 (64,8)

1.99 (50,5)

0.925 (23,5)

STANDARD

HEATSINK OPTION (-HS)

6.75

(171,5)

LOW-PROFILE

HEATSINK OPTION (-HL)0.88 (22,4)

1.00 (25,4)

8 x 0.160

7.55 (191,7)

(4,1)

Chassis Groudig:For CE compliace ad machiesafet use external toothlocwashersbetwee moutig screw head addrive heatplate. Recommeded screwsare #6-32 (M3.5) torqued to 8~10lbi (0.79~1.02 nm).

DIMEnSIOnSIches (mm)

RESOLVER

RESOLVER Tpe Brushless, sigle-speed, 1:1 to 2:1 programmable trasformatio ratioResolutio 14 bits (equivalet to a 4096 lie quadrature ecoder)Referece frequec 7.5 HzReferece voltage 2.8 Vrms, auto-adjustable b the drive to maximize feedbacReferece maximum curret 100 mAMaximum RPM 10,000+

EnCODER EMULATIOn Resolutio Programmable to 16,384 couts/rev (4096 lie ecoder equivalet)

Buffered ecoder outputs 26C31 differetial lie driver

MOTOR COnnECTIOnS

Phase U, V, W PWM outputs to 3-phase ugrouded We or delta coected brushless motorsResolver R1, R2, S1, S2, S3, S4

Motemp [In5] Motor overtemperature sesor iput. Active level programmable. 4.99 to +5 Vdc or groudDisables drive whe motor over-temperature coditio occursSame iput circuit as GP digital iputs

Sigal groud Retur for temperature sesor

Brae [OUT4] Curret-siig motor brae driver+24 Vdc From drive +24 Vdc power suppl to power motor braeFrame groud For motor cable shield

FEEDBACk SPECIFICATIOnS (COnTInUED)


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RTL Series

HDM SOFTWAREDrive setup is fast ad eas usig HDM software commuicatig via RS-232 or over the CAn bus. A l lof the operatios eeded to cofigure the drive are accessible through this powerful ad ituitive program. Auto-phasig of brushless motor Hall sesors ad phase wires elimiates wire ad tr. Coectios are made oce adHDM does the rest thereafter. Ecoder wire swappig to establish the directio of positive motio is elimiated.Motor data ca be saved as .ccm files. Drive data is saved as .ccx files that cotai all drive settigs plus motordata. This eases sstem maagemet as f i les ca be cross-refereced to drives. Oce a drive cofiguratioha s bee c omp l e t ed s s t ems c a be r ep l i c a t ed ea s i l w i t h t h e s ame s e tup ad pe r f o rmace .Whe operatig as a stad-aloe drive that taes commad iputs from a exteral cotroller, HDM is used for coguratio. Wheoperated as a CAn ode, HDM ca be used for programmig before ad after istallatio i a CAn etwor. RTL Seriesca also becotrolled via HDM while it is i place as a CAn ode. Durig this process, drive operatio as a CAn ode is suspeded. Whe adjustmetsare complete, HDM reliquishes cotrol of the drive ad returs it to the CAn ode state.

COMMUnICATIOnS

6

91

5

RxD

TxD

Gnd

D-Sub 9M

(DTE)

6

9

1

5

D-Sub 9F

RxD TxD

1 2 3 4 5 6

RJ-11(DTE)

RxD3 2

TxD2 5

Gnd

RxD

TxD

Gnd 5 3

RxD TxD

1 2 3 4 5 6

RJ-11

(DTE)

RS-232RTL Seriesoperates as a DTE device from a three-wire, full-duplex RS-232 port at 9,600 to 115,200 Baud, 8 bits, o parit, ad oestop bit. The SER-Ck Serial Cable kit provides a adapter that coects to the COMM port of a PC (a 9 positio, male D-Sub coector)ad accepts a modular cable with RJ-11 coectors for coectio to the RTL Series RS-232 port (J6).

RS-232 MULTI-DROPThe RS-232 specicatio maes o allowace for more tha two devices o a serial li. But, multiple RTL Series drives ca commuicateover a sigle RS-232 port b dais-chaiig a master drive to other drives usig CAn cables. I the CAn protocol, address 0 is reservedfor the CAn master ad thereafter all other odes o a CAn etwor must have uique, o-zero addresses. Whe the RTL Series CAnaddress is set to 0, it acts as a CAn master, covertig the RS-232 data ito CAn messages ad passig it alog to the other driveswhich act as CAn odes.

ASCII COMMUnICATIOnS

The Harmoic Drive ASCII Iterface is a set of ASCII format commads that ca be used to operate ad moitor Cople Cotrols DDP,ad RTL Series series ampliers over a RS-232 serial coectio. For istace, after basic amplier coguratio values have beeprogrammed usig HDM, a cotrol program ca use the ASCII Iterface to: Eable the amplier i Programmed Positio mode. Home the axis. Issue a series of move commads while moitorig positio, velocit, ad other ru-timevariables.Additioal iformatio ca be foud i the ASCII Programmers Guide o the Harmoic Drive website:http://www.harmoicdrive.et

SER-Ck SERIAL CABLE kIT ADAPTER COnnECTIOnS J5 SIGnALSPC COMM PORT SIGnALS

CANopen

RS-232

CANopen

CAN Addr 0

CAN Master CAN Node CAN Node

CAN Addr 1 CAN Addr n


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RTL Series

CAN Status LED

J6

CAnOPEn COMMUnICATIOnRTL Series uses the CAn phsical laer sigals CAnH, CAnL, ad GnD for coectio, ad CAnope protocol for commuicatio.Before istallig the drive i a CAn sstem, it must be assiged a CAn address. A maximum of 127 CAn odes are allowed o a sigleCAn bus. The rotar switch o the frot pael cotrols the four lower bits of the seve-bit CAn address. Whe the umber of odes oa bus is less tha sixtee, the CAn address ca be set usig ol the switch.For istallatios with sixtee or more CAn odes o a etwor HDM ca be used to cogure RTL Series to use the rotar switch,or combiatios of digital iputs ad programmed offset i ash memor to cogure the drive with a higher CAn ode address.

For more iformatio o CAnope commuicatios, dowload the CAnope Maual from the Harmoic Drive web-site:http://www.harmoicdrive.et

CAnOPEnBased o the CAn V2.0b phsical laer, a robust, two-wire commuicatio bus origiall desiged for automotive use where low-costad oise-immuit are essetial, CAnope adds support for motio-cotrol devices ad commad schroizatio. The result is ahighl effective combiatio of data-rate ad low cost for multi-axis motio cotrol sstems. Device schroizatio eables multipleaxes to coordiate moves as if the were drive from a sigle cotrol card.

note: Red & gree led o-times do ot overlap.LED color ma be red, gree, off, or ashig of either color.

CAn S TATUS LED

COMMUnICATIOnS (COnTInUED)

6

9

1

5

D-Sub 9F

3 3

2 2

18

CAN_L

CAN_GND

CAN_H

CAN_L

RJ-45

CAN_GND

CAN_H7 1

J6

Pin 8Pin 1

CAnOPEn COnnECTORSDual RJ-45 coectors that accept stadardEtheret cables are provided for CAn buscoectivit. Pis are wired-through so thatdrives ca be dais-chaied ad cotrolledwith a sigle coectio to the usersCAn iterface. A CAn termiator shouldbe placed i the last drive i the chai.The XTL-nk coector it provides a D-Subadapter that plugs ito a CAn cotrollerad has a RJ-45 socet that accepts theEtheret cable.

XTL-nk CAn COnnECTOR kITThe it cotais the XTL-CV adapter that coverts the CAn iterface D-Sub9M coector to a RJ-45 Etheret cable socet, plus a 10 ft (3 m) cable adtermiator. Both coector pi-outs coform to the CiA DR-303-1 specicatio.

J6 CAn COnnECTIOnS


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RTL Series

DRIVE STATUS LEDA sigle bi-color LED gives the state of the drive b chagig color, ad either bliig or remaiig solid.The possible color ad bli combiatios are:

Green/Solid: Drive Ok ad eabled. Will ru i respose to referece iputs or CAnope commads. Green/Slow-Blinking: Drive Ok but nOT-eabled. Will ru whe eabled. Green/Fast-Blinking: Positive or negative limit switch active. Drive will ol move i directio ot ihibited b limit switch. Red/Solid: Trasiet fault coditio. Drive will resume operatio whe fault is removed. Red/Blinking: Latchig fault. Operatio will ot resume util drive is Reset.

Drive Fault coditios: Over or uder-voltage Motor over-temperature Ecoder +5 Vdc fault Short-circuits from output to output Short-circuits from output to groud Iteral short circuits Drive over-temperature

Faults are programmable to be eithertrasiet or latchig

COMMUnICATIOnS (COnTInUED)


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RTL Series

AnALOG REFEREnCE InPUTA sigle 10 Vdc differetial iput taes iputs from cotrollers that use PID or similarcompesators, ad outputs a curret commad to the drive. Drive output curret orvelocit vs. referece iput voltage is programmable.

COMMAnD InPUTS

PULSE

[IN9+]

[IN7-]

DIRECTION

[IN10+]

[IN8-]

PULSE

[IN9+]

[IN7-]

DIRECTION

[IN10+]

[IN8-]

CD (Count-Down)

CU (Count-Up)

Pulse

Direction

[IN9]

[IN10]

CU

CD

[IN9]

[IN10]

CU (Count-Up)

CD (Count-Down)

Enc. B

Enc. A

[IN9]

[IN10]

Encoder ph. A

Encoder ph. B

Enc A

[IN10+]

[IN8-]

Encoder ph. A

Enc. B

[IN9+]

[IN7-]

Encoder ph. B

DIGITAL POSITIOnDigital positio commads ca be i either sigle-eded or differetial format. Sigle-eded sigals should be sourced from devices with active pull-upad pull-dow to tae advatage of the high-speed iputs. Differetial iputs have 121 Wlie-termiators.

SInGLE-EnDED PULSE & DIRECTIOn

DIFFEREnTIAL CU/CD

DIFFEREnTIAL PULSE & DIRECTIOn

SInGLE-EnDED CU/CD

QUAD A/B EnCODER SInGLE-EnDED QUAD A/B EnCODER DIFFEREnTIAL

DIGITAL TORQUE, VELOCITyDigital torque or velocit commads ca be i either sigle-eded or differetial format. Sigle-eded sigals must be sourced from devices with activepull-up ad pull-dow to tae advatage of the high-speed iputs.

Current orVelocity

Polarity orDirection

[IN9]

[IN10]

Duty = 0~100%

SInGLE-EnDED PWM & DIRECTIOn

Current orVelocity

No function

[IN9]

[IN10]

Duty = 50% 50%

SInGLE-EnDED 50% PWM

Current orVelocity

[IN9+]

[IN7-]

Duty = 50% 50%

No

Function

[IN10+]

[IN8-]

DIFFEREnTIAL 50% PWM

PWM

[IN9+]

[IN7-]

Duty = 0 - 100%

Direction

[IN10+]

[IN8-]

DIFFEREnTIAL PWM & DIRECTIOn


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RTL Series

DIGITAL HALL SIGnALSHall sigals are sigle-eded sigals that provide absolute feedbac withi oeelectrical ccle of the motor. There are three of them (U, V, & W) ad the ma besourced b magetic sesors i the motor, or b ecoders that have Hall tracs as

part of the ecoder disc. The tpicall operate at much lower frequecies tha themotor ecoder sigals, ad are used for commutatio-iitializatio after startup,ad for checig the motor phasig after the amplifer has switched to siusoidalcommutatio.

HALLU, V, W 10 k

3.3 nF

74HC14

+5V

10 k

U

V

W

DIGITAL OUTPUTSThe digital outputs are ope-drai MOSFETs with 1 pull-up resistors i series with a

diode to +5 Vdc. The ca si up to 1 Adc from exteral loads operatig from powersupplies to +30 Vdc.The output fuctios are programmable. The active state of the outputs is programmableto be o or off.Whe drivig iductive loads such as a rela, a exteral -bac diode is required. Theiteral diode i the output is for drivig PLC iputs that are opto-isolated ad coectedto +24 Vdc. The diode prevets coductio from +24 Vdc through the 1 resistor to+5 Vdc i the drive. This could tur the PLC iput o, givig a false idicatio of the driveoutput state.

BRAkE OUTPUT [OUT4]This output is a ope-drai MOSFET with a iteral bac diode coected to the +24Vdc iput. It ca si up to 1A from a motor brae coected to the +24 Vdc suppl.The operatio of the brae is programmable with HDM. It ca also be programmed as ageeral-purpose digital output.

OUTPUTS

MOTOR PHASE COnnECTIOnSThe drive output is a three-phase PWM iverter that coverts the DC buss voltage(+HV) ito three siusoidal voltage waveforms that drive the motor phase-coils.Cable should be sized for the cotiuous curret ratig of the motor. Motor cabligshould use twisted, shielded coductors for CE compliace, ad to miimize PWMoise couplig ito other circuits. The motor cable shield should coect to motor

frame ad the drive frame groud termial (J2-1) for best results.

MOTOR COnnECTIOnSMotor coectios are of three tpes: phase, feedbac, ad thermal sesor. The phase coectios carr the drive output currets thatdrive the motor to produce motio. A thermal sesor that idicates motor overtemperature is used to shut dow the drive to protect

the motor. Feedbac ca be digital quad A/B ecoder, aalog si/cos ecoder, resolver or digital Halls, depedig o the versio of thedrive.


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RTL Series

RESOLVER (-R MODELS)Coectios to the resolver should be made with shielded cable that usesthree twisted-pairs. Oce coected, resolver set up, motor phasig, ad othercommissioig adjustmets are made with CME 2 software. There are o hardwareadjustmets.

J8-8

BRUSHLESS

RESOLVER-

+

-

+J8-13

J8-12

Sin

Cos

J8-7

J8-3

J8-2 Ref

R1

R2

S3

S1

S2

S4

Frame

Ground

J8-1

AnALOG EnCODER (-S MODELS)RTL Seriessupports aalog ecoder sigals for positio feedbac. The Si adCos iputs are differetial with 121 termiatig resistors ad accept 1.0 Vp-psigals i the A/B format used b ecoders with aalog outputs such as Heidehai,Stegma, ad Reishaw. Whe Coples ServoTube motors are used the aalogecoder supplies both commutatio ad icremetal positio feedbac.

DIGITAL EnCODERSThe quad A/B ecoder iterface is a differetial lie-receiver with R-C lterig othe iputs. Ecoders with differetial outputs are required because the are lesssusceptible to oise that ca degrade sigle-eded outputs. Ecoder cables shoulduse twisted-pairs for each sigal pair: A & /A, B & /B, X & /X. A overall shieldshould be used, ad for loger cables, shields for idividual pairs ma be ecessarto guaratee sigal itegrit.

10 k

3.3 nF

74HC14

+5V

4.99 k

[IN5]

MOTOR TEMPERATURE SEnSORDigital iput [In5] is for use with a motor overtemperature switch. The iput shouldbe programmed as a pull-up to +5 Vdc if the motor switch is grouded whe cold,ad ope or high-impedace whe over-heatig.

= Shielded cables requiredfor CE compliace

BRAkE OUTPUT [OUT4]This output is a ope-drai MOSFET with a iteral bac diode coected tothe +24 Vdc iput. It ca si up to 1A from a motor brae coected to the +24Vdc suppl.

The operatio of the brae is programmable with HDM. It ca also be programmedas a geeral-purpose digital output.

MOTOR COnnECTIOnS (COnTD)


12/30

RoHS


RTL Series

MULTI-MODE EnCODER PORT

This port cosists of three differetial iput/output chaels that tae their fuctios from the Basic Setup of the drive.O drives with quad A/B ecoder feedbac, the port wors as a output bufferig the sigals from the ecoder. With resolver or si/cosecoder versios, the feedbac is coverted to quad A/B sigals with programmable resolutio. These sigals ca the be fed bacto a exteral motio cotroller that closes the positio or velocit loops. As a iput, the port ca tae quad A/B sigals to producea dual-loop positio cotrol sstem or use the sigals as master-ecoder feedbac i cammig mode. I additio, the port ca taestepper commad sigals (CU/CD or Pulse/Directio) i differetial format.

AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATUREFEEDBACk EnCODER

Whe usig a digital quadrature feedbac ecoder, the A/B/X sigals drivethe multi-mode port output buffers directl. This is useful i sstems that useexteral cotrollers that also eed the motor feedbac ecoder sigals becausethese ow come from J7, the Cotrol coector. I additio to elimiatig ycablig where the motor feedbac cable has to split to coect to both cotrollerad motor, the buffered outputs reduce loadig o the feedbac cable thatcould occur if the motor ecoder had to drive two differetial iputs i parallel,each with its ow 121 ohm termiatig resistor.

AS EMULATED QUAD A/B/X EnCODER OUTPUTS FROM AnAnALOG SIn/COS FEEDBACk EnCODER

Aalog si/cos sigals are iterpolated i the drive with programmableresolutio. The icremetal positio data is the coverted bac ito digitalquadrature format which drives the multi-mode port output buffers. Someaalog ecoders also produce a digital idex pulse which is coected directl

to the ports output buffer. The result is digital quadrature A/B/X sigals thatca be used as feedbac to a exteral cotrol sstem.

AS A MASTER OR CAMMInG EnCODER InPUT FROM ADIGITAL QUADRATURE EnCODER

Whe operatig i positio mode the multi-mode port ca accept digitalcommad sigals from exteral ecoders. These ca be used to drive camtables, or as master-ecoder sigals whe operatig i a master/slavecoguratio.

AS DIGITAL COMMAnD InPUTS In PULSE/DIRECTIOn,PULSE-UP/PULSE-DOWn, ORDIGITAL QUADRATURE EnCODER FORMAT

The multi-mode port ca also be used whe digital commad sigals are i adifferetial format. These are the sigals that tpicall go to [In9] ad [In10]whe the are sigle-eded. But, at higher frequecies these are liel to bedifferetial sigals i which case the multi-mode port ca be used.


1k

22 pF

22 pF

2.2kSecondaryEncoder Input

Input/OutputSelect

Quad A/B Feedback

Encoder

26C31

26C32

+5V

1k

1k

22 pF

22 pF

2.2kSecondaryEncoder Input

Input/OutputSelect

Emulated Quad A/Bsignals fromanalog Sin/Cos encoderor resolver

26C31

26C32

+5V

1k

1k

22 pF

22 pF

2.2k Secondary

Encoder Input

Input/OutputSelect

26C31

26C32

+5V

1k


13/30

RoHS


RTL Series

DANGER: HIGH VOLTAGE

CIRCUITS ON J1, J2, & J3

ARE CONNECTED TO

MAINS POWER

7

8

11

12

13

DIGITAL

ENCODER

DIGITALHALLS

TEMP

SENSOR

7

6

5

12

11

4

14

2

3

13

1

-HV

J8

21

22

23

26

24

25

1

14

1

20

19

2

+5 Vdc @ 400 mA

Signal Ground

15 Signal Ground

Ref(-)

Multi-ModeEncoder

Port

A

/A

B

/B

X

/X

Frame Ground

+24V

BRAKE

RTN J4

Earth

Fuse

J1

4L3

1

AC MAINS:100 to 240 Vac1 or 347 to 63 Hz

H

1

4

5

J3

REGEN+

REGEN-

Frame Ground

2

3

J2

U

V

W

BRUSHLESS

MOTOR

* Fuse

* Fuse

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

3

L2 N2

1L1

L3

L2

L1

[IN7] HS

[IN8] HS

[IN9] HS

[IN10] HS

10

[IN1] Enable

[IN4] GP

[IN2] GP

[IN3] GP

3 Ref(+) J710 VdcAnalog

Reference

[IN6] HS

9 [IN12] GP

8 [IN11] GP

17 [OUT2]

16 [OUT1]

18 [OUT3]

Frame

Gnd

10Motemp [IN5]

Signal Ground 15

Signal Ground 5

BRAKE

+24 Vdc

0.5 Adc

+

-

LINE

FILTER

* Fuse

* Fuse

Control Power Supply

Required for

Drive Operation

Drive mounting screw

+5 Vdc 4

+5 Vdc 2

Hall W 9

Hall V 6

Hall U 3

A

/A

B

/B

X

/X

/A

A

/B

B

/X

Vcc

0V

X

Outputs Buffered

Quad A/B from

Encoder

* Optional

(nOTE 1)

(nOTE 1)


Cotrol cable to J7

nOTES:1) The total output curret from the +5 Vdc suppl to J7-20 caot exceed 400 mAdc2) Lie lter is required for CE



14/30

RoHS


RTL Series


CIRCUITS ON J1, J2, & J3ARE CONNECTED TO

MAINS POWER

7

8

11

12

13 ANALOG

Sin/CosENCODER

DIGITAL

ENCODER

INDEX

DIGITALHALLS

TEMPSENSOR

7

6

5

12

11

4

14

2

3

13

1

-HV

J8

21

22

23

26

24

25

1

14

1

20

19

2

+5 Vdc @ 400 mA

Signal Ground

15 Signal Ground

Ref(-)

Multi-ModeEncoder

Port

A

/A

B

/B

X

/X

Frame Ground

+24V

BRAKE

RTN J4

Earth

Fuse

J1

4L3

1

AC MAINS:100 to 240 Vac1 or 347 to 63 Hz

H

1

4

5

J3

REGEN+

REGEN-

Frame Ground

2

3

J2

U

V

W

BRUSHLESS

MOTOR

* Fuse

* Fuse

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

3

L2 N2

1L1

L3

L2

L1

[IN7] HS

[IN8] HS

[IN9] HS

[IN10] HS

10

[IN1] Enable

[IN4] GP

[IN2] GP

[IN3] GP


Reference

[IN6] HS

9 [IN12] GP

8 [IN11] GP

17 [OUT2]

16 [OUT1]

18 [OUT3]

FrameGnd

10Motemp [IN5]

Signal Ground 15

Signal Ground 5

BRAKE

+24 Vdc

0.5 Adc

+

-

LINE

FILTER

* Fuse

* Optional

* Fuse


Required for

Drive Operation


+5 Vdc 4

+5 Vdc 2

Hall W 9

Hall V 6

Hall U 3

Sin(+)

Sin(-)

Cos(+)

Cos(-)

S-

X

/X

S+

C-

C+

/X

Vcc

0V

X

Outputs Emulated

Quad A/B fromAnalog Encoder

Note:

Index signals X & /X are

digital

+5 vdc to

Encoder

& Halls(nOTE 1)

(nOTE 1)



Cotrol cable to J7



15/30

RoHS


RTL Series

* Optional


CIRCUITS ON J1, J2, & J3

ARE CONNECTED TO

MAINS POWER

10Motemp [IN5]

12

13

7

8

2

BRUSHLESS

RESOLVER

7

6

5

12

11

4

14

2

3

13

1

-HV

J8

21

22

23

26

24

25

11

3

1

20

19

2

+5 Vdc @ 400 mA

Signal Ground

Signal Ground

Signal Ground

15 Signal Ground

Ref(-)

Multi-ModeEncoder

Port

A

/A

B

/B

X

/X

Frame Ground

+24V

BRAKE

RTN J4

Earth

Fuse

J1

4L3

1

AC MAINS:100 to 240 Vac

1 or 347 to 63 Hz

H

1

4

5

J3

REGEN+

REGEN-

Frame Ground

2

3

J2

U

V

W

BRUSHLESSMOTOR

* Fuse

* Fuse

4

3

2

1

Mot U

Mot V

Mot W

Frame Ground

3

L2 N2

1L1

L3

L2

L1

[IN7] HS

[IN8] HS

[IN9] HS

[IN10] HS

10

[IN1] Enable

[IN4] GP

[IN2] GP

[IN3] GP


Reference

[IN6] HS

9 [IN12] GP

8 [IN11] GP

17 [OUT2]

16 [OUT1]

18 [OUT3]

FrameGnd

Frame

Gnd

No Connect

No Connect

No Connect

5

15

BRAKE

+24 Vdc

0.5 Adc

+

-

LINE

FILTER

* Fuse

* Fuse


Required for

Drive Operation


4

9

14

R1

R2

S3

S1

S2

S4

R2

R1

S1

S3

S4

S2

Outputs EmulatedQuad A/B from

Resolver

Inputs Secondary

Position Encoder

6

1(nOTE 1)



Cotrol cable to J7



16/30

RoHS


RTL Series

~

~ -

+

~+

REGEN(-) REGEN(+)

SHIELD

U

V

W

J2

DC BUSS(+)

DC BUSS(-)

J3

1760 FL1

MAINSL3

L2J1

PWMSTAGE

POWERCONTROL

ISOLATION BARRIER

SHIELD

RESOLVERDRIVE &DECODING

J8

CONTROLLOGIC

+5 Vdc

ENABLE [IN1]

SIGNAL GND

CONTROLSIGNALGROUND

CONTROLSYSTEM

J7

GROUND+24 Vdc

+24VDC

BRAKE

+24 VdcJ4

RTNCntrl

BRAKE

DC/DCConverter

&

POWER

LOGIC

SIGNAL

DC/DC

(SAFETY GROUND)

PWMINVERTER

MOTOR

RESOLVER

CASE

FRAME GROUND

FRAME GROUND

20

40

60

80

100

120

240220200180160140120100

Energy Absorption vs.

Mains Voltage

Mains Voltage (Vac)

EnergyAbso

rption(Ws)

GROUnDInGA groudig sstem has three primarfuctios: safet, voltage-referece, adshieldig. As a safet measure, the primargroud at J1-3 will carr fault-currets fromthe mais i the case of a iteral failureor short-circuit of electroic compoets.

Wirig to this is tpicall doe with thegree coductor with ellow stripe usig thesame gauge wire as that used for the mais.The pi o the drive at J1-3 is loger thathe other pis o J1 givig it a rst-mae,last-brea actio so that the drive chassis isever ugrouded whe the mais power iscoected. This wire is a bodig coductorthat should coect to a earthed groudpoit ad must ot pass through a circuititerruptig devices.

All of the circuits on J1, J2, and J3 are mains-connected and must never be grounded.Thegroud termials at J1-3, J2-1, ad J3-5 all

coect to the drive chassis ad are isolatedfrom all drive iteral circuits.Sigal groudig refereces the drivecotrol circuits to those of the cotrolsstem. These cotrols circuits tpicallhave their ow earth coectio at somepoit. To elimiate groud-loops it isrecommeded that the drive sigal groudbe coected to the cotrol sstem circuitgroud. Whe this is doe the drive sigalvoltages will be refereced to the same 0 V

level as the circuits i the cotrol sstem.Small currets ow betwee cotroller addrive whe iputs ad outputs iteract. Thesigal groud is the path for these curretsto retur to their power sources i bothcotroller ad drive.Shields o cables reduce emissios from thedrive for CE compliace ad protect iteralcircuits from iterferece due to exteralsources of electrical oise. Because of theirsmaller wire gauge, these should ot be

used as part of a safet-groud sstem.Motor cases ca be safet-grouded eitherat the motor, b earthig the frame, or ba groudig coductor i the motor cablethat coects to J2-1. This cable shouldbe of the same gauge as the other motorphase cables.For CE compliace ad operator safet,the drive should be earthed b usigexteral tooth locwashers uder themoutig screws. These will mae cotact

with the alumium chassis through theaodized ish to coect the chassis tothe equipmet frame groud.

DRIVE POWER SOURCESA exteral +24 Vdc power suppl isrequired, ad powers a iteral DC/DCcoverter that supplies all the cotrol

voltages for drive operatio. Use of aexteral suppl eables CAn commuicatiowith the drive whe the mais power hasbee removed.Power distributio i RTL Series is dividedito four sectios: +24 Vdc, CAn, sigal,ad high-voltage. Each is isolated from theother ad all are isolated from the chassis.

EXTERnAL +24 VDCThe primar side of the DC/DC coverteroperates directl from the exteral +24Vdc suppl ad is isolated from other drivepower sectios. The Brae output [OUT4]operates i this sectio ad is referecedto the +24 Vdc retur (0V). It sis curretfrom a exteral load coected to theexteral +24 Vdc power source.

InTERnAL SIGnAL POWERThe sigal power sectio supplies power forthe DSP cotroller as well as logic iputsad outputs. Motor feedbac sigals such

as Halls, ecoder, ad temperature sesoroperate from this power source. All sigalcircuits are refereced to sigal groud. Thisgroud should coect to the cotrol sstemcircuit groud or commo so that drive adcotroller iputs ad output voltage levelswor properl with each other.

MAInS POWERMais power drives the high-voltagesectio. It is rectied ad capacitor-lteredto produce +HV which the PWM stage

coverts ito voltages that drive eitherthree phase brushless or DC brush motors.A iteral solid-state switch togetherwith a exteral power resistor providesdissipatio durig regeeratio whe themechaical eerg of the motor is covertedbac ito electrical eerg that must bedissipated before it charges the iteralcapacitors to a overvoltage coditio. Allthe circuits i this sectio are hot, thatis, the coect directl to the mais ad

must be cosidered high-voltages ad ashoc hazard requirig proper isulatiotechiques durig istallatio.

REGEnERATIOnThe chart below shows the eerg absorptioi Ws for a RTL Seriesdrive operatig atsome tpical mais voltages. Whe the loadmechaical eerg is greater tha thesevalues a exteral rege resistor is availableas a accessor.


17/30

RoHS


RTL Series

3 TURNS

AROUND

TOROID

INDUCTOR

MOTOR

MAINS

REGEN

CONTROLLER

RTL

FEEDBACK

LINE

FILTER

J1

J2

J8J7

J3J4

24 V

POWER

SUPPLY

Groudig ad shieldig are the meas ofcotrollig the emissio of radio frequec

eerg from the drive so that it does otiterfere with other electroic equipmet.The use of shielded cables to coect thedrive to motors ad feedbac devices is awa of extedig the chassis of the driveout to these devices so that the coductorscarrig oise geerated b the driveare completel eclosed b a coductiveshield.The process begis at the mais coectorof the drive, J1. The groud termial here

has a circle aroud it idicatig that this isthe safet or bodig groud coectio.This should be coected with wire that isthe same gauge as that used for the mais.I the case of a short-circuit i the drivethe fuctio of this groud coectio is tocarr the fault curret to earth groud utilthe safet device (fuse or circuit breaers)discoects the drive from the mais. Thiscoectio esures that the heatplate ofthe drive remais at earth potetial ad

elimiatig a shoc hazard that could occurof the chassis were allowed to oat to thepotetial of the mais.While this coectio eeps the heatplateat earth potetial the high frequec oisegeerated b switchig circuits i the driveca radiate from the wire used for thesafet groud coectio. I order to eepthe path betwee the heatplate ad earthas short as possible its also recommededto mout the drive to the equipmet paelusig exteral-toothed loc washers. Thesewill peetrate the aodized ish of theheatplate (which is a electrical isulator)ad mae good electrical cotact with thealumium plate. Groudig the heatplatei this wa shortes the path from driveto earth groud ad further reducesemissios.The heatplate also coects directl tothe frame groud termials o the motor,feedbac, ad rege coectors. note thatthe groud smbols for these do ot havea circle aroud them which idicates thatthese are for shieldig ad ot ot forsafet groudig. Motors ad their feedbacdevices (which are tpicall i the motorcase) should be grouded b moutig toequipmet that is grouded as a safetgroud. B coectig the shields for thesedevices at the drive ad at the device, thecoectio is cotiuous ad provides aretur path for radio-frequec eerg tothe drive.

notes:1) Shielded cables required for CE are show i the

diagram above.2) Lie lter required for CE3) Ferrite core required for shielded cable to rege

resistor which must be i shielded eclosure.

GROUnDInG & SHIELDInG FOR CE


18/30

RoHS


RTL Series

Signal Pin

Motor Phase U 4

Motor Phase V 3

Motor Phase W 2

Cable Shield 1

Signal Pin

Mains Input L3 4

Protective Ground 3

Mains Input L2 2

Mains Input L1 1

Signal Pin

Regen Resistor 1

No Connection 2

Regen Resistor 3

No Connection 4

Cable Shield 5

Signal Pin

+24 Vdc Control Power 3

Brake Output [OUT4] 2

0V (+24 Vdc Return) 1

J1 MAInS COnnECTIOnS

J2 MOTOR OUTPUTS

J3 REGEn RESISTOR

J4 +24 VDC & BRAkE

J1 CABLE COnnECTOR:

Wago: 51118287 or 721-204/026-045/Rn01-0000Euro-stle 7,5 mm pluggable female termial bloc

with precedig groud receptacleCable: AWG 12, 600 V recommededfor RTL-230-36-R ad RTL-230-40-R models,AWG 14, 600V for RTL-230-18-RShielded cable required for CE compliace

J2 CABLE COnnECTOR:


Cable: AWG 12, 600 V recommededfor RTL-230-36-R ad RTL-230-40-R models,AWG 14, 600V for RTL-230-18-RShielded cable required for CE compliace

J3 CABLE COnnECTOR:

Wago: 51111277 or 721-605/000-044/Rn01-0000Euro-stle 5,0 mm pluggable male termial bloc


WARNING: Hazard vage exi n cnnecin J1, J2, & J3 hen per i appied, and r p 30ecnd aer per i remved.

WIRE InSERTIOn/EXTRACTIOn TOOL:

Used o J1, J2, J3, & J4Wago 231-131

ISOLATED CIRCUIT

ISOLATED CIRCUIT

J4 CABLE COnnECTOR:Wago: 51117974 or 721-103/026-047/Rn01-0000Euro-stle 5,0 mm pluggable termial bloc

nOTE: An EXTERnAL+24 VDC POWER SUPPLyIS REQUIRED FOR OPERATIOn

DIGITAL SERVO DRIVE f BRUSHLESS BRUSH MOTORS


19/30

RoHS


RTL Series

PIn SIGnAL PIn SIGnAL PIn SIGnAL

1 Frame Gd 6 Hall V 11 Ecoder /B

2 +5 Vdc (note 1) 7 Ecoder /X 12 Ecoder B

3 Hall U 8 Ecoder X 13 Ecoder /A

4 +5 Vdc (note 1) 9 Hall W 14 Ecoder A

5 Sigal Gd 10 [In5] Motemp 15 Sigal Gd


1 Frame Gd 10 [In6] HS 19 Sigal Gd

2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)

3 Ref(+) 12 [In8] HS 21 Multi Ecoder /X

4 [In1] Eable 13 [In9] HS 22 Multi Ecoder X

5 [In2] GP 14 [In10] HS 23 Multi Ecoder /B

6 [In3] GP 15 Sigal Gd 24 Multi Ecoder B

7 [In4] GP 16 [OUT1] 25 Multi Ecoder /A

8 [In11] GP 17 [OUT2] 26 Multi Ecoder A

9 [In12] GP 18 [OUT3]

Pin Signal

6 No connect

5 TxD Output

4 Ground

3 Ground

2 RxD Input

1 No connect

Pin Signal

1 CAN_H

2 CAN_L

3 CAN_GND

4 No connection

5 No connection

6 (CAN_SHLD)

7 CAN_GND

8 (CAN_V+)

J8 MOTOR FEEDBACk

J7 COnTROL SIGnALS

J6 CAn BUS

J5 RS-232 (DTE)

ISOLATED CIRCUIT

notes:1. CAn circuits are opto-isolated from drive circuits.2. CAn_GnD coects to drive Sigal Groud.3. CAn_SHLD ad CAn_V+ are wired-thru o both J6 coectors ad have o coectio to the drive.

J5 CABLE COnnECTOR:

RJ-11 stle, male, 6 positio

Cable: 6-coductor modular tpe

J6 CABLE COnnECTOR:RJ-45 stle, male, 8 positioCable: 8-coductor modular tpe

J7 CABLE COnnECTOR:

High-Desit D-Sub, 26 Positio, Male

J8 CABLE COnnECTOR:High-Desit D-Sub, 15 Positio, Male

nOTES:

1. The total curret draw from the +5 Vdc outputs caot exceed 400 mA



20/30

RoHS


RTL Series

Signal Pin

Motor Phase U 4

Motor Phase V 3

Motor Phase W 2

Cable Shield 1

Signal Pin

Mains Input L3 4

Protective Ground 3

Mains Input L2 2

Mains Input L1 1

Signal Pin

Regen Resistor 1

No Connection 2

Regen Resistor 3

No Connection 4

Cable Shield 5

Signal Pin





J2 MOTOR OUTPUTS

J3 REGEn RESISTOR

J4 +24 VDC & BRAkE

J1 CABLE COnnECTOR:


with precedig groud receptacleCable: AWG 12, 600 V recommededfor RTL-230-36-R ad RTL-230-40-R models,AWG 14, 600V for RTL-230-18-RShielded cable required for CE compliace

J2 CABLE COnnECTOR:



J3 CABLE COnnECTOR:





Used o J1, J2, J3, & J4Wago 231-131

ISOLATED CIRCUIT

ISOLATED CIRCUIT





21/30

RoHS


RTL Series


1 Frame Gd 6 Hall V 11 Ecoder Cos(-)

2 +5 Vdc (note 1) 7 Ecoder /X 12 Ecoder Cos(+)

3 Hall U 8 Ecoder X 13 Ecoder Si(-)

4 +5 Vdc (note 1) 9 Hall W 14 Ecoder Si(+)




2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)







9 [In12] GP 18 [OUT3]

nOTES:

1. The total curret draw from the +5 Vdc outputs caot exceed 400 mA

Pin Signal

6 No connect

5 TxD Output

4 Ground

3 Ground

2 RxD Input

1 No connect

Pin Signal

1 CAN_H

2 CAN_L

3 CAN_GND

4 No connection

5 No connection

6 (CAN_SHLD)

7 CAN_GND

8 (CAN_V+)

J8 MOTOR FEEDBACk

J7 COnTROL SIGnALS

J6 CAn BUS

J5 RS-232 (DTE)

ISOLATED CIRCUIT


J5 CABLE COnnECTOR:

RJ-11 stle, male, 6 positio

Cable: 6-coductor modular tpe


J7 CABLE COnnECTOR:





22/30

RoHS


RTL Series

Signal Pin

Motor Phase U 4

Motor Phase V 3

Motor Phase W 2

Cable Shield 1

Signal Pin

Mains Input L3 4

Protective Ground 3

Mains Input L2 2

Mains Input L1 1

Signal Pin

Regen Resistor 1

No Connection 2

Regen Resistor 3

No Connection 4

Cable Shield 5

Signal Pin





J2 MOTOR OUTPUTS

J3 REGEn RESISTOR

J4 +24 VDC & BRAkE

J1 CABLE COnnECTOR:

Wago: 51118287 or 721-204/026-045/Rn01-0000Euro-stle 7,5 mm pluggable female termial blocwith precedig groud receptacle


J2 CABLE COnnECTOR:



J3 CABLE COnnECTOR:





Used o J1, J2, J3, & J4Wago 231-131

ISOLATED CIRCUIT

ISOLATED CIRCUIT





23/30

RoHSRTL Series


1 Frame Gd 6 Frame Gd 11 Frame Gd

2 Ref(-) Output R2 7 Si(-) Iput S1 12 Cos(-) Iput S4

3 Ref(+) Output R1 8 Si(+) Iput S3 13 Cos(+) iput S2

4 n.C. 9 n.C. 14 n.C.




2 Ref(-) 11 [In7] HS 20 +5 Vdc (note 1)







9 [In12] GP 18 [OUT3]

nOTES:

1. The total curret draw from the +5 Vdc output caot exceed 400 mA

Pin Signal

6 No connect

5 TxD Output

4 Ground

3 Ground

2 RxD Input

1 No connect

Pin Signal

1 CAN_H

2 CAN_L

3 CAN_GND

4 No connection

5 No connection

6 (CAN_SHLD)

7 CAN_GND

8 (CAN_V+)

J8 MOTOR FEEDBACk

J7 COnTROL SIGnALS

J6 CAn BUS

J5 RS-232 (DTE)

ISOLATED CIRCUIT


J5 CABLE COnnECTOR:

RJ-11 stle, male, 6 positioCable: 6-coductor modular tpe


J7 CABLE COnnECTOR:





24/30

RoHSRTL Series

PaRT nuMbeR deScRIPTIon

RTL-230-18 RTL Series Servodrive 6/18 A



XTL-nk CAnope networ kit

XTL-Ck RTL Series Solder-Cup Coector kit

HDM HDMCoguratio Software CD

SER-Ck HDMRS-232 Cable kit

J6

SInGLE-DRIVE SETUP FOR CAnOPEn POSITIOn COnTROL

See diagram o page 10 forcoectios to:

J1 AC mais powerJ2 Motor phasesJ3 Rege resistorJ4 +24 Vdc Aux Power

canp ntrk Kit XTL-nK

Coects a CAn card to Xeus coector J6ad icludes termiator for last drive o CAn bus(1) CAn card 9-pi D-Sub to RJ-45 adapter(2) 6 ft (2 m) RJ-45 cable(3) CAn termiator

Logic Iputs ad

Outputs

Motor Feedbac:

Resolver adTemperature Sesor

RTL Seriesoperates as a CAn ode. All commads are passed o the CAn bus.HDMis used for setup ad coguratio before istallatio as CAn ode.

Sril cl Kit SeR-cK

Coects a PC serial port to Xeus RX-232 coector J5(1) RS-232 9-pi D-Sub to RJ-11 adapter(2) 6 ft (2 m) RJ-11 cable

orrig Gi

Table below shows parts to order for the coguratio o

this page. See page 19 for other parts required (motor, +24Vdc power suppl, etc.) .ctr/cl Kit XTL-cK

Icludes coectors for J1~J4, J7, J8:(1) Soldercup coectors for J7 & J8(2) Wago coectors for J1~J4

(2)J1~J4 ot show

XTL-nK

XTL-cK

SeR-cK

(1)

(2)

(1)

(2)(3)

J8

J7

J5

(1)




25/30

RoHSRTL Series



RTL-230-36 RTL Series Servodrive 12/36 ARTL-230-40 RTL Series Servodrive 20/40 A

XTL-nk CAnope networ kit

XTL-nC-10 CAn networ Cable,10 ft (3 m)

XTL-nC-01 CAn networ Cable,1 ft (0.3 m)




J6

J6

J6

For multiple-drive istallatios,use the orderig guide o thispage. Computer equipmet isthe same as for sigle-driveistallatios. Ad Serial Cablekit SER-Ck is used whe CME 2is i use for drive set up adcoguratio.

orrig Gi

Table below shows parts to order for the coguratio o this pageSee page 24~25 for other parts required(motor, +24V power suppl, etc.)

For side-b-side drivemoutig, use RTL-nC-01cables that are 1 ft log.

Use RTL-nC-10 cables(legth is 10 ft) wheredistaces betwee drivesis greater.

MULTIPLE-DRIVE SETUP FOR CAnOPEn POSITIOn COnTROL

XTL-nc-10

r

XTL-nc-01

XTL-nK

can Trmitr

XTL-nc-10

orXTL-nc-01

SeR-cK




26/30

RoHSRTL Series








J5

STAnD-ALOnE OPERATIOn

Computer:PC or compatible with

166MHz with 64MB RAM miimum266 MHz with 128MB RAM recommededSerial port (RS-232)Motio cotroller card

Usig the miimum requiremets will allow HDMtoru but the performace will be sigicatl reduced.

RTL Seriestaes digital positio commads i Pulse/Directio, or CW/CCW format from a exteral cotroller or quadrature ecoder sigalsfrom a master-ecoder for electroic gearig. Velocit or torque cotrolca be from 10V, digital PWM sigals.CME 2used for setup ad coguratio.

Digital referece sigals,Logic Iputs ad Outputs

Motor FeedbacResolver adTemperature Sesor

ORDERInG GUIDEThis table shows parts to order for thecoguratio o this pageSee page 24~25 for other parts required(motor, +24 Vdc power suppl, etc.)

coM1

coM2

coMx

HDM

Widows 95, 98, 2000,

ME, ad nT

SeR-cK

XTL-cK

J8

J7 Mti

ctrllr




27/30

RoHSRTL Series

Edge Filter

(Optional)

RS-232

(DTE)

HDMASCII

Control

CAN

Master

CAN

Node(s)

+24 Vdc

Power

Supply

Motor

Quad A/B

Encoder

-S

Models

-R

Models

Sin/Cos

Encoder Resolver

Line Filter

Regen

Resistor

(Optional)

Controlleror

PLC

AC Mains

90~264 Vac

47~63 Hz

1 or 3 ph.

InSTALLATIOn

Reqiredr CE

Reqired

Reqired


RTL S i


28/30

RoHSRTL Series

Heatsi

#6-32 Moutig Screws

Dr Film Iterface Pad

RTL Series Drive

Blue Protective Sheet(Discard)

Clear Protective Sheet(Discard)

HEATSInk & FAn COnFIGURATIOnS

HEATSInk MOUnTInG

A dr-lm iterface pad is used i place of thermalgrease. The pad is die-cut to shape ad has holesfor the heat si moutig screws. There are twoprotective sheets, blue o oe side ad clear o theother. Both must be removed whe the iterface padis istalled.

STEPS TO InSTALL

1. Remove the blue protective sheet from oe sideof the pad ad place the pad o the drive. Maesure that the holes i the pad alig with the holeso the drive.

2. Remove the clear protective sheet from the pad.3. Mout the heatsi oto the drive taig care

to see that the holes i the heatsi, pad,ad drive all lie up.

4. Torque the #6-32 moutig screws to 8~10 lb-i(0.9~1.13 nm).

no heaTSInKno fan

no heaTSInKwITh fan

Low-PRofILeheaTSInKno fan

Low PRofILe heaTSInKwITh fan

STandaRd heaT-SInK

no fan

STandaRd heaTSInKwITh fan

NotE: fANs ARE Not INCluDEDwItH HEAtsINks oR HEAtsINk

kIts


RTL S i


29/30

RoHSRTL Series

20

30

40

50

60

654321

Continuous Output Current (Adc)

AmbientTemperature(C)

Model: RTL-230-18

Mains: 120 Vac

No Heatsink

Low Profile

Heatsink *

1

2

1

2

* All other

heatsink and fan

combinations

enable operation

at 55 C

20

30

40

50

60

121110987654321

No Heatsink

Standard

Heatsink

Low Profile

Heatsink w/fan

Low Profile

Heatsink or

no Heatsink

w/fan

Standard

Heatsink w/fan

4

5

1

2

3

AmbientTem

perature(C)

Model: RTL-230-36

Mains: 120 Vac

1

3

4

5

2


20

30

40

50

60

654321



Model: RTL-230-18

Mains: 240 Vac

No Heatsink

Low Profile

Heatsink *

1

2

All other

heatsink and fan

combinations

enable operation

at 55 C

1

2

3 3

20

30

40

50

60

121110987654321


AmbientTem

perature(C)

Model: RTL-230-36

Mains: 240 Vac

Standard

Heatsink

Low Profile

Heats ink w/fan

Low Profile

Heatsink or

no Heatsink

w/fan

Standard

Heatsink w/fan

5

5

4

1

1

2

2

3

3

4

No Heatsink

20

30

40

50

60

2018161412108642

Continuous Outpu t Current (Adc)

Ambie

ntTemperature(C)

Model: RTL-230-40

Mains: 120 Vac

No Heatsink

Standard

Heatsink

Low Profile

Heatsink w /fan

Low Profile

Heatsink or

no Heatsink

w/fan

Standard

Heats ink w/fan

1

23

4

5

1 2

3

4

5

20

30

40

50

60

2018161412108642



Model: RTL-230-40

Mains: 240 Vac

No Heatsink

Standard

Heatsink

Low P rofile

Heat sink w/fan

Low P rofile

Heatsink orno Heatsink

w/fan

Standard

Heatsink w /fan

1

2

3

4

5

1

2

3

4

5

The charts below show that maximum ambiet temperature vs. cotiuous output curret for the

RTL Seriesmodels. The coolig optios are o heatsi, stadard heatsi, ad low-prole heatsi.For each of these the drive ca be operated with covectio or forced-air coolig.

MAXIMUM OPERATInG TEMPERATURE VS HEATSInk TyPE & AIR CIRCULATIOn


RTL Series


30/30

RoHSRTL Series

QTy Ref deScRIPTIon ManufacTuReRS PaRT nuMbeR

RTL-cK

Coector kit

with

Solder Cup Coectors

forJ7 & J8

1 J1 Plug, 4 positio, 7.5 mm, female Wago: 51118287 or 721-204/026-045/Rn01-0000


1 J3 Plug, 5 positio, 5.0 mm, male Wago: 51111277 or 721-605/000-044/Rn01-0000


4 J1~4 Tool, wire isertio & extractio (for J1~4) Wago: 231-131

1J7

Coector, 26 positio, solder-cup High Desit D-Sub Male, 26 positio coector

1 Bac shell, for 26 positio coector Bacshell for above

1J8

Coector, 15 positio, solder cup High Desit D-Sub Male, 15 positio coector

1 Bac shell, for 15 positio coector Bacshell for above

HDMJ5

HDM Drive Coguratio Software (CD-ROM)

SER-Ck RS-232 Cable kit

Coectors & Software for CAnope Operatio

XTL-nk

1

J6

D-Sub 9F to RJ-45 Adapter

1 CAn bus RJ-45 termiator

1 CAn bus etwor cable, 10 ft (3 m)

XTL-CV 1 D-Sub 9F to RJ-45 Adapter

XTL-nC-10 1 CAn bus networ Cable, 10 ft (3 m)

XTL-nC-01 1 CAn bus networ Cable, 1 ft (0.3 m)

RTL-nT 1 CAn bus networ Termiator

Heatsi kits for Field Istallatio (Optioal)

XTL-HLHeatsi kitLow-Prole

1 Heatsi, low-prole

1 Heatsi thermal material

4 Heatsi hardware

XTL-HSHeatsi kitStadard

1 Heatsi, stadard

1 Heatsi thermal material

4 Heatsi hardware

Add -S to part umbers above for si/cos feedbac or add -R for resolver feedbac models.ORDERInG GUIDE

RTL-230-18 RTL SeriesServo Drive 6/18 Adc

RTL-230-36 RTL Series

Servo Drive 12/36 AdcRTL-230-40 RTL SeriesServo Drive 20/40 Adc

Example: Order oe RTL Seriesdrive, resolver versio, 6/18 A with solder-cup coector kit, CME 2CD, serial cable it ad small heatsi tted at the factor:Qt Item Remars

1 RTL-230-18-R-HS RTL Seriesservo drive1 XTL-Ck Coector kit1 HDM HDM CD1 SER-Ck Serial Cable kit

note: The heatsi ca be tted at the factor b addig a -HS or -HL to the drive part umber to specif the stadard or low-prole tpe. For ttig a heatsi to a drivei the eld, complete its are available (RTL-HS ad RTL-HL). These its cotai the heatsi, moutig hardware, ad dr-lm iterface.

Rev 4.02_mo 07/27/2009note: Specicatios are subject to chage without otice

ACCESSORIES

harmonic rtl series catalog

Documents