Elmo 1.1 - Manual

1.1 Warnings Cleaning after soldering To avoid damage to 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_Application-Note.pdf To avoid ele...

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 wi...

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-1 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 i...

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-2 The Advanced 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-2...

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-3 2.2.6 Feedback Options • Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second • Digital Halls – up to 2 kHz • Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts per second for encoder • Interpo...

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-4 2.3 System Architecture Figure 2-1: Guitar System Block Diagram

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-5 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 instru...

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-6 As depicted in the previous figure, this installation guide is an integral part of the Guitar documentation set, comprising: The SimplIQ Software Manual, which describes the comprehensive software used with the Guitar. The SimplIQ Comma...

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...

The part number at the top gives the type designation as follows: 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 No. Pins Type Port Function Connector Location 2x16 J1 I/O, COMM, Auxiliary Feedb...

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....

3.5 Integrating the Guitar on a PCB The Guitar 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 b...

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. ...

3.6 The Guitar Connection Diagram Figure 3-2: The Guitar Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-8

3.7 Main Power and Motor Power Pin Function Cable Pin Positions 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 When connecting several drives t...

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). The source of the 12 ~ 195 VDC Main Power Supply must be isolated. Figure 3-4: Main Power Supply Connection Diagram (no Auxiliary Supply) 3.8 Auxiliary ...

3.8.1 Single Supply A single isolated DC power supply can provide power for both the main power and the Auxiliary (Drive Logic) Supply. The drawing below shows how a single supply is connected. Figure 3-5: Single Supply for both the Main Power Supply and the Auxiliary Supply 3.8.2 Separate Auxiliary...

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 ...

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 Analo...

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 Emulated Encoder Output Option is only available when using a Resolver, Analog Encoder, Tachome...

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) J1/4 PULS/CHA Pul...

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. I/O J1 J2 Total Digital Input 6 - 6 Digital Output 4 - 2 Analog Input - 1 1 Guitar Installation Guide Instal...

3.11.3 Analog Input Pin Signal Function Pin Position J2/3 ANLIN1+ Analog input 1+ J2/4 ANLIN1- Analog input 1- J2/2 ANLRET Analog ground Table 3-9: Analog Input Pin Assignments Figure 3-28: Analog Input with Single-ended Source Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-34

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 in...

Figure 3-29: RS-232 Connection Diagram 3.12.2 CANopen Communication Notes for connecting the CANopen 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 co...

Pin Signal Function Pin Position J1/30 CAN_GND CAN ground J1/31 CAN_L CAN_L busline (dominant low) J1/32 CAN_H CAN_H busline (dominant high) Table 3-11: CANopen - Pin Assignments Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-37

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 connecte...

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 operati...

Appendix: Guitar Technical Specifications A.1 Features A.1.1 Motion Control Modes • Current/Torque - up to 14 kHz sampling rate • Velocity - up to 7 kHz sampling rate • Position - up to 3.5 kHz sampling rate A.1.2 Advanced Positioning Control Modes • PTP, PT, PVT, ECAM, Follower, Dual Loop, Current ...

A.1.6 Input/Output • One Analog Input – up to 14-bit resolution • Six separate programmable Digital Inputs , optically isolated (two of which are fast event capture inputs). Inhibit/Enable motion Software and analog reference stop Motion limit switches Begin on input Abort motion Homing General-purp...

A.1.8 Accessories • Heat sinks (TBD) • Evaluation Board/Cable Kit A.1.9 Status Indication • Output for a bi-color LED A.1.10 Automatic Procedures • Commutation alignment • Phase sequencing • Current loop offset adjustment • Current loop gain tuning • Current gain scheduling • Velocity loop offset ad...

A.3 Power Ratings Feature Unit s 35/48 20/60 25/60 35/60 20/100 25/100 3/200 6/200 10/200 17/200 R 45/48 R 45/60 R 35/100 R 30/200 Minimum supply voltage VDC 11 14 23 46 11 14 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 cont...

A.4 Environmental Conditions Feature Details Operating ambient temperature 0° ~ 40° C (32° ~ 104° F) Storage temperature -20° ~ +85° C ( -4° ~ +185° F) Humidity 90% maximum non-condensing Maximum Operating Altitude “Unlimited” (above 10,000 m - 30,000 feet) Protection level N/A A.4.1 Auxiliary Suppl...

A.7 I/Os The Guitar has: 6 Digital Inputs 4 Digital Outputs 1 Analog Input A.7.1 Digital Input Interfaces Feature Details Schematic Diagram Type of input Optically isolated Each input has its own return Input current for all inputs Iin = 2.4 mA @ Vin = 5 V High-level input voltage 2.5 V < Vin <...

A.7.2 Digital Output Interface Feature Details Connector Location Type of output Optically isolated Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.3 V RL External ...

A.8 Communications Specification Details RS-232 Signals: RxD , TxD , Gnd Full duplex, serial communication for setup and control. Baud Rate of 9,600 ~ 57,600 bit/sec. CANopen CANbus Signals: CAN_H, CAN_L, CAN_GND Maximum Baud Rate of 1 Mbit/sec. Version: DS 301 V4.01 Layer Setting Service and Protoc...

Index 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 sta...