Elmo Computer Hardware 1.1 User's Manual
Contents
1. iagram D Ion tal Input Connect igi Figure 3 26 D Guitar Installation Guide MAN GUIIG Ver 1 1 3 11 2 Digital Output Pin Signal Function J1 7 OUTI High Speed Programmable digital output 1 J1 8 OUT2 Programmable digital output 2 J1 9 OUT3 Programmable digital output 3 J1 10 OUT4 Programmable digital output 4 J1 26 OUTRET1 Programmable digital output 1 return J1 25 OUTRET2 Programmable digital output 2 return J1 24 OUTRET3 Programmable digital output 3 return J1 23 OUTRET4 Programmable digital output 4 return I nstallation Pin Position o 10000007 900000000000000 a 0000009 S ee RZ T cS S GUI0044A 3 32 Table 3 8 Digital Output Pin Assignment Guitar Installation Guide I nstallation 3 33 MAN GUIIG Ver 1 1 Controller OUTRET1 OUTRET2 OUTRET3 OUTRET4 GUI0042A Figure 3 27 Digital Output Connection Diagram Guitar Installation Guide MAN GUIIG Ver 1 1 3 11 3 Analog Input Pin Signal Function J2 3 ANLIN1 Analog input 1 J2 4 ANLIN1 Analog input 1 J2 2 ANLRET Analog ground Integration Board Guitar J2 Analog Inputs ANLIN1 Installation 3 34 P2. Maximum output voltage 97 of DC bus voltage at f 22 kHz Amplitude sinusoidal DC continuous current 35 20 25 35 20 25 10 17 45 45 35 30 Sinusoidal continuous RMS current limit Ic 25 14 1 17 7 25 14 1 17 7 21242 7 12 32 31 8 24 8 21 2 Peak current limit 2xlc No peak Weight 165 g 5 8 oz Dimensions 80 x 61 x 24 5 3 15 x 2 4 x 0 965 Digital in Digital out Analog in 6 4 1 Mounting method PCB mount amp Note e Current rating The current ratings of the Guitar are given in units of DC amperes ratings that are used for trapezoidal commutation or DC motors The RMS sinusoidal commutation value is the DC value divided by 1 41 Guitar Installation Guide Guitar Technical Specifications A 5 MAN GUIIG Ver 1 1 A 4 Environmental Conditions Feature Details 0 40 C 32 104 E 20 85 C 4 185 E Operating ambient temperature Storage temperature Humidity 90 maximum non condensing Maximum Operating Altitude Unlimited above 10 000 m 30 000 feet Protection level N A A 4 1 Auxiliary Supply Feature D etails Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 12 VDC 195 VDC Auxiliary supply input power lt 7 5 VA this includes the 5 V 2x200 mA load for the main and auxiliary encoders A 5 Control Sp
3. sese 31 3 PINUS RO AAA AA AA AAA i 3 2 331 Connecor Eyes alal ia ia 32 3 3 2 Conector Toit tror A Po ded Moule L 33 S COnnedof E 34 345 e viel Le bsa EEN 3 5 35 Integrating the Guitar on abPCB sese ee ereer eenn 3 6 S MI Ke 6 PD 36 3 5 2 Grounds and CRUE NAS E 3 6 36 The Guitar Connection Diagram essent 3 8 37 Main Power and Motor POWCF addito dentia eae dla sa itai 39 37 1 Connecting Motor Power eese eterne 3 9 3 7 2 Connecting Main POWE asit Fe past P Potes ud 3 10 3 8 Auxiliary Supply for drive logdicl ida uua ed epe 3 10 3 8 1 A inaia a a a a 311 3 8 2 Separate Auxiliary Supply osi PR p e mede 311 383 Shared Supply se t tread A audent OAN 3 12 3 9 tee 3 13 30 POUR ee no Ru e ioni O a A 3 21 3 10 1 Main and Auxiliary Feedback Combinations 3 22 3 102 Auxiliary Feedback Emulated Encoder Output Option YA 4 24 3 23 3 10 3 Auxiliary Feedback Single Ended Encoder Input Option YA 4 2 3 25 3 10 4 Auxiliary Feedback Pulse and Direction Input Option YA 4 0 3 27 Guitar Installation Guide Contents ii MAN GUIIG Ver 1 1 CAIO ER RE FI RR IR ER RR RITA EER 3 29 SELL Digital ale E EE 3 30 31121 Digital OUtpUE n ente ebrei ia 3 32 EN A Nalog AU cate era 334 ei gi eiert 3 35 3 12 1 RS 232 COMMuUNICAt ON EE 3 35 3 12 2 CANopen Communication 3 36 il POWOBITIQHU Deo orte ee 3 39 3 14 Initializing the E
4. Table3 11 CANopen Pin Assignments I nstallation Pin Position o GOGO00009899999000 0000000000000000 900000000000000 a E N Roses e GUI0044A 3 37 Guitar Installation Guide Installation 3 38 MAN GUIIG Ver 1 1 Integration Board Guitar 1 CAN Interface J1 CAN Controller lt gt peces ele eee etes i 3 J1 32 ps Guitar 2 CAN Interface J1 Guitar n CAN Interface J1 Note If cable is long 5M it is GU0046A recommended to ground at both ends Figure 3 30 CAN open Network Diagram Caution K When installing CANopen communication ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang Guitar Installation Guide Installation MAN GUIIG Ver 1 1 3 39 3 13 Powering Up After the Guitar is connected to its device it is ready to be powered up Caution Before applying power ensure that the DC supply is within the specified range and that the proper plus minus connections are in order 3 14 Initializing the System After the Guitar has been connected and mounted the system must be set up and initialized This is accomplished using the Composer Elmo s Windows based software application Install the
5. Controllers COMMON V I sv m d I I 1K Do I e 1K I o e el ne eat SV I l Kr V Fi d 1K I i Eos 1K I I M S Iii I LL 1nF I i V E EE I TT M X ran s Drain K Wire GUI0039A Figure 3 24 Pulse and Direction Auxiliary Encoder Input Buffered Connection Diagram 3 28 Guitar Installation Guide I nstallation 3 29 MAN GUIIG Ver 1 1 Guitar eo Controller I I I l J1 e D I Auxiliary Feedback Ke i I 1 i i DIR CHB T L HI M 1200 E C d e lt k Ii I bog ma ai PULS CHA Ld M i 12000 i 2 VS l 1 T e a E i COMRET E p COMMON E AJ poc Nr di Nu e Drain i I I K W Vv y gt GUI0040A Figure 3 25 Pulse and Direction Auxiliary Encoder Input Differential Connection Diagram Highly Recommended 3 11 I Os The Guitar has 6 Digital Inputs 4 Digital Outputs and 1 Analog Input 1 0 J1 J2 Total Digital Input 6 6 Digital Output 4 2 Analog Input 1 1 Guitar Installation Guide MAN GUIIG Ver 1 1 3 11 1 Digital Input Each of the pins below can function as an independent input Pin Signal Function J1 11 IN1 Prog
6. e Current Torque up to 14 KHz sampling rate e Velocity up to 7 kHz sampling rate e Position up to 3 5 kHz sampling rate Advanced Positioning Control Modes e PTP PT PVT ECAM Follower Dual Loop Current Follower e Fastevent capturing inputs e Fastoutput compare OC e Motion Commands Analog current and velocity PWM current and velocity digital SW and Pulse and Direction Advanced Filters and Gain Scheduling e On the Fly gain scheduling of current and velocity e Velocity and position with 1 2 4 PIP controllers e Automatic commutation alignment e Automatic motor phase sequencing Fully Programmable e Third generation programming structure with motion commands Metronome e Eventcapturing interrupts e Event triggered programming Feedback Options e Incremental Encoder up to 20 Mega Counts 5 Mega Pulse per second Digital Halls up to 2 KHz e Incremental Encoder with Digital Halls for commutation up to 20 Mega Counts per second for encoder e Interpolated Analog Sine Cosine Encoder up to 250 kHz analog signal nternal Interpolation up to x4096 Automatic Correction of amplitude mismatch phase mismatch signal offset Emulated encoder outputs single ended unbuffered of the Analog encoder Analog Hall Sensor e Resolver Programmable 10 15 bit resolution Up to 512 revolutions per second RPS Emulated encoder outputs single ended unbuffered of the Resolver e Auxiliary Encod
7. CANopen CANbus Signals CAN H CAN L CAN CND Maximum Baud Rate of 1 Mbit sec Version DS301 V4 01 Layer Setting Service and Protocol Support DS305 D evice Profile drive and motion control DS402 A 9 Pulse Width Modulation PWM PWM resolution 12 bit PWM switching frequency on the load 2 Ts factory default 22 KHz on the motor A 10 Standards Compliance A 10 1 Quality Assurance ISO 9001 2000 Quality Management A 10 2 Design Specification Description MIL HDBK 217F Reliability prediction of electronic equipment rating de rating stress etc IPC D 275 Reliability prediction of electronic equipment IPC SM 782 rating de rating stress etc IPC CM 770 Printed wiring for electronic equipment 8 quip UL508c clearance creepage spacing conductors sizing a U L840 etc In compliance with V D E0160 7 IEC 68 Type testing Guitar Installation Guide Guitar Technical Specifications A 15 MAN GUIIG Ver 1 1 A 10 3 Safety Specification Description In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination including clearance and creepage distances of electrical equipment In compliance with UL60950 Safety of information technology equipment including electrical business equipment In compliance with EN 60204 1 Low voltage directive 72 23 EEC A 10 4 EMC Specification Description I
8. K IS E Aer ure 1 indu o Una i ndu Digital Input Schematic Guitar Installation Guide Guitar Technical Specifications A 13 MAN GUIIG Ver 1 1 A 7 2 Digital Output Interface Feature Details Connector Location Type of output Optically isolated Open collector and open emitter Maximum supply output 30V Vcc Max output current Iout max lt 15 mA Iout max Vout Low VOL at maximum output Vout on 0 3 V voltage low level RL External resistor RL must be selected to limit output current to no more than 15 mA _ Vee VOL Io max Executable time If output is set to one of the built in functions Home flag Brake or AOK execution is immediate upon detection 0 lt T lt 4xTS ey 1ndi nO d 3ndi no If output is set to General output and is executed from a program the typical time is approximately 0 5 msec Digital Output Schematic A 7 3 Analog Input Feature Details Maximum operating differential voltage 10V Maximum absolute differential input voltage 16V Differential input resistance 3 74 kQ Analog input command resolution 14 bit Guitar Installation Guide Guitar Technical Specifications A 14 MAN GUIIG Ver 1 1 A 8 Communications Specification Details RS 232 Signals s RxD TxD Gnd Full duplex serial communication for setup and control Baud Rate of 9 600 57 600 bit sec
9. eo a m PE e Pd Y wu T Y ePE Isolated i Transformer i SRO jo i 13 195 VDC AUX BACKUP SUPPLY for Logic TD i l e e l T AB ve i D d M m PR ea e d B hd 5 e esa J OPTIONAL The Guitar Can Operate MM Without the Aux Backup Supply Due to the Diode Coupling Isolated Transformer GUI0024A Figure 3 7 Shared Supply Connection Diagram Guitar Installation Guide I nstallation 3 13 MAN GUIIG Ver 1 1 3 9 Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive The Guitar can accept any one the following devices as a main feedback mechanism Incremental encoder only Incremental encoder with digital Hall sensors Digital Hall sensors only Incremental Analog Sine Cosine encoder option Resolver option Tachometer option Potentiometer option Absolute Encoder optional on the solo board Incremental Interpolated Analog Tachometer and Encoder Encoder Resolver Potentiometer GUI XX YYY_ GUI XX YYYI GUI XX YYYR GUI XX YYYT Pin Signal Function Signal Function Signal Function Signal Function J2 1 5V Encoder Hall 5V Encoder Hall 5V Encoder Hall 5V Encoder Hall 5V supply 5V supply 5V supply 5V supply J2 2 SUPRET Supply SUPRET Supply
10. 1 CHA T mm CHA 12001 1 e cha iu Z I 1 I 1 M T iL G I i T CHB 1200 i ip RW CHB WM Il 1 1 1 E i lt rd ME WII INDEX 12000 i i r RW INDEX I e la I 1 I I i i i Cu Encoder 5V Supply I i Il I 1 i E COMMON M a D L Ss POOR ee LL BOARD rt gt Dram I Wi V Ire I GUI0037A Figure 3 22 Differential Auxiliary Encoder Input Highly Recommended Connection Diagram 3 10 4 Auxiliary Feedback Pulse and Direction Input Option YA 4 0 Pin Signal Function Pin Position J1 28 COMRET Common return J1 5 DIR CHB Direction input push pull 5 V or open collector E 80000000000000000 RSS ESS 000000000000000 J1 4 PULS CHA Pulse input push pull 5 V or open collector Note The Guitar s Auxiliary Feedback is single ended When mounted on an integration board circuitry can be added to make it differential Ey GUI0044A Table 3 6 Pulse and Direction Pin Assignments Guitar Installation Guide MAN GUIIG Ver 1 1 Auxiliary Feedback DIR CHB PULS CHA COMRET With or Without Integration Board I nstallation Controller COMMON V BOARD COMMON V A 0 GUI0038A Figure 3 23 Pulse and Direction Auxiliary Encoder Input Direct Connection Diagram Auxiliary Feedback DIR CHB PULS CHA COMRET
11. 13 of Council Directive 93 68 EEC amending Council Directive 73 23 EEC concerning electrical equipment designed for use within certain voltage limits the Guitar meets the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the equipment meet the limits required by EMC regulations is the manufacturer of the end product 1 5 Warranty I nformation The products covered in this manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description All Elmo drives are warranted for a period of 12 months from the time of installation or 18 months from time of shipment whichever comes first No other warranties expressed or implied and including a warranty of merchantability and fitness for a particular purpose extend beyond this warranty Guitar Installation Guide Introduction MAN GUIIG Ver 1 1 Chapter 2 Introduction This installation guide describes the Guitar servo drive 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 1 Drive Description The Guitar series of digital servo drives is designed to deliver the highest density of power and intelligence The Guitar delivers up to 4 8 kW of continuous power or 5 4 kW of peak power in a 119 6 cc 6 95 in
12. 4 0 Aux Feedback input Incremental Encoder Input Main Feedback Incremental Encoder Aux Feedback There is no Aux Feedback output option when an Incremental Encoder is the main feedback device Interpolated Analog Sin Cos Encoder Input Feedback Analog Encoder Aux Feedback Analog Encoder position data emulated in single ended unbuffered Incremental Encoder format Typical Applications Main Feedback Resolver Main Feedback Potentiometer or Tachometer i Aux Feedback Resolver position data emulated in single ended unbuffered Incremental Encoder format Aux Feedback Tachometer or Potentiometer position data emulated in single ended unbuffered incremental encoder format Analog Encoder applications where position data is required in the Encoder s quadrature format Resolver applications where position data is required in the Encoder s quadrature format Tachometer or potentiometer applications where position data is required in the Encoder s quadrature format Main Feedback Incremental Encoder or Analog Encoder or Resolver or Tachometer or Potentiometer Single ended Incremental Encoder Input Any application where two feedbacks are used by the drive The Auxiliary Feedback port serves as an input for the auxiliary incremental encoder For applications such as Follower ECAM or Dual Loop Main Feedback Increm
13. 6 Current control 2 2 D Design A 14 Differential auxiliary input 3 25 Digital output Cable 3 32 Digital output interface A 13 E EMC A 15 Environmental conditions A 5 F Fault protection 2 3 Feedback Options 2 3 A 6 Supply voltage A 7 Feedback options A 7 A 8 A 12 G Grounding 1 1 Auxiliary power cable 3 10 CAN open cables 3 36 RS 232 cable 3 35 Guitar Initializing 3 39 Powering up 3 39 Technical specifications A 1 Type designation number 3 1 Unpacking 3 1 Incremental Encoder 3 13 Initializing the Guitar 3 39 Interpolated Analog Encoder 3 13 M Main encoder buffered outputs 3 21 3 23 Main feedback cable 3 13 Main power cable 3 9 3 10 M aximum Relative humidity 3 1 Mounting the Mini Saxophone 3 5 P Packing A 15 PCB A 15 Position control 2 2 Potentiometer 3 13 3 20 Power cables 3 9 Powering up the Guitar 3 39 Pulse and direction input 3 27 Guitar Installation Guide Index 1 2 MAN GUIIG Ver 1 1 Q Quality Assurance A 14 R Relative humidity 3 1 Resolver 3 13 RoHS A 15 RS 232 3 35 S Safety 1 1 A 15 Cautions 1 2 Standards 1 3 Warnings 1 2 Single ended auxiliary input 3 21 Site requirements 3 1 Specifications Analog input A 13 Auxiliary power supply A 5 Control A 5 A 6 Digital output interface A 13 Environment A 5 Feedback options A 6 A 7 A 8 A 12 Feedback supply vo
14. CHA L RL NN CHA J2 6 Di UI NE CHA Cm NN CHA am CHB mm mm CHB Jag o UI CHB I mm CHB J29 1 E INDEX m i mm INDEX INDEX am i L RJ INDEX EM a E 5v m p Encoder Hall 5v Supply SUPRET 222 UI n Hall Encoder Supply Voltage Return Bum m Si d sn 4 i Drain i T Vi E Wire DA GUI0025A Figure 3 8 Main Feedback Incremental Encoder with Digital Hall Sensors Connection Diagram Guitar Installation Guide I nstallation 3 15 MAN GUIIG Ver 1 1 Guitar J2 Main Feedback Sine Cosine Encoder Encoder 5v Supply Encoder Return GUI0026A Figure 3 9 Main Feedback Interpolated Analog Encoder Connection Diagram Guitar Installation Guide I nstallation 3 16 MAN GUIIG Ver 1 1 Sine Cosine Encoder with Hall Sensors HC ii HB um Encoder 5v Supply Encoder Return GUI0051A Figure3 10 Main Feedback Interpolated Analog Encoder with Digital Hall Sensors Connection Diagram 3 17 Installation Guitar Installation Guide MAN GUIIG Ver 1 1 CH o 2 o 0 o D Integration Board x o 2 o o u G The shield is not connected to the ground or motor chassis GUI0027A Figure 3 11 Main Feedback Resolver Connecti
15. application and then perform setup and initialization according to the directions in the Composer Software M anual 3 15 Heat Dissipation The best way to dissipate heat from the Guitar is to mount it so that its heatsink faces up For best results leave approximately 10 mm of space between the Guitar s heatsink and any other assembly 3 15 1 Guitar Thermal Data e Heat dissipation capability 0 Approximately 8 C W e Thermal time constant Approximately 360 seconds thermal time constant means that the Guitar will reach 2 3 of its final temperature after 6 minutes e Shut off temperature 86 C 88 C measured on the heatsink 3 15 2 Heat Dissipation Data Heat Dissipation is shown in graphically below Guitar 48V Power Dissipation 40V 30V 20V t External Heatsink Required Power Dissipation Watt Heatsink not Required 45 Continuous Current Amp Guitar Installation Guide MAN GUIIG Ver 1 1 Installation Power Dissipation Watt Guitar 60V Power Dissipation 15 20 25 30 Continuous Current Amp 50V 30V 20V t External Heatsink Required Heatsink not Required 35 40 45 40 35 30 Power Dissipation Watt A A lt ERR 10 15 20 25 30 Continuous Current Amp Guitar 100V Power Dissipation 85V 50V 30V t External Heatsink Required Heatsink not Required d 3 40 Guitar Installation Guide Installa
16. is connected to the shield of the connector used for RS 232 communications The drain wire can be used to facilitate the connection Pin Signal Function Pin Location J1 1 RS232_Rx RS 232 receive J1 2 RS232_Tx RS 232 transmit J1 3 RS232 COMRET Communication return z o QOOOQOQOOOQOOHOOOOOO 900000000000000 a 20000000000000060 GUI0044A Table 3 10 RS 232 Pin Assignments Guitar Installation Guide I nstallation 3 36 MAN GUIIG Ver 1 1 Integration Board PC RS232 Guitar RS232 Communication J1 Tx Il GUI0045A Figure 3 29 RS 232 Connection Diagram 3 12 2 CANopen Communication amp Notes for connecting the CAN open communication cable Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection Ensure that the shield of the cable is connected to the shield of the connector used for communications The drain wire can be used to facilitate the connection Make sure to have a 120 ohm resistor termination at each of the two ends of the network cable The Guitars CAN port is non isolated Guitar Installation Guide MAN GUIIG Ver 1 1 Pin Signal Function J1 30 CAN GND CAN ground J1 31 CAN L CAN L busline dominant low J1 32 CAN H CAN H busline dominant high
17. power for both the main power and the Auxiliary Drive Logic Supply The drawing below shows how a single supply is connected Integration Board Guitar nigi delie EES 12 195v e e Isolated DC Power Supply d E E 7 E AA 25 e 1 RE SI GUI0022A Figure 3 5 Single Supply for both the Main Power Supply and the Auxiliary Supply 3 8 2 Separate Auxiliary Supply Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply 1 e Integration Board 12 195v Isolated Auxiliary Backup DR I PESE e Se Guitar va il GUI0023A Figure 3 6 Separate Auxiliary Supply Connection Diagram Guitar Installation Guide I nstallation 3 12 MAN GUIIG Ver 1 1 3 8 3 Shared Supply A Main DC Power Supply can be designed to supply power to the drive s Logic as well as to the Main Power see Figure 3 5 and the upper portion of Figure 3 7 If backup functionality is required for storing control parameters in case of power outs a backup supply can be connected see the Aux Backup Supply in Figure 3 7 MA Eed rg bet pe ed beem n ey Integration Board FTN Guitar del Main DC Aa A Power i I M E Kan Supply E PR o mi BS Pl i l
18. return SUPRET Supply return SUPRET Supply return return J2 3 ANALIN is used for Analog Input J2 4 ANALIN is used for Analog Input J2 5 CHA Channel A A Sine A S1 Sine A Tac1 TachoInput1 Pos 20V max J2 6 CHA Channel A A Sine A S3 Sine A Tac 1 Tacho Input 1 complement complement complement Neg 20V max J2 7 CHB Channel B B Cosine B S2 Cosine B Tac 2 TachoInput2 Pos 50V max J2 8 CHB Channel B B Cosine B S4 Cosine B Tac2 TachoInput2 complement complement complement Neg 50V max J2 9 INDEX Index R Reference R1 Vref f 1 TS POT Potentiometer 50mA Max Input 5V Max J2 10 INDEX Index R Reference R2 Vref NC complement complement complement f 1 15 50mA Maximum J2 11 HA Hallsensor HA NC HA Hall sensor A A input input J2 12 HB Hallsensor HB NC HB Hall sensor B B input input J2 13 HC Hallsensor HC NC HC Hall sensor C C input input J2 14 LED 2 OUT AOKLED cathode is used for LED indication J2 15 LED_1_OUT AOKLED anode is used for LED indication Table 3 3 Main Feedback Pin Assignments Guitar Installation Guide MAN GUIIG Ver 1 1 Guitar I nstallation 3 14 J2 WN uU l Incremental Encoder Main Feedback J2 13 e e with Hall Sensors Hc CR gN Hall C 2 12 UI MEE HB o ma Hall B Jai d HA Cm Cm Hall A 42 5 E e
19. x4096 A OMR correction of amplitude mismatch phase mismatch signals o Auxiliary emulated unbuffered single ended encoder output e Resolver Programmable 10 15 bit resolution Up to 512 revolutions per second RPS Auxiliary emulated unbuffered single ended encoder output e Tachometer Potenti ometer e Elmo drives provide supply voltage for all the feedback options 2 2 7 Fault Protection The Guitar includes built in protection against possible fault conditions including e Software error handling e Status reporting for a large number of possible fault conditions e Protection against conditions such as excessive temperature under over voltage loss of commutation signal short circuits between the motor power outputs and between each output and power input return e Recovery from loss of commutation signals and from communication errors Guitar Installation Guide Introduction 2 4 MAN GUIIG Ver 1 1 2 3 System Architecture 12 195 VDC Power Supply Optional 12 195 VDC Auxiliary Supply Power Stage Figure 2 1 Guitar System Block Diagram Guitar Installation Guide Introduction MAN GUIIG Ver 1 1 2 4 How to Use this Guide In order to install and operate your Elmo Guitar servo drive you will use this manual in conjunction with a set of Elmo documentation Installation is your first step after carefully reading the safety instructions in the first chapter the following chapt
20. E 3 39 3 15 Heat Diseipatiol lae iaia 3 39 3 15 1 Eeleren Ce EE 3 39 3 15 2 Heat Dissipation Re tin A ee iaia 3 39 3 15 3 How to Use tne Charts ce ete a bee odes 341 3 16 Evaluation Board and Cable Kit 341 Appendix Guitar Technical Specifications eene A 1 AT Fees TT A 1 AI Motion Control Modes siete atre ledro ia A 1 A 1 2 Advanced Positioning Control Modes sse A 1 A 13 Advanced Filters and Gain Scheduling sss A 1 A 1 4 Fully Programmable s oa occi tl ta de pre es A 1 ASLS Feedback O IA e ES A 1 AIG IP AS le EE EOG A 2 AKT Built In Protectiol ica cet dd ee lana A 2 ANO AEE OS suli E A 3 ALO Status indicati Nivolet A ea A 3 A ATO Automatic Procedures a Geta ate el od A 3 A2 Guitar DIMensionis a an ii e A 3 A3 Power RAUNOS 20002 taa cadens re i YF A FL A A 4 A 4 Environmental tee A 5 Au Auxiliary Supply isnin EE dea A 5 AS CODO SP OCITICAELONS EE A 5 ASI Curent e le a aer e esae p e UE Lnd oe A 5 A lt S 2 Melodty OOD ciet retro a id A 6 A53 POSH ONL OOP esset e A 6 AO FERA DIES E A 7 A61 Feedback Supply Voltages s anon De odes A 7 A62 Main Feedback Options oed at E x d A 7 A 6 2 1Incremental Encoder Input A 7 A62 2Digital Falls roh dtr e ted x dtd ed eddie A 8 A 6 2 3Interpolated Analog Encoder Sine COS NE A 8 Ab AROS sli A 9 A 6 2 5 Tacho eb OE Toce indep dr SD le A 9 A 6 2 6POLen enn
21. E XP V Den e 6 6 6 Wire B Aux Feedback e Controller I 4095 i CH J I x AU Main Feedback 0 Main e e Feedback omn a L P dI 4 nta T ARR e 1 H E um M3 Power a t i Connectors IM BE I p d mum i m M2 I i I i i M I I i b m eg SS N6 D lt I I i I I l i m mir INRETS S EN FF T OUT1 DI OUTRET1 gt D D oui 3 DC Power um i Supply II OUTRET2 gt rne mm l HE ni i JR d E OUTRET3 i M OUT4 _ do i wl NN Transformer OUTRET4 gt m SH ANALIN1 Yn 5 ANALIN1 ANALINI ANALIN1 Circuit i Circuit Common i ji Common LED 1 OUT V LED 2 OUT BI COLOR LED GUI0019A Figure 3 2 The Guitar Connection Diagram Guitar Installation Guide MAN GUIIG Ver 1 1 3 7 Main Power and Motor Power Pin Function Cable VP Pos Power input Power PR Power return Power PE Protective earth Power AC Motor DC Motor PE Protective earth Motor Motor M1 Motor phase Motor N C M2 Motor phase Motor Motor M3 Motor phase Motor Motor I nstallation Pin Positions GUI0018A When connecting several drives to several motors all should be wired in an identical manner This will enable the same SimpllO program to run on all drives 3 7 1 Table 3 1 Connector for M ain Power and Motor Connecting Motor Power Con
22. Emulated Encoder Output Option is only available when using a Resolver Analog Encoder Tachometer Potentiometer or Absolute Encoder as the main feedback device The absolute model provides differential emulated encoder output This option can be used when The Guitar is used as a current amplifier to provide position data to the position controller The Guitar is used in velocity mode to provide position data to the position controller The Guitar is used as a master in follower or ECAM mode b Single ended auxiliary encoder input for the input of position data of the master encoder in follower or ECAM mode c Pulse and direction input for single ended input of pulse and direction position commands When using one of the auxiliary feedback options the relevant functionality is software selected for that option Refer to the Simpll0 Command Reference M anual for detailed setup information Guitar Installation Guide MAN GUIIG Ver 1 1 3 10 1 Main and Auxiliary Feedback Combinations Installation 3 22 The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often but not always used The Auxiliary Feedback connector on the Guitar has three bi directional pins CHA CHB and INDEX When used in combination with Main Feedback the Auxiliary Feedback can be set by software as follows Auxiliary Feedback YA 4 4 Aux Feedback output YA 4 2 Aux Feedback input YA
23. Ended Auxiliary Encoder Pin Assignment Figure 3 20 Single ended Auxiliary Encoder Input Acceptable Connection Diagram With or Without Integration Board Auxiliary Feedback Single Ended Encoder l l I l I CHA 4 l 1 SUPRET Encoder 5V Supply COMMON V L GUI0035A Guitar Installation Guide MAN GUIIG Ver 1 1 Auxiliary Feedback CHA I nstallation 3 26 I sv SE d I DEC I Single Ended 1K 85 y Encoder I d 1K iI NE 1 i 1 1 di M i ir Itri EE poros NE inf SE wu Z boc od mE It i pi 1K I j Por E 1K te i Li fi WS no NE pos i 1nF E dj iu pio E TE rod 1K Ir EN Ir il Dt 1K DI ii Oe It EE b ES E ine a a Loti ME It pi T ld 1 loi RES m lt _ Encoder 5V Supply i Wb E S COMMON t j I i Drain gt Wire BOARD i COMMON I GUI0036A Figure 3 21 Single ended Auxiliary Encoder Input Recommended Connection Diagram Guitar Installation Guide Installation 3 27 MAN GUIIG Ver 1 1 EN N N NS l i I Guitar J1 y ce i Encoder 1 Auxiliary Feedback Lus ae lt es I
24. Guitar Digital Servo Drive Installation Guide July 2008 Ver 1 1 De Elmo 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 Guitar servo drive in its installation Thetext 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 GUIIG Ver 1 1 Copyright 2008 Elmo Motion Control Ltd All rights reserved Guitar Catalog Number Dpergling Voliage GUI AR JXXYYYE Blan Standard Blank incremental Encoder Am Advanced ardor Hate Bisi Standard Ri Raivi t lt Ho peak curent iter latent Continue Cumeni Analog Encender ris TazTachermalar amp Folaniiaenaebe Maximum DC Qe Ahsolule Encoder Gpbonal an be Soin Bong Related Products Evaluation Board Catalog Number Evaluation Board User Manual To be assigned In development Revision History Ver LO April 2008 Ver 1 1 July 2008 Heat dissipation data added in Chapter 3 Elmo Motion Control L
25. Pri Pen Ben Phase A input Phase B input Pui FigureA 3 Auxiliary Feedback Encoder Phase Diagram G uitar Installation Guide MAN GUIIG Ver 1 1 A 7 I Os The Guitar has Feature Type of input 6 Digital Inputs 4 Digital Outputs A 7 1 Digital Input I nterfaces Details Optically isolated Each input has its own return Guitar Technical Specifications Input current for all inputs Iin 2 4 mA Vin 5 V High level 25V Vin 10V 5V typical input voltage Low level 0V Vin 1V input voltage Minimum pulse width gt 4x TS where TS is sampling time Execution time all inputs the time from application of voltage on input until execution is If input is set to one of the built in functions Home Inhibit Hard Stop Soft Stop Hard and Soft Stop Forward Limit Reverse Limit or Begin execution is immediate upon detection 0 lt T lt 4xTS If input is set to General input execution depends on program Typical execution time 0 5 msec complete High speed T 5 usec inputs 5 amp 6 Notes minimum pulse Home mode is high speed mode and can be width in high used for fast capture and precise homing speed mode High speed input has a digital filter set to same value as digital filter EF of main encoder Highest speed is achieved when turning on optocouplers A A 12 1 Analog Input Schematic Diagram
26. Tacho pj GC M Up to 50v max feedback voltage i i use with applications having a Tac2 i 1 Tacho tacho voltage above 20v and below 50v ur n E x4 Drain Wire 4 GUI0029A Figure 3 14 Main Feedback Tachometer Feedback Connection Diagram for Brush Motors Guitar Installation Guide I nstallation 3 20 MAN GUIIG Ver 1 1 Potentiometer with Hall Sensors Main Feedback HC i um HB m HA 4 m Cm 5V Supply SUPRET Cm Voltage Return V GUI0030A Figure 3 15 Main Feedback Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors r e DIT SS Potentiometer Main Feedback j 0 es J2 9 EE f Pop rod A POT um EE CH E J2 1 d I 4 5V Supply m 5V L R S IN Loa pod lor J2 2 EN SUPRET EE NE m mm Nd Ni 1 1 1 WE Voltage Return leg e V MES Drain be Wire iv ln iui Loi GUI0031A Figure 3 16 Main Feedback Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils Guitar Installation Guide Installation 3 21 MAN GUIIG Ver 1 1 3 10 Auxiliary Feedback For auxiliary feedback select one of the following options a Single ended emulated encoder outputs used to provide emulated encoder signals to another controller or drive The
27. ange Thisis much moreflexiblethan a standard 24 VDC power supply requirement If back up power is not needed two terminals VP and VL are shorted so that the main power supply will also power the control logic supply In this way there is no need for a separate control logic supply The Guitar is a PCB mounted device which enables efficient and economic implementation The Guitar is availablein two models The Standard Guitar is a basic servo drive which operates in current velocity and position modes including Follower and PT amp PVT It operates simultaneously via RS 232 and CAN open DS 301 DS 305 DS 402 communications and features a third generation programming environment MAN GUIIG Ver 1 1 Guitar Installation Guide Introduction TheAdvanced Guitar includes all the motion capabilities and communication options included in the Standard model as well as advanced positioning capabilities ECAM Dual Loop and increased program size Both versions operate with RS 232 and CAN open communication 2 2 Product Features 2 2 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 2 2 2 Velocity Control Fully digital Programmable PI and FFW feed forward control filters Sample rate two times curre
28. at Sine Cosine Differential Input resistance Differential 2 49 kQ Resolution Programmable 10 15 bits Maximum electrical frequency RPS 512 revolutions sec Resolver transfer ratio 0 5 Reference frequency 1 Ts Ts sample time in seconds Reference voltage Supplied by the Guitar Reference current up to 50 mA Encoder outputs pe Encoder Output specifications A 6 2 5 Tachometer Maximum operating differential 20 V voltage for TAC1 TAC1 Maximum absolute differential input 25 V voltage for TAC1 TACI Maximum operating differential 50 V voltage for TAC2 TAC2 Maximum absolute differential input 260 V voltage for TAC2 TAC2 Input resistance for TAC2 TAC2 100 kQ Only one Tachometer port can be used at a time either TAC1 TAC1 or TAC2 TAC2 TAC1 TACI is used in applications with having a Tachometer of less than 20 V TAC2 TAC2 is used in applications with having a Tachometer of between 20 V and 50 V Guitar Installation Guide Guitar Technical Specifications A 10 MAN GUIIG Ver 1 1 A 6 2 6 Potentiometer Operating Voltage Range 0 5 V supplied by the Guitar Potentiometer Resistance 100 1 kQ above this range linearity is affected detrimentally A 6 3 Auxiliary Feedback Port output mode YA 4 4 Feature Details Emulated output A B Index Single ended Output current capability Maximum output current lou max High level output volta
29. ay install adjust maintain and repair the servo drive A qualified person hasthe knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Guitar servo drive contains electrostati c sensiti ve components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials such as plastic film and synthetic fabrics Placethe product on a conductive surface and ground yourself in order to discharge any possible static electricity build up To avoid any potential hazards that may cause severe personal injury or damageto the product during operation keep all covers and cabinet doors shut Thefollowing safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily injury Caution This information is necessary for preventing damage to the product or to other equipment Note E This is auxiliary information that ensures the correct operation of the equipment Guitar Installation Guide Safety Information 1 2 MAN GUIIG Ver 1 1 1 1 Warnings p Cleaning after soldering d To avoid damageto the product s acrylic coating the Bassoon must not be cleaned after soldering with soluble solvents or water based cleaners For further details see www elmomc com applications article Soldering and Cleaning Ap
30. chnical Specifications A 3 MAN GUIIG Ver 1 1 A 1 8 Accessories e Heatsinks TBD e Evaluation Board Cable Kit A 1 9 Status Indication e Output for a bi color LED A 1 10 Automatic Procedures e Commutation alignment e Phase sequencing e Current loop offset adjustment e Current loop gain tuning e Current gain scheduling e Velocity loop offset adjustment e Velocity gain tuning e Velocity gain scheduling e Position gain tuning A 2 Guitar Dimensions immun S i Y 5 0 o F gt o lt o lt 4 2 d 61 0 5mm D3 50x4 o 4h S23 333 33 333 333 333 ee E E pE e TI o co GUI0004B 0000000000000060 O S88sssssssssssss o V Guitar Installation Guide Guitar Technical Specifications A 4 MAN GUIIG Ver 1 1 A 3 Power Ratings Feature Units 35 48 20 60 25 60 35 60 3 200 6 200 17 200 R35 100 R45 48 R45 60 R30 200 Minimum supply voltage VDC 11 14 23 46 11 23 46 Nominal supply voltage VDC 42 50 85 170 42 50 85 170 Maximum supply voltage VDC 48 59 95 195 48 59 95 195 Maximum continuous power output 1300 960 1200 1700 1600 2000 480 960 1600 2700 1700 2200 2800 4800 Efficiency at rated power at nominal conditions gt 97
31. e P S PR Power Return RS232 Communications RS232 COMRET J1 3 CAN Communications CAN COMRET 71 30 Control section COMRET J1 28 Main Feedback SUPRET J2 2 Aux Feedback SUPRET 1 6 Analog input ANLRET J2 2 The returns above are all shorted within the Guitar in a topology that results in optimum performance 1 When wiring the traces of the above functions on the Integration Board the Returns of each function must be wired separately to its designated terminal on the Guitar DO NOT USE A COMMON GROUND PLANE Shorting the commons on the Integration Board may cause performance degradation ground loops etc Guitar Installation Guide Installation MAN GUIIG Ver 1 1 2 Inputs The 6 inputs are optically isolated from the other parts of the Guitar Each input has a separate floating return INRET1 for input 1 and INRET2 for input 2 etc To retain isolation the Input Return pins as well as other conductors on the input circuit must be laid out separately 3 Outputs The 4 outputs are optically isolated from the other parts of the Guitar Each output has a separate floating return OUTRET1 for output 1 and OUTRET for output 2 etc To retain isolation the Output Return pins as well as other conductors on the output circuit must be laid out separately 4 Return Traces The return traces should be as large as possible but without shorting each other and with minimal cross overs 5 Main Power Supply and M o
32. ecifications A 5 1 Current Loop Feature Details Controller type Vector digital Compensation for bus voltage On the fly automatic gain scheduling variations Motor types AC brushless sinusoidal DC brushless trapezoidal DC brush Linear motors Voice coils Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a pair of PI controls of AC current signals and constant power at high speed Current loop bandwidth 2 5 kHz Guitar Installation Guide Guitar Technical Specifications A 6 MAN GUIIG Ver 1 1 Feature Current sampling time Details Programmable 70 100 usec Current sampling rate Up to 16 kHz default 11 KHz A 5 2 Velocity Loop Feature Controller type Details PI Velocity control Fully digital Programmable PI and FFW control filters On the fly gain scheduling Automatic manual and advanced manual tuning Velocity and position feedback options Velocity sampling time Velocity loop bandwidth Incremental Encoder Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional Tachometer and Potentiometer optional Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative 350 Hz 140 200 usec 2x current loop sample time Velocity sampling rate Up t
33. ental Encoder or Analog Encoder or Resolver or Tachometer or Potentiometer Aux Feedback Single ended Pulse amp Direction Commands Any application where two feedbacks are used by the drive The Auxiliary Feedback port serves as an input for Pulse amp Direction Commands Guitar Installation Guide MAN GUIIG Ver 1 1 I nstallation Pin Position 3 10 2 Auxiliary Feedback Emulated Encoder Output Option YA 4 4 Pin Signal Function J1 28 COMRET Common return J1 29 INDEX Auxiliary index output J1 5 CHBO Auxiliary Channel B output J1 4 CHAO Auxiliary Channel A output amp Note The Emulated Encoder Output Option is only available when using a Resolver Analog Encoder Tachometer or Potentiometer as the main feedback device we Note The Guitar s Auxiliary Feedback is single ended When mounted on an integration board circuitry can be added to make it differential o 099909990999 009909999900 a 00006 900000000000000 e ES GUI0044A 3 23 Table 3 4 Emulated Single Ended Encoder O utput Pin Assignments Controller or Guitar COMMON lt a ne RE 17 With or Without I Integration Board l l boo Auxiliary Feedback l n ch J1 4 CHAO LR k l J1 5 I i f mr L R l J1 29 l gt m i J1 28 COMRET f l Cm mm V KITE Functionali
34. er oet iret ted rei biben A 10 A 6 3 Auxiliary Feedback Port output mode Y A 4 4 A 10 A 6 4 Auxiliary Feedback Port input mode YA 4 2 O A 11 AT Ta EE A 12 A 7 1 Digital InputInterfaces iraniani A 12 A 7 2 Digital Output Interface A 13 Guitar Installation Guide Contents iii E annat aa a n A a A 13 An COMMUNI CHON pza a CN ot OI DOE a A 14 A 9 Pulse Width Modulation PWM A 14 A 10 Standards ein Ee E A 14 AO TO Ualtty ASSURANCE os il d ec HO sacs A 14 A 102 DEJN m E A 14 A 10 3 Sale cae eoa ila t UL eee UE A 15 Ac OEM latina un faEtiam A 15 A 10 5 ee e E Pessoa dice lieta A 15 A108 PCB 2 des Qut delicat ott e lai rale CO A 15 B IO PARIO DE A 15 AOS WV EEE sinuni rania o o WY EN HR ai Le A 15 A09 ROBES ecd oia a lie ira A 15 Guitar Installation Guide MAN GUIIG Ver 1 1 Chapter 1 Safety Information In order to operate the Guitar servo drive safely it is imperative that you implement the safety procedures included in this installation guide This information is provided to protect you and to keep your work area safe when operating the Guitar and accompanying equipment Please read this chapter carefully before you begin the installation process Before you start ensure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth connection Only qualified personnel m
35. er inputs ECAM follower etc single ended unbuffered e Tachometer amp Potentiometer e The Guitar can provide power 5 V 2x200 mA max for Encoders Resolver or Halls Guitar Installation Guide Guitar Technical Specifications A 2 MAN GUIIG Ver 1 1 A 1 6 Input Output e One Analog Input up to 14 bit resolution e Six separate programmable Digital Inputs optically isolated two of which are fast event capture inputs nhibit Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion Homing General purpose e Four separate programmable Digital Outputs optically isolated open collector one with fast output compare OC Brake Control Amplifier fault indication General purpose Servo enable indication e Pulse and Direction inputs single ended e PWM current command output for torque and velocity A 1 7 Built In Protection e Software error handling e Abort hard stops and soft stops e Status reporting e Protection against Shorts between motor power outputs Shorts between motor power outputs and power input return Failure of internal power supplies Over heating Continuous temperature measurement Temperature can be read on the fly a warning can be initiated x degrees before temperature disable is activated Over Under voltage Loss of feedback Following error Current limits Guitar Installation Guide Guitar Te
36. ers provide you with installation instructions as follows Chapter 3 Installation provides step by step instructions for unpacking mounting connecting and powering up the Guitar The Appendix Technical Specifications lists all the drive ratings and specifications U pon completing the instructions in this guide your Guitar servo drive should be successfully mounted and installed From this stage you need to consult higher level Elmo documentation in order to set up and fine tune the system for opti mal operation Thefollowing figure describes the accompanying documentation that you will require CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual Programming Composer User Manual Setup Guitar Installation Guide Guitar Evaluation Board User Guide Figure 2 2 Elmo Digital Servo Drive Documentation Hierarchy Guitar Installation Guide Introduction 2 6 MAN GUIIG Ver 1 1 As depicted in the previous figure this installation guide is an integral part of the Guitar documentation set comprising TheSimpllQ Software M anual which describes the comprehensive software used with the Guitar TheSimpllQ Command Reference M anual which describes in detail each software command used to manipulate the Guitar motion controller The Composer Software M anual which includes explanations of all the software tools that are part of Elmo s Composer software environment TheGuitar Evalua
37. ge Vou gt 3 0 V Minimum output current lo 2 mA Low level output voltage Vor 0 4 V Available as options Emulated encoder outputs of analog encoder Emulated encoder outputs of the resolver Emulated encoder outputs of the tachometer Emulated encoder outputs of the potentiometer Maximum frequen fmax 5 MHz pulses output quency P P Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Peru Pen Pen Ben Phase A input U 1 Phi 1 Phase B input Put Figure A 2 Auxiliary Feedback Encoder Phase Diagram Guitar Installation Guide Guitar Technical Specifications A 11 MAN GUIIG Ver 1 1 A 6 4 Auxiliary Feedback Port input mode YA 4 2 0 Encoder input A B Index pulse and direction input Single ended Input voltage Vin Low 0 V lt Vir lt 0 8 V Vin High 2 V lt Viu 5V Maximum absolute voltage 0 lt Vin lt 5 5 V Input current 1 pA Available as options Single ended Encoder inputs Pulse and Direction inputs Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B Ben
38. in Position de 0000000000000000i e N 920000000000000 a 0000000000000000 S N Ey GUI0044A Table 3 9 Analog Input Pin Assignments Single Ended Source ANLIN1 ANLRET lA GUI0043A Figure 3 28 Analog Input with Single ended Source Guitar Installation Guide Installation MAN GUIIG Ver 1 1 3 35 3 12 Communications The communication interface may differ according to the user s hardware The Guitar can communicate using the following options a RS 232 full duplex b CANopen RS 232 communication requires a standard commercial 3 core null modem cable connected from the Guitar to a serial interface on the PC The interface is selected and set up in the Composer software In order to benefit from CAN open communication the user must have an understanding of the basic programming and timing issues of a CANopen network For ease of setup and diagnostics of CAN communication RS 232 and CANopen can be used simultaneously 3 12 1 RS 232 Communication amp Notes for connecting the RS 232 communication cable Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection The RS 232 communication port is non isolated Ensure that the shield of the cable
39. l mode 7 V Guitar Installation Guide Guitar Technical Specifications CH A 8 MAN GUIIG Ver 1 1 Phase A input Peu Pen Peu Ben Phase B input Figure A 1 Main Feedback Encoder Phase Diagram A 6 2 2 Digital Halls Feature Halls inputs D etails Ha Hs Hc Single ended inputs Built in hysteresis of 1V for noise immunity Input voltage Nominal operating range 0 V lt Vin Hai lt 5 V Maximum absolute 1 V lt Vi Hai 15 V High level input voltage V InHigh gt 2 5 V Low level input voltage V inLow lt 1 V Input current Sink current when input pulled to the common 5 mA Maximum frequency fmax 2 kHz A 6 2 3 Interpolated Analog Encoder Sine Cosine Feature Analog encoder format Analog input signal level Input resistance Maximum analog signal frequency Interpolation multipliers Maximum counts frequency Details Sine and Cosine signals Offset voltage 2 2 V 2 8 V Differential 1 V peak to peak Differential 120 Q fmax 250 kHz Programmable x4 to x4096 80 mega counts sec internally Automatic errors correction Signal amplitudes mismatch Signal phase shift Signal offsets Guitar Installation Guide Guitar Technical Specifications A 9 MAN GUIIG Ver 1 1 Encoder outputs See Auxiliary Encoder Outputs specifications A 6 3 A 6 2 4 Resolver Feature Details Resolver form
40. ltage A 7 Standards 1 3 Standards Compliance Design A 14 EMC A 15 Packing A 15 PCB A 15 Quality Assurance A 14 RoHS A 15 Safety A 15 WEEE A 15 Workmanship A 15 System architecture 2 4 T Tachometer 3 13 Tachometer Feedback 3 19 Technical specifications A 1 Temperature 3 1 Type designation number 3 1 U Unpacking 3 1 V Velocity control 2 2 W Warranty 1 3 WEEE A 15 Workmanship A 15
41. ly voltage Maximum output current 200 mA 11 28 COMRET MAN GUIIG Ver 1 1 Guitar Installation Guide Installation ile le ci J1 29 AUX PORT INDEX Auxiliary port index bidirectional J1 30 CAN_COMRET CAN communication return J1 31 CAN L CAN L busline dominant low J1 32 CAN H CAN H busline dominant high 3 3 3 Connector J2 Connector J2 Communications Auxiliary Feedback and I O functions Pin Signal Function Maximum output current 200 mA 2 12 MAN GUIIG Ver 1 1 Guitar Installation Guide Installation 3 4 Mounting the Guitar The Guitar was designed for mounting on a printed circuit board PCB It is connected by 2 mm pitch 0 51 mm square pins When designing the Guitar into a device be sure to leave about 1 cm 0 4 outward from the heatsink to enable free air convection around the Guitar We recommend that the Guitar be soldered directly to the board Alternatively though this is not recommended the Guitar can be attached to socket connectors mounted on the PCB If the PCB is enclosed in a metal chassis we recommend that the Guitar be screw mounted to it as well to help with heat dissipation The Guitar has screw mount holes on each corner of the heatsink for this purpose 03 50 x4 0 51mm SQ pin x83 GUI0017A GUI007A SLDDRW Figure3 1 Guitar Footprint Guitar Installation Guide Installation MAN GUIIG Ver 1 1 3 5 Integrating the Guitar on a PCB The Gui
42. n compliance with EN 55011 and EN 61000 Limits and methods of measurement of radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment Electromagnetic compatibility EMC A 10 5 Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies A 10 6 PCB In compliance with IPC A 600 level 2 Acceptability of printed circuit boards A 10 7 Packing Specification Description In compliance with EN 100015 Protection of electrostatic sensitive devices A 10 8 WEEE Specification Description In compliance with 2002 96 EC Waste Electrical and Electronic Equipment regulations Please send out of service Elmo drives to the nearest Elmo sales office A 10 9 RoHS In compliance with 2002 95 EC Restrictions on Application of Hazardous effective July 2006 Substances in Electric and Electronic Equipment Guitar Installation Guide MAN GUIIG Ver 1 1 I ndex A Advanced position control 2 2 Ambient operating temperature 3 1 Analog input Cable 3 34 Specifications A 13 Auxiliary Feedback cable 3 21 3 22 Power supply A 5 C Cables Auxiliary feedback 3 21 3 22 Main Power 3 9 3 10 CANopen 3 35 3 36 Communication 2 2 Compliance standards 1 3 A 14 Composer 2 1 3 39 Conformance 1 3 A 14 Connecting Main power cable 3 9 3 10 Power cables 3 9 Control specifications A 5 A
43. nect the M1 M2 M3 and PE pins on the Guitar in the manner described in section 3 5 Integrating the Guitar on a PCB The phase connection is arbitrary as the Composer will establish the proper commutation automatically during setup However if you plan to copy the setup to other drives then the phase order on all copy drives must be the same Integration Board Guitar GUI0020A Figure 3 3 AC Motor Power Connection Diagram Guitar Installation Guide I nstallation 3 10 MAN GUIIG Ver 1 1 3 7 2 Connecting Main Power Connect the VP PR and PE pins on the Guitar in the manner described in section 3 5 Integrating the Guitar on a PCB 12 195v Isolated DC Power Supply GUI0021A Figure 3 4 Main Power Supply Connection Diagram no Auxiliary Supply 3 8 Auxiliary Supply for drive logic amp Notes for 12 195 VDC auxiliary supply connections Connect the VL and PR pins on the Guitar in the manner described in section 3 5 Integrating the Guitar on a PCB Pin Function Pin Positions VL Auxiliary Supply Input PR Supply Input Return Caution Power from the Guitar to the motor must come from the Main Supply and NOT from the Auxiliary Supply GUI0018A Table3 2 Auxiliary Supply Pins Guitar Installation Guide I nstallation 3 11 MAN GUIIG Ver 1 1 3 8 1 Single Supply A single isolated DC power supply can provide
44. nt loop sample time On the fly gain scheduling Automatic manual and advanced manual tuning and determination of optimal gain and phase margins 2 2 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 Pulseand direction inputs Sample time four times that of the current loop Fast event capturing inputs PT and PVT motion modes Fast output compare OC 2 2 4 Advanced Position Control This relates to the Advanced model only 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 2 2 5 Communication Options Depending on the application Guitar users can select from two communication options RS 232serial communication CANopen for fast communication in a multi axis distributed environment Guitar Installation Guide Introduction MAN GUIIG Ver 1 1 2 2 6 Feedback Options e Incremental Encoder up to 20 M ega Counts 5 M ega Pulse per second e Digital Halls up to 2 kHz e Incremental Encoder with Digital Halls for commutation up to 20 M ega Counts per second for encoder e Interpolated Analog Sine Cosine Encoder up to 250 kHz analog signal Internal interpolation up to
45. o 8 kHz default 5 5 KHz Velocity command options Analog Internally calculated by either jogging or step Note All software calculated profiles support on the fly changes A 5 3 Position Loop Controller type 1 2 4 PIP Position command options Software Pulse and Direction Analog Potentiometer Position loop bandwidth Guitar Installation Guide Guitar Technical Specifications A 7 MAN GUIIG Ver 1 1 Feature Details Position sampling time 280 400 usec 4x current loop sample time Position sampling rate Up to 4 kHz default 2 75 KHz A 6 Feedbacks A 6 1 Feedback Supply Voltage The Guitar has two feedback ports Main and Auxiliary The Guitar supplies voltage only to the main feedback device and to the auxiliary feedback device if needed Main encoder supply voltage 5 V 5 9 200 mA maximum Auxiliary encoder supply voltage 5 V 5 9 200 mA maximum A 6 2 Main Feedback Options A 6 2 1 Incremental Encoder Input Feature Details Encoder format A Band Index Differential Quadrature Interface RS 422 Input resistance Differential 120 Q TBD Maximum incremental encoder frequency Maximum absolute 5 MHz pulses Minimum quadrature input period PIN 112 nsec Minimum quadrature input high low period PHL 56 nsec Minimum quadrature phase period PPH 28 nsec Maximum encoder input voltage range Common mode 7 V Differentia
46. on Diagram Guitar Installation Guide I nstallation 3 18 MAN GUIIG Ver 1 1 Guitar Resolver with J2 Main Feedback Hall Sensors WN Hall 5v supply mm Supply return MA SE M Ce Hall B Hall A mm s MA mm s4 m M mm R2 li Drain I _ Wire The shield is not connected to the ground or motor chassis GUI0052A Figure 3 12 Main Feedback Resolver and Digital Hall Sensors Connection Diagram Guitar Installation Guide I nstallation 3 19 MAN GUIIG Ver 1 1 Tachometer with Hall Sensors HC L RJ Hal C HB mm Hall B HA mm Hall A 1 Tacho Up to 20Vmax A Feedback Voltage Tacho 4 Ju Only one tachometer port is available at a time mm Tacho Up to 50Vmax A Feedback Voltage um Tacho 5V E Encoder Hall 5V Supply SUPRET 7 Hall Encoder Supply Voltage Return um V GUI0028A Figure3 13 Main Feedback Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless M otors Tachometer Main Feedback 1 M Ir EE Taci4 i NE mm Tacho Up to 20v max feedback voltage pou is d use with applications having a ERE Pod A tacho voltage below 20v Tact EN Tacho E E M Only one tachometer port is EE NE PE available at a time Tac2 LG EH
47. ons have been observed and that the installation procedures in this manual have been followed Guitar Installation Guide Safety Information 1 3 MAN GUIIG Ver 1 1 1 3 Directives and Standards The Guitar conforms to the following industry safety standards Safety Standard Item In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination Including Clearance and Creepage Distances of Electrical Equipment In compliance with UL60950 1 Safety of Information Technology Equipment formerly UL1950 Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Guitar servo drive has been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation Furthermore Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met 1 4 CE Mark Conformance The Guitar servo driveis intended for incorporation in a machine or end product The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98 37 EC as amended and with those of the most recent versions of standards EN 60204 1 and EN 292 2 at the least A ccording to Annex III of Article
48. package 80 x 24 5 x 61 mm or 3 15 x 0 965 x 2 4 The Guitar is designed for OEMs It operates 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 It is designed for use with any type of sinusoidal and trapezoidal commutation with vector control The Guitar 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 Guitar drive is easily set up and tuned using El mo s Composer software tools This Windows based application enables users to quickly and simply configurethe servo drive for optimal use with their motor The Guitar as part of theSimpll 0 product line is fully programmable with the Elmo M etronome motion control language Power to the Guitar is provided by a 12 195 VDC isolated DC power source not induded with the Guitar A smart control supply algorithm enables the Guitar to operate with only 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 an external 12 195 VDC isolated supply should be connected via the VL terminal on the Guitar providing maximum flexibility and backup functionality when needed Note This backup power supply can operate from any voltage source within the 12 195 VDC r
49. plication Note pdf fa To avoid electric arcing and hazards to personnel and electrical contacts d V never connect disconnect the servo drive whilethe power source is on d fa Power cables can carry a high voltage even when the motor is not in A d motion Disconnect the Guitar from all voltage sources before it is opened for servicing FA N The Guitar servo drive contains grounding conduits for electric current A d protection Any disruption to these conduits may cause the instrument to become hot live and dangerous e After shutting off the power and removing the power source from your A equipment wait at least 1 minute before touching or disconnecting parts y L of the equipment that are normally loaded with electrical charges such as capacitors or contacts M easuring the electrical contact points with a meter before touching the equi pment is recommended 1 2 Cautions The Guitar servo drive contains hot surfaces and electrically charged components during operation The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Guitar to an approved 12 195 VDC auxiliary power supply connect it through a linethat is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards Before switching on the Guitar verify that all safety precauti
50. rammable input 1 general purpose RLS FLS INH J1 12 IN2 Programmable input 2 general purpose RLS FLS INH J1 13 IN3 Programmable input 3 general purpose RLS FLS INH J1 14 INA Programmable input 4 general purpose RLS FLS INH J1 15 IN5 Hi Speed Programmable input 5 event capture Main Home general purpose RLS FLS INH J1 16 IN6 Hi Speed Programmable input 6 event capture Auxiliary Home general purpose RLS FLS INH J1 17 INRET6 Programmable input 6 return J1 18 INRET5 Programmable input 5 return J1 19 INRET4 Programmable input 4 return J1 20 INRET3 Programmable input 3 return J1 21 INRET2 Programmable input 2 return J1 22 INRET1 Programmable input 1 return Installation Pin Position o a 900000000000000 0000000000000000 Ca N 0000000000000000 o N ES cC ES GUI0044A Table3 7 Digital Input Pin Assignments 3 30 3 31 Installation Guitar Installation Guide MAN GUIIG Ver 1 1 GUI0041A Controller x x x Se x x Gel Gel d e o n x x x Ki E E E E E E D D D D c D Guitar J1 Integration Board Digital Inputs
51. sticker on the side of the Guitar It looks like this A P N GUI 17 200 E E l mo S N WII Marisa Control GUI8045000 otion ontro www elmomc com KA C GUI001A MAN GUIIG Ver 1 1 Guitar Installation Guide Installation The part number at the top gives the type designation as follows GUI AR XX YYY R Version Feedback Blank z Standard Blank Incremental Encoder A Advanced and or Halls Blank Standard R Resolver R No peak current Interpolated Continuous Current Analog Encoder Amps T Tachometer amp Potentiometer Maximum DC Q Absolute Encoder Operating Voltage Optional on the Solo Board Verify that the Guitar type is the one that you ordered and ensure that the voltage meets your specific requirements 3 3 Pinouts 3 3 1 Connector Types Function Connector Location I O COMM Auxiliary Feedback Main Feedback Analog Input LED Auxiliary power input 2 mm Pitch Positive power input 0 51 mm SO Power input return Protective earth Motor power output 1 Motor power output 2 Motor power output 3 GUI002A Guitar Installation Guide Installation MAN GUIIG Ver 1 1 3 3 2 Connector J1 Connector J1 Main Feedback and Analog Input functions Guia aa J1 1 RS232 RX RS232 receive J1 4 AUX PORT CHA Auxiliary port CHA bidirectional JA 7 OUTI Programmable digital output 1 11 10 J1 27 5V Encoder 5 V supp
52. tar is designed to be mounted on a PCB either by soldering its pins directly to the PCB or by using suitable socket connectors In both cases the following rules apply 3 5 1 Traces 1 The size of the traces on the PCB thickness and width is determined by the current carrying capacity required by the application The rated continuous current limit Ic of the Guitar is the current used for sizing the motor traces M1 M2 M3 and PE and power traces VP PR and PE For control feedbacks and Inputs outputs conductors the actual current is very small but generous thickness and width of the conductors will contribute to a better performance and lower interferences 2 The traces should be as short as possible to minimize EMI and to minimize the heat generated by the conductors 3 The spacing between the high voltage conductors VP PR M1 M2 M3 VL must be at least Surface layer 1 5mm Internal layer 0 5 mm Complying with the rules above will help satisfy UL safety standards MIL STD 275 and the IPC D 275 standard for non coated conductors operating at voltages lower than 200 VDC and at unlimited altitudes above 10 000 meters 30 000 feet 3 5 2 Grounds and Returns The Returns of the Guitar are structured internally in a star configuration The returns in each functional block are listed below Functional Block Return Pin Power PR Power Return Internal Switch Mod
53. td 64 Gisin St P O Box 463 Petach Tikva 49103 Israel Tel 4972 3 929 2300 Fax 4972 3 929 2322 info il elmomc com Elmo M otion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 info us el momc 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 a Elmo www elmomc com Guitar Installation Guide MAN GUIIG Ver 1 1 Contents Chapter I Safety Information 1 1 Ki En Un TTT 1 2 T27 Cations NC 1 2 1 3 Diredives and Standards detti dii 1 3 1 4 CE Mark CONFORMS aaa 1 3 15 Wattaniydntonmattoni 3 doo dosi hei dos doi hei dali 1 3 Chapter 2 Introduction isis nisi corna e ano o A AW ARA E 2 1 ZU gl R 601615 eT nereseno smn a AA aa 2 1 2 2 Prod d Features trataran eu au dT YW YT TY YT TT ita 2 2 221 CU Control ud Od ee lo allora on ak 2 2 222 Velocity Controlos a ash e ci o Robe rn Puebla 2 2 223 Position CORTO oeu ete etre a FU ddd 2 2 2 24 Advanced Position Control 2 2 2 25 Communication ODIOS 2 2 22 0 Feedback ODHOHS t e o attenti ili aet date 2 3 2 2 ls A oed eno a aao 2 3 2 3 System Architecture conocio 2 4 24 Howto Usethiseuide cies oles re nete rennes 2 5 Chapter 3 InstallatiON rire 3 1 Sl le Cr nn 1 ae 2 GLIR CN iris io ede GC A ai 31 32 Unpacking the Drive Components
54. tion MAN GUIIG Ver 1 1 3 41 Guitar 200V Power Dissipation 170V 150V 120V 90V t External Heatsink Power Dissipation Watt M bo CO CO P PO COH Co C d OO 00 O O GH G GH G GH GC GH G GH G GH G GH GC GQH G ao Heatsink not 0 5 10 15 20 25 30 Required Continuous Current Amp 4 3 15 3 How to Use the Charts The charts above are based upon theoretical worst case conditions Actual test results show 30 50 better power dissipation To determine if your application needs a heatsink 1 Allow maximum heatsink temperature to be 80 C or less 2 Determine the ambient operating temperature of the Guitar 3 Calculate the allowable temperature increase as follows e for an ambient temperature of 40 C AT 80 C 40 C 40 C 4 Use the chart to find the actual dissipation power of the drive Follow the voltage curve to the desired output current and then find the dissipated power 5 Ifthe dissipated power is below 5 W the Guitar will need no additional cooling Note The chart above shows that no heatsink is needed when the heatsink temperature is 80 C ambient temperature is 40 C and heat dissipated is 5 Watts 3 16 Evaluation Board and Cable Kit The evaluation board will be available soon Guitar Installation Guide MAN GUIIG Ver 1 1 Appendix Guitar Technical Specifications A 1 Features A 1 1 A 1 2 A 1 3 A 1 4 A 1 5 Motion Control Modes
55. tion Board User Guide contains information about how to use the Guitar Evaluation Board and Cable Kit This user guide is currently being developed Guitar Installation Guide 3 1 MAN GUIIG Ver 1 1 Chapter 3 Installation 3 1 Site Requirements You can guarantee the safe operation of the Guitar by ensuring that it is installed in an appropriate environment Feature Value Ambient operating temperature 0 C to 40 C 32 F to 104 F Maximum relative humidity 90 non condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available The Guitar dissipates its heat by convection The maximum operating ambient temperature of 0 C to 40 C 32 F to 104 F must not be exceeded 3 2 Unpacking the Drive Components Before you begin working with the Guitar verify that you have all of its components as follows The Guitar servo drive The Composer software and software manual The Guitar is shipped in a cardboard box with styrofoam protection To unpack the Guitar 1 Carefully remove the servo drive from the box and the Styrofoam 2 Checkthe drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive 3 To ensure that the Guitar you have unpacked is the appropriate type for your requirements locate the part number
56. tor Traces The power traces must be kept as far away as possible from the feedback control and communication traces 6 PE Terminal The PE terminal is connected directly to the Guitar s heat sink The heat sink serves as an EMI common plane The PE terminal should be connected to the system s Protective Earth Any other metallic parts such as the chassis of the assembly should be connected to the Protective Earth as well 7 Under normal operating conditions the PE trace carries no current The only time these traces carry current is under abnormal conditions such as when the device has become a potential shock or fire hazard while conducting external EMI interferences directly to ground When connected properly the PE trace prevents these hazards from affecting the drive Failure to meet any of the above mentioned requirements can result in drive controller host failure 1 Follow these instructions to ensure safe and proper implementation MAN GUIIG Ver 1 1 Guitar Installation Guide Installation 3 6 The Guitar Connection Diagram Guitar PC RS232 CANopen RS 232 oS J1 32 needs TT T RS232_Tx gt DM E i J1 31 X Controller bol l 1 T m RS232_Rx I lt d J1 30 e CAN COMRET RS232 COMRET NI
57. ty Definition for Guitar YA 4 2 GUI0032A Figure 3 17 Emulated Encoder Direct O utput Acceptable Connection Diagram Guitar Installation Guide I nstallation 3 24 MAN GUIIG Ver 1 1 Guitar J1 Auxiliary Feedback Controller CHAO COMMON A COMRET V Functionality Definition for Guitar YA 4 2 GUI0034A Figure 3 18 Emulated Encoder Buffered O utput Recommended Connection Diagram Integration Board Controller or Guitar Guitar J1 Auxiliary Feedback CHAO INDEX INDEX COMMON Functionality Definition for Guitar YA 4 2 GUI0033A Figure 3 19 Emulated Encoder Differential O utput Highly Recommended Connection Diagram Guitar Installation Guide MAN GUIIG Ver 1 1 I nstallation 3 25 3 10 3 A Auxiliary Feedback Single Ended Encoder Input Option YA 4 2 Pin Signal Function 11 27 5 V Encoder supply voltage J1 6 SUPRET Supply return J1 29 INDEX Auxiliary index input J1 5 CHB Auxiliary channel B input J1 4 CHA Auxiliary channel A input Note The Guitar s Auxiliary Feedback is single ended When mounted on an integration board circuitry can be added to make it differential Pin Position o 0000000000000 a CO00000000000 sa 900000000000000 000 00 S ES GUI0044A Table 3 5 Single
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