Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
i
Contents
Chapter 1: Safety Information ........................................................................................ 1-1
1.1 Warnings ............................................................................................................ 1-2
1.2 Cautions.............................................................................................................. 1-2
1.3 Directives and Standards.................................................................................. 1-3
1.4 CE Mark Conformance ..................................................................................... 1-3
1.5 Warranty Information....................................................................................... 1-3
Chapter 2: Introduction.................................................................................................... 2-1
2.1 Drive Description .............................................................................................. 2-1
2.2 Product Features................................................................................................ 2-2
2.2.1 Current Control ...........................................................................................2-2
2.2.2 Velocity Control...........................................................................................2-2
2.2.3 Position Control...........................................................................................2-2
2.2.4 Advanced Position Control........................................................................2-2
2.2.5 Communication Options............................................................................2-2
2.2.6 Feedback Options........................................................................................2-3
2.2.7 Fault Protection............................................................................................2-3
2.3 System Architecture .......................................................................................... 2-4
2.4 How to Use this Guide...................................................................................... 2-5
Chapter 3: Installation...................................................................................................... 3-1
3.1 Site Requirements.............................................................................................. 3-1
3.2 Unpacking the Drive Components.................................................................. 3-1
3.3 Pinouts................................................................................................................ 3-2
3.3.1 Connector Types..........................................................................................3-2
3.3.2 Connector J1.................................................................................................3-3
3.3.3 Connector J2.................................................................................................3-4
3.4 Mounting the Guitar ......................................................................................... 3-5
3.5 Integrating the Guitar on a PCB....................................................................... 3-6
3.5.1 Traces ............................................................................................................3-6
3.5.2 Grounds and Returns..................................................................................3-6
3.6 The Guitar Connection Diagram...................................................................... 3-8
3.7 Main Power and Motor Power......................................................................... 3-9
3.7.1 Connecting Motor Power...........................................................................3-9
3.7.2 Connecting Main Power...........................................................................3-10
3.8 Auxiliary Supply (for drive logic)............................................................... 3-10
3.8.1 Single Supply .............................................................................................3-11
3.8.2 Separate Auxiliary Supply.......................................................................3-11
3.8.3 Shared Supply............................................................................................3-12
3.9 Main Feedback................................................................................................. 3-13
3.10 Auxiliary Feedback ......................................................................................... 3-21
3.10.1 Main and Auxiliary Feedback Combinations .......................................3-22
3.10.2 Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)...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
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3.11 I/Os................................................................................................................... 3-29
3.11.1 Digital Input...............................................................................................3-30
3.11.2 Digital Output............................................................................................3-32
3.11.3 Analog Input..............................................................................................3-34
3.12 Communications.............................................................................................. 3-35
3.12.1 RS-232 Communication............................................................................3-35
3.12.2 CANopen Communication......................................................................3-36
3.13 Powering Up.................................................................................................... 3-39
3.14 Initializing the System .................................................................................... 3-39
3.15 Heat Dissipation .............................................................................................. 3-39
3.15.1 Guitar Thermal Data.................................................................................3-39
3.15.2 Heat Dissipation Data...............................................................................3-39
3.15.3 How to Use the Charts..............................................................................3-41
3.16 Evaluation Board and Cable Kit .................................................................... 3-41
Appendix: Guitar Technical Specifications................................................................. A-1
A.1 Features ............................................................................................................. A-1
A.1.1 Motion Control Modes ..............................................................................A-1
A.1.2 Advanced Positioning Control Modes....................................................A-1
A.1.3 Advanced Filters and Gain Scheduling...................................................A-1
A.1.4 Fully Programmable ..................................................................................A-1
A.1.5 Feedback Options.......................................................................................A-1
A.1.6 Input/Output..............................................................................................A-2
A.1.7 Built-In Protection ......................................................................................A-2
A.1.8 Accessories ..................................................................................................A-3
A.1.9 Status Indication.........................................................................................A-3
A.1.10 Automatic Procedures ...............................................................................A-3
A.2 Guitar Dimensions ........................................................................................... A-3
A.3 Power Ratings................................................................................................... A-4
A.4 Environmental Conditions .............................................................................. A-5
A.4.1 Auxiliary Supply ........................................................................................A-5
A.5 Control Specifications ...................................................................................... A-5
A.5.1 Current Loop...............................................................................................A-5
A.5.2 Velocity Loop..............................................................................................A-6
A.5.3 Position Loop ..............................................................................................A-6
A.6 Feedbacks .......................................................................................................... A-7
A.6.1 Feedback Supply Voltage..........................................................................A-7
A.6.2 Main Feedback Options.............................................................................A-7
A.6.2.1Incremental Encoder Input...................................................................... A-7
A.6.2.2Digital Halls................................................................................................... A-8
A.6.2.3Interpolated Analog Encoder (Sine/Cosine)................................... A-8
A.6.2.4Resolver........................................................................................................... A-9
A.6.2.5Tachometer*................................................................................................... A-9
A.6.2.6Potentiometer.............................................................................................. A-10
A.6.3 Auxiliary Feedback Port (output mode YA[4]= 4) ..............................A-10
A.6.4 Auxiliary Feedback Port (input mode YA[4]= 2, 0).............................A-11
A.7 I/Os.................................................................................................................. A-12
A.7.1 Digital Input Interfaces............................................................................A-12
A.7.2 Digital Output Interface ..........................................................................A-13
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A.7.3 Analog Input.............................................................................................A-13
A.8 Communications............................................................................................. A-14
A.9 Pulse Width Modulation (PWM).................................................................. A-14
A.10 Standards Compliance................................................................................... A-14
A.10.1 Quality Assurance....................................................................................A-14
A.10.2 Design ........................................................................................................A-14
A.10.3 Safety..........................................................................................................A-15
A.10.4 EMC............................................................................................................A-15
A.10.5 Workmanship ...........................................................................................A-15
A.10.6 PCB.............................................................................................................A-15
A.10.7 Packing.......................................................................................................A-15
A.10.8 WEEE*........................................................................................................A-15
A.10.9 RoHS...........................................................................................................A-15
Index ....................................................................................................................................I-1
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
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 may install, adjust, maintain and repair the servo drive. A
“qualified person” has the knowledge and authorization to perform tasks such as
transporting, assembling, installing, commissioning and operating motors.
The Guitar servo drive contains electrostatic-sensitive 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. Place the 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 damage to the
product during operation, keep all covers and cabinet doors shut.
The following 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:
This is auxiliary information that ensures the correct operation of the
equipment.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Safety Information
1-2
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:
To avoid electric arcing and hazards to personnel and electrical contacts,
never connect/disconnect the servo drive while the power source is on.
Power cables can carry a high voltage, even when the motor is not in
motion. Disconnect the Guitar from all voltage sources before it is opened
for servicing.
The Guitar servo drive contains grounding conduits for electric current
protection. Any disruption to these conduits may cause the instrument to
become hot (live) and dangerous.
After shutting off the power and removing the power source from your
equipment, wait at least 1 minute before touching or disconnecting parts
of the equipment that are normally loaded with electrical charges (such as
capacitors or contacts). Measuring the electrical contact points with a
meter, before touching the equipment, 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 line that 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 precautions have
been observed and that the installation procedures in this manual have
been followed.
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MAN-GUIIG (Ver. 1.1)
Safety Information
1-3
1.3
Directives and Standards
The Guitar conforms to the following industry safety standards:
Safety Standard
Item
Power Conversion Equipment
In compliance with UL508c
In compliance with UL840
Insulation Coordination, Including Clearance and
Creepage Distances of Electrical Equipment
In compliance with UL60950-1
Safety of Information Technology Equipment,
Including Electrical Business Equipment
(formerly UL1950)
In compliance with EN60204-1
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 drive is 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 EN60204-1 and EN292-2 at the least.
According to Annex III of Article 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 Information
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
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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 in³) 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 Elmo’s Composer software tools. This
Windows-based application enables users to quickly and simply configure the servo drive
for optimal use with their motor. The Guitar, as part of the SimplIQ product line, is fully
programmable with the Elmo Metronome motion control language.
Power to the Guitar is provided by a 12 ~ 195 VDC isolated DC power source (not included
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 range. This is much more flexible than 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 available in two models:
ꢀ
The Standard Guitar is a basic servo drive which operates in current, velocity and
position modes including Follower and PT & PVT. It operates simultaneously via RS-
232 and CANopen DS 301, DS 305, DS 402 communications and features a third-
generation programming environment.
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Introduction
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MAN-GUIIG (Ver. 1.1)
ꢀ
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-232 and CANopen 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 current 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.
ꢀ Pulse-and-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-232 serial communication.
ꢀ CANopen for fast communication in a multi-axis distributed environment.
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Introduction
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MAN-GUIIG (Ver. 1.1)
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
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
ꢀ Internal interpolation - up to x4096
ꢀ Automatic correction of amplitude mismatch, phase mismatch, signals
offset
ꢀ Auxiliary emulated, unbuffered, single-ended, encoder output
• Resolver
ꢀ Programmable 10~15 bit resolution
ꢀ Up to 512 revolutions per second (RPS)
ꢀ Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer
• 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:
• Software error handling
• Status reporting for a large number of possible fault conditions
• 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
• Recovery from loss of commutation signals and from communication errors
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Introduction
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MAN-GUIIG (Ver. 1.1)
2.3
System Architecture
Figure 2-1: Guitar System Block Diagram
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Introduction
2-5
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 chapters
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.
Upon 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 optimal operation.
The following figure describes the accompanying documentation that you will require.
Figure 2-2: Elmo Digital Servo Drive Documentation Hierarchy
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Introduction
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MAN-GUIIG (Ver. 1.1)
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 Command Reference Manual, which describes, in detail, each
software command used to manipulate the Guitar motion controller.
ꢀ The Composer Software Manual, which includes explanations of all the
software tools that are part of Elmo’s Composer software environment.
ꢀ The Guitar Evaluation Board User Guide contains information about how to
use the Guitar Evaluation Board and Cable Kit. (This user guide is currently
being developed.)
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MAN-GUIIG (Ver. 1.1)
3-1
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
Maximum relative humidity
Operating area atmosphere
0 °C to 40 °C (32 °F to 104 °F)
90% non-condensing
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. Check the 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 sticker on the side of the Guitar. It looks like this:
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-2
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
J2
I/O, COMM,
Auxiliary Feedback
15
Main Feedback,
Analog Input, LED
6
6
6
4
6
6
2
VL Auxiliary power input
VP+ Positive power input
PR Power input return
PE Protective earth
2 mm Pitch
0.51 mm SQ
M1 Motor power output 1
M2 Motor power output 2
M3 Motor power output 3
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Installation
3-3
3.3.2 Connector J1
Connector J1: Main Feedback and Analog Input functions
Pin
Signal
Function
J1/1
RS232_RX
RS232_TX
RS232_COMRET
AUX PORT CHA
AUX PORT CHB
SUPRET
OUT1
RS232 receive
J1/2
RS232 Transmit
J1/3
Communication return
J1/4
Auxiliary port CHA (bidirectional)
Auxiliary port CHB (bidirectional)
Supply return
J1/5
J1/6
J1/7
Programmable digital output 1
Programmable digital output 2
Programmable digital output 3
Programmable digital output 4
Programmable digital input 1
Programmable digital input 2
Programmable digital input 3
Programmable digital input 4
Programmable digital input 5
Programmable digital input 6
Programmable digital input 6 return
Programmable digital input 5 return
Programmable digital input 4 return
Programmable digital input 3 return
Programmable digital input 2 return
Programmable digital input 1 return
Programmable digital output 4 return
Programmable digital output 3 return
Programmable digital output 2 return
Programmable digital output 1 return
J1/8
OUT2
J1/9
OUT3
J1/10
J1/11
J1/12
J1/13
J1/14
J1/15
J1/16
J1/17
J1/18
J1/19
J1/20
J1/21
J1/22
J1/23
J1/24
J1/25
J1/26
J1/27
OUT4
IN1
IN2
IN3
IN4
IN5
IN6
INRET6
INRET5
INRET4
INRET3
INRET2
INRET1
OUTRET4
OUTRET3
OUTRET2
OUTRET1
+5 V
Encoder +5 V supply voltage. Maximum output current:
200 mA.
J1/28
COMRET
Common return
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Installation
3-4
Pin
Signal
Function
J1/29
J1/30
J1/31
J1/32
AUX PORT INDEX
CAN_COMRET
CAN_L
Auxiliary port index (bidirectional)
CAN communication return
CAN_L busline (dominant low)
CAN_H busline (dominant high)
CAN_H
3.3.3 Connector J2
Connector J2: Communications, Auxiliary Feedback and I/O functions
Pin
Signal
Function
J2/1
+5V
Encoder/Hall +5V supply voltage.
Maximum output current: 200 mA.
J2/2
SUPRET
ANALIN1+
ANALIN1-
CHA
Supply return
J2/3
Analog input 1+
J2/4
Analog input 1-
J2/5
Channel A input
J2/6
CHA-
Channel A input complement
Channel B input
J2/7
CHB
J2/8
CHB-
Channel B input complement
Index input
J2/9
INDEX+
INDEX-
HA
J2/10
J2/11
J2/12
J2/13
J2/14
J2/15
Index input complement
Hall sensor A input
Hall sensor B input
Hall sensor C input
HB
HC
LED_2_OUT
LED_1_OUT
Bi-color indication output 2 (Cathode)
Bi-color indication output 1 (Anode)
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Installation
3-5
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.
Figure 3-1: Guitar Footprint
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MAN-GUIIG (Ver. 1.1)
Installation
3-6
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 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:
1.5 mm
0.5 mm
ꢀ Internal layer:
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
Power
Return Pin
PR (Power Return)
PR (Power Return)
RS232_COMRET (J1/3)
CAN_COMRET (J1/30)
COMRET (J1/28)
SUPRET (J2/2)
Internal Switch Mode P.S.
RS232 Communications
CAN Communications
Control section
Main Feedback
Aux. Feedback
SUPRET (J1/6)
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).
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Installation
3-7
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 OUTRET2 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 Motor 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.
Follow these instructions to ensure safe and proper implementation.
Failure to meet any of the above-mentioned requirements can result in
drive/controller/host failure.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-8
3.6
The Guitar Connection Diagram
Figure 3-2: The Guitar Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-9
3.7 Main Power and Motor Power
Pin Function
Cable
Power
Power
Pin Positions
VP+ Pos. Power input
PR Power return
PE Protective earth
Power
AC Motor DC Motor
PE Protective earth
M1 Motor phase
M2 Motor phase
M3 Motor phase
Motor
Motor
Motor
Motor
Motor
N/C
Motor
Motor
When connecting several drives to several motors, all should be wired in an identical
manner. This will enable the same SimplIQ program to run on all drives.
Table 3-1: Connector for Main Power and Motor
3.7.1
Connecting Motor Power
Connect the M1, M2, M3 and PE pins on the Guitar in the manner described in section 3.5
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.
Figure 3-3: AC Motor Power Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-10
3.7.2
Connecting Main Power
Connect the VP+, PR and PE pins on the Guitar in the manner described in section 3.5
ꢀ 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 Supply (for drive logic)
Notes for 12 ~ 195 VDC auxiliary supply connections:
ꢀ The source of the 12 ~ 195 VDC Auxiliary Supply must be isolated.
Connect the VL and PR pins on the Guitar in the manner described in section 3.5 (Integrating the
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.
Table 3-2: Auxiliary Supply Pins
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-11
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 Supply
Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply.
Figure 3-6: Separate Auxiliary Supply Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-12
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
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).
Figure 3-7: Shared Supply Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-13
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
Encoder
Interpolated Analog
Encoder
Tachometer and
Potentiometer
Resolver
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
+5V supply
Encoder/Hall +5V
+5V supply
Encoder/Hall +5V
+5V supply
Encoder/Hall
+5V supply
J2/2 SUPRET Supply
return
SUPRET Supply return SUPRET Supply return SUPRET Supply return
J2/3
J2/4
ANALIN+ is used for Analog Input
ANALIN- is used for Analog Input
J2/5 CHA
J2/6 CHA-
J2/7 CHB
J2/8 CHB-
J2/9 INDEX
Channel A
A+
A-
B+
B-
Sine A
S1
S3
S2
S4
R1
R2
Sine A
Tac 1+
Tac 1-
Tac 2+
Tac 2-
POT
Tacho Input 1
Pos. (20V max)
Channel A
complement
Sine A
complement
Sine A
complement
Tacho Input 1
Neg. (20V max)
Channel B
Cosine B
Cosine B
Tacho Input 2
Pos. (50V max)
Channel B
complement
Cosine B
complement
Cosine B
complement
Tacho Input 2
Neg. (50V max)
Index
R+
R-
Reference
Vref f=1/TS,
50mA Max.
Potentiometer
Input (5V Max)
J2/10 INDEX- Index
complement
Reference
complement
Vref
NC
-
complement
f= 1/TS, 50mA
Maximum
J2/11 HA
J2/12 HB
J2/13 HC
Hall sensor
A input
HA
HB
HC
-
-
-
NC
NC
NC
-
-
-
HA
HB
HC
Hall sensor A
input
Hall sensor
B input
Hall sensor B
input
Hall sensor
C input
Hall sensor C
input
J2/14
J2/15
LED_2_OUT (AOKLED cathode) is used for LED indication
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)
Installation
3-14
Figure 3-8: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-15
Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-16
Figure 3-10: Main Feedback – Interpolated Analog Encoder with Digital Hall Sensors Connection
Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-17
Figure 3-11: Main Feedback – Resolver Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-18
Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-19
Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensors
Connection Diagram for Brushless Motors
Figure 3-14: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-20
Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensors
Connection Diagram for Brushless Motors
Figure 3-16: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-21
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, 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 SimplIQ Command Reference Manual for detailed setup
information.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-22
3.10.1 Main and Auxiliary Feedback Combinations
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
YA[4] = 2
YA[4] = 0
Main
(Aux. Feedback: output)
(Aux. Feedback: input)
(Aux. Feedback: input)
Feedback
Incremental
Encoder
Input
ꢀ
Interpolated
Analog
(Sin/Cos)
Encoder
Input
ꢁ
Resolver
Input
ꢂ
Potentiometer
or
Tachometer
Input
Analog Encoder applications
where position data is required in
the Encoder’s quadrature format.
ꢀ
Any application where
two feedbacks are used
by the drive.
Any application where
two feedbacks are used
by the drive.
ꢀResolver applications where
position data is required in the
Encoder’s quadrature format.
The Auxiliary Feedback
port serves as an input
for the auxiliary
The Auxiliary Feedback
port serves as an input
for Pulse & Direction
Commands.
Typical
Applications
incremental encoder.
ꢂ Tachometer or potentiometer
applications where position data is
required in the Encoder’s
For applications such as
Follower, ECAM, or Dual
Loop.
quadrature format.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-23
3.10.2 Auxiliary Feedback: Emulated Encoder Output Option
(YA[4]=4)
Pin
Signal
Function
Pin Position
J1/28 COMRET Common return
J1/29 INDEX
J1/5 CHBO
J1/4 CHAO
Auxiliary index output
Auxiliary Channel B output
Auxiliary Channel A output
Note: The Emulated Encoder Output Option is
only available when using a Resolver, Analog
Encoder, Tachometer or Potentiometer as the
main feedback device.
Note: The Guitar’s Auxiliary Feedback is
single-ended. When mounted on an integration
board, circuitry can be added to make it
differential.
Table 3-4: Emulated Single-Ended Encoder Output Pin Assignments
Figure 3-17: Emulated Encoder Direct Output – Acceptable Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-24
Figure 3-18: Emulated Encoder Buffered Output – Recommended Connection Diagram
Figure 3-19: Emulated Encoder Differential Output – Highly Recommended Connection
Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-25
3.10.3 Auxiliary Feedback: Single-Ended Encoder Input Option
(YA[4]=2)
Pin
Signal
Function
Pin Position
J1/27 +5 V
Encoder supply voltage
J1/6 SUPRET Supply return
J1/29 INDEX
J1/5 CHB
Auxiliary index input
Auxiliary channel B input
Auxiliary channel A input
J1/4 CHA
Note: The Guitar’s Auxiliary Feedback is single-ended.
When mounted on an integration board, circuitry can be
added to make it differential.
Table 3-5: Single-Ended Auxiliary Encoder Pin Assignment
Figure 3-20: Single-ended Auxiliary Encoder Input - Acceptable Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-26
Figure 3-21: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-27
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
J1/5 DIR/CHB
Common return
Direction input (push/pull 5 V or
open collector)
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.
Table 3-6: Pulse-and-Direction Pin Assignments
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-28
Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram
Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-29
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
6
J2
-
Total
Digital Input
Digital Output
Analog Input
6
2
1
4
-
-
1
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MAN-GUIIG (Ver. 1.1)
Installation
3-30
3.11.1 Digital Input
Each of the pins below can function as an independent input.
Pin
Signal
Function
Pin Position
J1/11 IN1
J1/12 IN2
J1/13 IN3
J1/14 IN4
J1/15 IN5
Programmable input 1
(general purpose, RLS, FLS, INH)
Programmable input 2
(general purpose, RLS, FLS, INH)
Programmable input 3
(general purpose, RLS, FLS, INH)
Programmable input 4
(general purpose, RLS, FLS, INH)
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
Table 3-7: Digital Input Pin Assignments
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-31
Figure 3-26: Digital Input Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-32
3.11.2 Digital Output
Pin Signal
Function
Pin Position
J1/7 OUT1
High-Speed Programmable digital
output 1
J1/8 OUT2
J1/9 OUT3
J1/10 OUT4
Programmable digital output 2
Programmable digital output 3
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
Table 3-8: Digital Output Pin Assignment
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-33
Figure 3-27: Digital Output Connection Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-34
3.11.3 Analog Input
Pin Signal
Function
Pin Position
J2/3 ANLIN1+
J2/4 ANLIN1-
J2/2 ANLRET
Analog input 1+
Analog input 1-
Analog ground
Table 3-9: Analog Input Pin Assignments
Figure 3-28: Analog Input with Single-ended Source
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
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 CANopen 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
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 is connected to the shield of the connector used for
RS-232 communications. The drain wire can be used to facilitate the connection.
Pin
J1/1
J1/2
J1/3
Signal
Function
Pin Location
RS232_Rx
RS232_Tx
RS-232 receive
RS-232 transmit
RS232_COMRET Communication return
Table 3-10: RS-232 Pin Assignments
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-36
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 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 Guitar’s CAN port is non-isolated.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-37
Pin
Signal
Function
Pin Position
J1/30 CAN_GND CAN ground
J1/31 CAN_L
J1/32 CAN_H
CAN_L busline (dominant low)
CAN_H busline (dominant high)
Table 3-11: CANopen - Pin Assignments
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-38
Figure 3-30: CANopen Network Diagram
Caution:
When installing CANopen communication, ensure that each servo drive is
allocated a unique ID. Otherwise, the CANopen network may hang.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
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 application and then perform setup and initialization according to the directions in the
Composer Software Manual.
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
•
Heat dissipation capability (θ): Approximately 8 °C/W.
•
Thermal time constant: Approximately 360 seconds (thermal time constant means
that the Guitar will reach 2/3 of its final temperature after 6 minutes).
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 Installation Guide
Installation
3-40
MAN-GUIIG (Ver. 1.1)
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Installation
3-41
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:
•
for an ambient temperature of 40 °C , ∆T= 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. If the 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)
A-1
Appendix: Guitar Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque -
• Velocity -
up to 14 kHz sampling rate
up to 7 kHz sampling rate
up to 3.5 kHz sampling rate
• Position -
A.1.2 Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower
• Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog current and velocity, PWM current and velocity,
digital (SW) and Pulse and Direction
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
A.1.5 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
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
ꢀ Internal 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
• Resolver
ꢀ Programmable 10~15 bit resolution
ꢀ Up to 512 revolutions per second (RPS)
ꢀ Emulated encoder outputs, single-ended, unbuffered of the Resolver.
• Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered.
• Tachometer & Potentiometer
• The Guitar can provide power (5 V, 2x200 mA max) for Encoders, Resolver or Halls.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-2
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-purpose
•
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
•
•
Pulse and Direction inputs (single-ended)
PWM current command output for torque and velocity
A.1.7 Built-In Protection
•
•
•
•
Software error handling
Abort (hard stops and soft stops)
Status reporting
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
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-3
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 adjustment
Velocity gain tuning
Velocity gain scheduling
Position gain tuning
A.2 Guitar Dimensions
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-4
A.3 Power Ratings
Feature
Units
Minimum supply
voltage
VDC 11
14
50
59
23
85
95
46
11
42
48
14
50
59
23
85
95
46
Nominal supply
voltage
VDC 42
VDC 48
170
195
170
Maximum supply
voltage
195
Maximum continuous
power output
W
%
1300 960 1200 1700 1600 2000 480 960 1600 2700 1700 2200 2800 4800
Efficiency at rated
power (at nominal
conditions)
> 97
Maximum output
voltage
97% of DC bus voltage at f=22 kHz
Amplitude
sinusoidal/DC
continuous current
A
A
35
20 25
35
20
25
3
6
10
7
17
12
45
45
35
30
Sinusoidal continuous
RMS current limit (Ic)
25 14.1 17.7 25 14.1 17.7 2.12 4.2
2 x Ic
32 31.8 24.8 21.2
No peak
Peak current limit
Weight
A
g (oz)
165 g (5.8 oz)
mm
(in)
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
Note:
•
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
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-5
A.4 Environmental Conditions
Feature
Details
0° ~ 40° C (32° ~ 104° F)
Operating ambient temperature
Storage temperature
Humidity
-20° ~ +85° C ( -4° ~ +185° F)
90% maximum non-condensing
“Unlimited” (above 10,000 m - 30,000 feet)
N/A
Maximum Operating Altitude
Protection level
A.4.1 Auxiliary Supply
Feature
Details
Auxiliary power supply
Auxiliary supply input voltage
Auxiliary supply input power
Isolated DC source only
12 VDC ~ 195 VDC
< 7.5 VA (this includes the 5 V/2x200 mA load
for the main and auxiliary encoders)
A.5 Control Specifications
A.5.1 Current Loop
Feature
Details
Controller type
Vector, digital
Compensation for bus voltage
variations
“On-the-fly” automatic gain scheduling
ꢀ
ꢀ
ꢀ
ꢀ
ꢀ
AC brushless (sinusoidal)
DC brushless (trapezoidal)
DC brush
Motor types
Linear motors
“Voice” coils
ꢀ
ꢀ
ꢀ
Fully digital
Current control
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
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-6
Feature
Details
Current sampling time
Programmable 70 - 100 µsec
Current sampling rate
Up to 16 kHz; default 11 kHz
A.5.2 Velocity Loop
Feature
Details
Controller type
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
ꢀ
ꢀ
ꢀ
ꢀ
ꢀ
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).
Velocity loop bandwidth
Velocity sampling time
Velocity sampling rate
Velocity command options
< 350 Hz
140 - 200 µsec (2x current loop sample time)
Up to 8 kHz; default 5.5 kHz
ꢀ
ꢀ
Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
A.5.3 Position Loop
Feature
Details
Controller type
“1-2-4” PIP
Position command options
ꢀ
ꢀ
ꢀ
Software
Pulse and Direction
Analog Potentiometer
Position loop bandwidth
< 80 Hz
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-7
Feature
Details
Position sampling time
Position sampling rate
280 - 400 µsec (4x current loop sample time)
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.
Feature
Details
Main encoder supply voltage
Auxiliary encoder supply voltage
5 V +5% @ 200 mA maximum
5 V +5% @ 200 mA maximum
A.6.2 Main Feedback Options
A.6.2.1 Incremental Encoder Input
Feature
Details
Encoder format
ꢀ A, B and Index
ꢀ Differential
ꢀ Quadrature
Interface
RS-422
Input resistance
Differential: 120 Ω (TBD)
Maximum absolute: 5 MHz pulses
112 nsec
Maximum incremental encoder frequency
Minimum quadrature input period (PIN)
Minimum quadrature input high/low period (PHL) 56 nsec
Minimum quadrature phase period (PPH)
Maximum encoder input voltage range
28 nsec
Common mode: 7 V
Differential mode: 7 V
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-8
Figure A-1: Main Feedback - Encoder Phase Diagram
A.6.2.2 Digital Halls
Feature
Details
Halls inputs
ꢀ HA, HB, HC.
ꢀ Single ended inputs
ꢀ Built in hysteresis of 1V for noise immunity
Input voltage
Nominal operating range: 0 V < VIn_Hall < 5 V
Maximum absolute: -1 V < VIn_Hall < 15 V
High level input voltage: V InHigh > 2.5 V
Low level input voltage: V InLow < 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
Details
Sine and Cosine signals
Analog encoder format
Analog input signal level
ꢀ
ꢀ
Offset voltage: 2.2 V – 2.8 V
Differential, 1 V peak to peak
Input resistance
Differential 120 Ω
Maximum analog signal frequency
Interpolation multipliers
Maximum “counts” frequency
Automatic errors correction
fMAX : 250 kHz
Programmable: x4 to x4096
80 mega-counts/sec “internally”
Signal amplitudes mismatch
Signal phase shift
Signal offsets
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-9
Feature
Details
See Auxiliary Encoder Outputs specifications
Encoder outputs
A.6.2.4 Resolver
Feature
Details
Resolver format
ꢀ
Sine/Cosine
Differential
ꢀ
Input resistance
Differential 2.49 kΩ
Programmable: 10 ~ 15 bits
512 revolutions/sec
0.5
Resolution
Maximum electrical frequency (RPS)
Resolver transfer ratio
Reference frequency
Reference voltage
1/Ts (Ts = sample time in seconds)
Supplied by the Guitar
up to ±50 mA
Reference current
See Auxiliary Encoder Output specifications
Encoder outputs
A.6.2.5 Tachometer*
Feature
Details
Tachometer format
Differential
±20 V
Maximum operating differential
voltage for TAC1+, TAC1-
Maximum absolute differential input
voltage for TAC1+, TAC1-
±25 V
±50 V
±60 V
Maximum operating differential
voltage for TAC2+, TAC2-
Maximum absolute differential input
voltage for TAC2+, TAC2-
Input resistance for TAC1+, TAC1-
Input resistance for TAC2+, TAC2-
Resolution
46 kΩ
100 kΩ
14 bit
* Only one Tachometer port can be used at a time (either TAC1+/TAC1- or TAC2+/TAC2-).
TAC1+/TAC1- 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
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-10
A.6.2.6 Potentiometer
Feature
Details
Potentiometer Format
Operating Voltage Range
Potentiometer Resistance
Single-ended
0 ~ 5 V supplied by the Guitar
100 Ω ~ 1 kΩ … above this range, linearity is
affected detrimentally
Input Resistance
Resolution
100 kΩ
14 bit
A.6.3 Auxiliary Feedback Port (output mode YA[4]= 4)
Feature
Details
ꢀ
ꢀ
A, B, Index
Single ended
Emulated output
Output current capability
Available as options
Maximum output current: IOH (max) = 2 mA
High level output voltage: VOH > 3.0 V
Minimum output current: IOL = 2 mA
Low level output voltage: VOL < 0.4 V
ꢀ
ꢀ
ꢀ
ꢀ
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 frequency
fMAX: 5 MHz pulses/output
Edge separation between A & 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&B
Figure A-2: Auxiliary Feedback - Encoder Phase Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-11
A.6.4 Auxiliary Feedback Port (input mode YA[4]= 2, 0)
Feature
Details
ꢀ
ꢀ
A, B, Index
Encoder input,
pulse and direction input
Single ended
Input voltage
VIn Low: 0 V < VIL < 0.8 V
VIn High: 2 V < VIH < 5 V
Maximum absolute voltage: 0 < VIn < 5.5 V
Input current: ±1 µA
ꢀ
ꢀ
Single-ended Encoder inputs
Pulse and Direction inputs
Available as options
Edge separation between A & 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&B
Figure A-3: Auxiliary Feedback - Encoder Phase Diagram
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-12
A.7 I/Os
The Guitar has:
6 Digital Inputs
4 Digital Outputs
1 Analog Input
A.7.1 Digital Input Interfaces
Feature
Details
Optically isolated
Each input has its own return
Schematic Diagram
ꢀ
Type of input
ꢀ
Input current
for all inputs
Iin = 2.4 mA @ Vin = 5 V
2.5 V < Vin < 10 V, 5 V typical
0 V < Vin < 1 V
High-level
input voltage
Low-level
input voltage
Minimum
pulse width
> 4 x TS, where TS is sampling time
Execution time If input is set to one of the built-in functions —
(all inputs):
the time from
application of
voltage on
input until
execution is
complete
Home, Inhibit, Hard Stop, Soft Stop, Hard and Soft
Stop, Forward Limit, Reverse Limit or Begin —
execution is immediate upon detection: 0<T<4xTS
If input is set to General input, execution depends
on program. Typical execution time: ≅ 0.5 msec.
T < 5 µsec
High-speed
Notes:
inputs – 5 & 6
minimum pulse ꢀHome mode is high-speed mode and can be
used for fast capture and precise homing.
width, in high-
speed mode
ꢀHigh speed input has a digital filter set to
same value as digital filter (EF) of main
encoder.
Digital Input Schematic
ꢀHighest speed is achieved when turning on
optocouplers.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-13
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) ≤ 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.
Vcc −VOL
RL =
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 < T < 4 x TS
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
± 10 V
± 16 V
3.74 kΩ
14-bit
Maximum operating differential voltage
Maximum absolute differential input voltage
Differential input resistance
Analog input command resolution
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-14
A.8 Communications
Specification
Details
Signals:
RS-232
ꢀ 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 Protocol Support:
ꢀ DS 305
Device Profile (drive and motion control):
ꢀ DS 402
A.9 Pulse Width Modulation (PWM)
Feature
Details
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
Specification
Description
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
ꢀ IPC-SM-782
ꢀ IPC-CM-770
ꢀ UL508c
Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors sizing,
etc.)
ꢀ UL840
In compliance with VDE0160-7 (IEC68)
Type testing
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Guitar Technical Specifications
A-15
A.10.3 Safety
Specification
Description
Power conversion equipment
In compliance with UL508c
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 EN60204-1
Low voltage directive, 72/23/EEC
A.10.4 EMC
Specification
Description
In compliance with EN55011 and EN61000 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
Specification
Description
In compliance with IPC-A-610, level 3
Acceptability of electronic assemblies
A.10.6 PCB
Specification
Description
In compliance with IPC-A-600, level 2
Acceptability of printed circuit boards
A.10.7 Packing
Specification
Description
In compliance with EN100015
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
Specification
Description
In compliance with 2002/95/EC
Restrictions on Application of Hazardous
(effective July 2006)
Substances in Electric and Electronic Equipment
Guitar Installation Guide
I-1
MAN-GUIIG (Ver. 1.1)
Index
Feedback
Options · 2-3, A-6
A
Supply voltage · A-7
Feedback options · A-7, A-8, A-12
Advanced position control · 2-2
Ambient operating temperature · 3-1
Analog input
G
Cable · 3-34
Specifications · A-13
Auxiliary
Grounding · 1-1
Auxiliary power cable · 3-10
CANopen cables · 3-36
RS-232 cable · 3-35
Feedback cable · 3-21, 3-22
Power supply · A-5
Guitar
Initializing · 3-39
C
Powering up · 3-39
Technical specifications · A-1
Type designation number · 3-1
Unpacking · 3-1
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
I
Incremental Encoder · 3-13
Initializing the Guitar · 3-39
Interpolated Analog Encoder · 3-13
Main power cable · 3-9, 3-10
Power cables · 3-9
Control specifications · A-5, A-6
Current control · 2-2
M
Main encoder buffered outputs · 3-21,
3-23
Main feedback cable · 3-13
Main power cable · 3-9, 3-10
Maximum
D
Design · A-14
Differential auxiliary input · 3-25
Digital output
Relative humidity · 3-1
Mounting the Mini-Saxophone · 3-5
Cable · 3-32
Digital output interface · A-13
P
Packing · A-15
PCB · A-15
E
EMC · A-15
Environmental conditions · A-5
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
F
Fault protection · 2-3
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
Index
I-2
Packing · A-15
PCB · A-15
Q
Quality Assurance · A-14
Quality Assurance · A-14
RoHS · A-15
Safety · A-15
WEEE · A-15
R
Workmanship · A-15
System architecture · 2-4
Relative humidity · 3-1
Resolver · 3-13
RoHS · A-15
RS-232 · 3-35
T
Tachometer · 3-13
S
Tachometer Feedback · 3-19
Technical specifications · A-1
Temperature · 3-1
Safety · 1-1, A-15
Cautions · 1-2
Standards · 1-3
Type designation number · 3-1
Warnings · 1-2
Single-ended auxiliary input · 3-21
Site requirements · 3-1
Specifications
U
Unpacking · 3-1
Analog input · A-13
Auxiliary power supply · A-5
Control · A-5, A-6
V
Digital output interface · A-13
Environment · A-5
Velocity control · 2-2
Feedback options · A-6, A-7, A-8, A-12
Feedback supply voltage · A-7
Standards · 1-3
Standards Compliance
Design · A-14
W
Warranty · 1-3
WEEE · A-15
Workmanship · A-15
EMC · A-15
|