Elmo Computer Hardware 1.1 User's Manual

Guitar
Digital Servo Drive
Installation Guide
July 2008 (Ver. 1.1)
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.
The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.
Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo
Motion Control Ltd.
Information in this document is subject to change without notice.
Document. no. MAN-GUIIG (Ver. 1.1)
Copyright  2008
Elmo Motion Control Ltd.
All rights reserved.
Guitar Catalog Number
Related Products:
Evaluation Board Catalog Number
Evaluation Board User Manual
To be assigned
In development
Revision History:
Ver. 1.0
April 2008
Ver. 1.1
July 2008. Heat dissipation data added in Chapter 3.
Elmo Motion Control Ltd.
Elmo Motion Control Inc.
Elmo Motion Control GmbH
64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel
1 Park Drive, Suite 12
Westford, MA 01886
USA
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +972 (3) 929-2300
Fax: +972 (3) 929-2322
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
Tel: +49 (0) 7720-85 77 60
Fax: +49 (0) 7720-85 77 70
info-il@elmomc.com
info-us@elmomc.com
info-de@elmomc.com
www.elmomc.com
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
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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Guitar Installation Guide
Contents
MAN-GUIIG (Ver. 1.1)
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.6.2.1 Incremental Encoder Input...................................................................... A-7
A.6.2.2 Digital Halls ................................................................................................... A-8
A.6.2.3 Interpolated Analog Encoder (Sine/Cosine) ................................... A-8
A.6.2.4 Resolver ........................................................................................................... A-9
A.6.2.5 Tachometer* ................................................................................................... A-9
A.6.2.6 Potentiometer .............................................................................................. 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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Contents
MAN-GUIIG (Ver. 1.1)
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
iii
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 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.
1-1
Guitar Installation Guide
Safety Information
MAN-GUIIG (Ver. 1.1)
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_ApplicationNote.pdf
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.
1-2
Guitar Installation Guide
Safety Information
MAN-GUIIG (Ver. 1.1)
1.3
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
(formerly UL1950)
Safety of Information Technology Equipment,
Including Electrical Business Equipment
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
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 RS232 and CANopen DS 301, DS 305, DS 402 communications and features a thirdgeneration programming environment.
2-1
Guitar Installation Guide
Introduction
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.
2-2
Guitar Installation Guide
Introduction
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 MegaCounts 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
2-3
Guitar Installation Guide
Introduction
MAN-GUIIG (Ver. 1.1)
2.3
System Architecture
Figure 2-1: Guitar System Block Diagram
2-4
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 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
2-5
Guitar Installation Guide
Introduction
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.)
2-6
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. 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
Installation
MAN-GUIIG (Ver. 1.1)
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
3.3.1
No.
Pins
Pinouts
Connector Types
Type
Port
Function
2x16
J1
I/O, COMM,
Auxiliary Feedback
15
J2
Main Feedback,
Analog Input, LED
6
VL
Auxiliary power input
VP+
Positive power input
6
6
2 mm Pitch
0.51 mm SQ
PR
Power input return
4
PE
Protective earth
6
M1
Motor power output 1
6
M2
Motor power output 2
2
M3
Motor power output 3
Connector Location
3-2
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.3.2
3-3
Connector J1
Connector J1: Main Feedback and Analog Input functions
Pin
Signal
Function
J1/1
RS232_RX
RS232 receive
J1/2
RS232_TX
RS232 Transmit
J1/3
RS232_COMRET
Communication return
J1/4
AUX PORT CHA
Auxiliary port CHA (bidirectional)
J1/5
AUX PORT CHB
Auxiliary port CHB (bidirectional)
J1/6
SUPRET
Supply return
J1/7
OUT1
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
J1/11
IN1
Programmable digital input 1
J1/12
IN2
Programmable digital input 2
J1/13
IN3
Programmable digital input 3
J1/14
IN4
Programmable digital input 4
J1/15
IN5
Programmable digital input 5
J1/16
IN6
Programmable digital input 6
J1/17
INRET6
Programmable digital input 6 return
J1/18
INRET5
Programmable digital input 5 return
J1/19
INRET4
Programmable digital input 4 return
J1/20
INRET3
Programmable digital input 3 return
J1/21
INRET2
Programmable digital input 2 return
J1/22
INRET1
Programmable digital input 1 return
J1/23
OUTRET4
Programmable digital output 4 return
J1/24
OUTRET3
Programmable digital output 3 return
J1/25
OUTRET2
Programmable digital output 2 return
J1/26
OUTRET1
Programmable digital output 1 return
J1/27
+5 V
Encoder +5 V supply voltage. Maximum output current:
200 mA.
J1/28
COMRET
Common return
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
Pin
Signal
Function
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
J2/1
+5V
Encoder/Hall +5V supply voltage.
Maximum output current: 200 mA.
J2/2
SUPRET
Supply return
J2/3
ANALIN1+
Analog input 1+
J2/4
ANALIN1-
Analog input 1-
J2/5
CHA
Channel A input
J2/6
CHA-
Channel A input complement
J2/7
CHB
Channel B input
J2/8
CHB-
Channel B input complement
J2/9
INDEX+
Index input
J2/10
INDEX-
Index input complement
J2/11
HA
Hall sensor A input
J2/12
HB
Hall sensor B input
J2/13
HC
Hall sensor C input
J2/14
LED_2_OUT
Bi-color indication output 2 (Cathode)
J2/15
LED_1_OUT
Bi-color indication output 1 (Anode)
3-4
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.4
3-5
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
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.5
3-6
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
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 Mode P.S.
PR (Power Return)
RS232 Communications
RS232_COMRET (J1/3)
CAN Communications
CAN_COMRET (J1/30)
Control section
COMRET (J1/28)
Main Feedback
SUPRET (J2/2)
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).
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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 heatsink 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
Installation
MAN-GUIIG (Ver. 1.1)
3.6
The Guitar Connection Diagram
Figure 3-2: The Guitar Connection Diagram
3-8
Guitar Installation Guide
Installation
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
Pin Positions
AC Motor
DC Motor
Motor
Motor
M1 Motor phase
Motor
N/C
M2 Motor phase
Motor
Motor
M3 Motor phase
Motor
Motor
PE
3-9
Protective earth
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
(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.
Figure 3-3: AC Motor Power Connection Diagram
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.7.2
3-10
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 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
Guitar on a PCB).
Pin
Function
VL
Auxiliary Supply Input
PR
Supply Input Return
Pin Positions
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
Installation
MAN-GUIIG (Ver. 1.1)
3.8.1
3-11
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
Installation
MAN-GUIIG (Ver. 1.1)
3.8.3
3-12
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).
Figure 3-7: Shared Supply Connection Diagram
Guitar Installation Guide
Installation
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
Encoder
Interpolated Analog
Encoder
Resolver
Tachometer and
Potentiometer
GUI XX/YYY_
GUI XX/YYYI
GUI XX/YYYR
GUI XX/YYYT
Pin
Signal
J2/1
+5V
Function
Encoder/Hall
Signal
+5V
+5V supply
J2/2
SUPRET
Supply
return
Function
Encoder/Hall
+5V supply
SUPRET Supply return
Signal
+5V
Function
Signal
Function
Encoder/Hall
+5V supply
+5V
Encoder/Hall
+5V supply
SUPRET
Supply return
SUPRET Supply 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
Tac 1+
Tacho Input 1
Pos. (20V max)
J2/6
CHA-
Channel A
complement
A-
Sine A
complement
S3
Sine A
complement
Tac 1-
Tacho Input 1
Neg. (20V max)
J2/7
CHB
Channel B
B+
Cosine B
S2
Cosine B
Tac 2+
Tacho Input 2
Pos. (50V max)
J2/8
CHB-
Channel B
complement
B-
Cosine B
complement
S4
Cosine B
complement
Tac 2-
Tacho Input 2
Neg. (50V max)
J2/9
INDEX
Index
R+
Reference
R1
Vref f=1/TS,
50mA Max.
POT
Potentiometer
Input (5V Max)
J2/10 INDEX-
Index
complement
R-
Reference
complement
R2
Vref
complement
f= 1/TS, 50mA
Maximum
NC
J2/11 HA
Hall sensor
A input
HA
-
NC
-
HA
Hall sensor A
input
J2/12 HB
Hall sensor
B input
HB
-
NC
-
HB
Hall sensor B
input
J2/13 HC
Hall sensor
C input
HC
-
NC
-
HC
Hall sensor C
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
-
3-13
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
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram
3-15
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
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-11: Main Feedback – Resolver Connection Diagram
3-17
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram
3-18
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
Installation
MAN-GUIIG (Ver. 1.1)
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
3-20
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.10
3-21
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
Installation
MAN-GUIIG (Ver. 1.1)
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 bidirectional pins (CHA, CHB and INDEX). When used in combination with Main Feedback,
the Auxiliary Feedback can be set, by software, as follows:
Auxiliary Feedback
Main
Feedback
YA[4] = 4
YA[4] = 2
YA[4] = 0
(Aux. Feedback: output)
(Aux. Feedback: input)
(Aux. Feedback: 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.
Any application where
two feedbacks are used
by the drive.
The Auxiliary Feedback
port serves as an input
for Pulse & Direction
Commands.
Incremental
Encoder
Input
Interpolated
Analog
(Sin/Cos)
Encoder
Input
Resolver
Input
Potentiometer
or
Tachometer
Input
Analog Encoder applications
where position data is required in
the Encoder’s quadrature format.
Resolver applications where
position data is required in the
Typical
Encoder’s quadrature format.
Applications
Tachometer or potentiometer
applications where position data is
required in the Encoder’s
quadrature format.
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
Pin Position
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
3-23
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
Installation
MAN-GUIIG (Ver. 1.1)
3.10.3
Pin
3-25
Auxiliary Feedback: Single-Ended Encoder Input Option
(YA[4]=2)
Signal
Function
J1/27
+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
Pin Position
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
Installation
MAN-GUIIG (Ver. 1.1)
3-27
Figure 3-22: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram
3.10.4
Pin
Auxiliary Feedback: Pulse-and-Direction Input Option
(YA[4]=0)
Signal
Function
J1/28
COMRET
Common return
J1/5
DIR/CHB
Direction input (push/pull 5 V or
open collector)
J1/4
PULS/CHA
Pulse input (push/pull 5 V or open
collector)
Pin Position
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
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram
Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram
3-28
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
J2
Total
Digital Input
6
-
6
Digital Output
4
-
2
Analog Input
-
1
1
Guitar Installation Guide
Installation
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
Programmable 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
IN4
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
Table 3-7: Digital Input Pin Assignments
Pin Position
3-30
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-26: Digital Input Connection Diagram
3-31
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.11.2
Digital Output
Pin
Signal
Function
J1/7
OUT1
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
Table 3-8: Digital Output Pin Assignment
Pin Position
3-32
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-27: Digital Output Connection Diagram
3-33
Guitar Installation Guide
Installation
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
Pin Position
Table 3-9: Analog Input Pin Assignments
Figure 3-28: Analog Input with Single-ended Source
3-34
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.12
3-35
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
Signal
Function
J1/1
RS232_Rx
RS-232 receive
J1/2
RS232_Tx
RS-232 transmit
J1/3
RS232_COMRET
Communication return
Table 3-10: RS-232 Pin Assignments
Pin Location
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
Installation
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)
Table 3-11: CANopen - Pin Assignments
Pin Position
3-37
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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.
3-38
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
3.13
3-39
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
MAN-GUIIG (Ver. 1.1)
Installation
3-40
Guitar Installation Guide
Installation
MAN-GUIIG (Ver. 1.1)
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
A-1
MAN-GUIIG (Ver. 1.1)
Appendix: Guitar Technical Specifications
A.1 Features
A.1.1
Motion Control Modes
• Current/Torque • Velocity • Position -
A.1.2
up to 3.5 kHz sampling rate
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
Advanced Filters and Gain Scheduling
•
•
•
•
A.1.4
up to 7 kHz sampling rate
Advanced Positioning Control Modes
•
•
•
•
A.1.3
up to 14 kHz sampling rate
“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
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 MegaCounts 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
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A.1.6
A-2
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)
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 Technical Specifications
A-3
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A-4
R45/48
R45/60
R35/100
R30/200
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
6/200
17/200
46
10/200
23
3/200
14
25/100
11
20/100
VDC
35/60
Minimum supply
voltage
25/60
Units
20/60
Feature
35/48
A.3 Power Ratings
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
35
Sinusoidal continuous
RMS current limit (Ic)
A
25
Peak current limit
A
Weight
Dimensions
20
25
14.1 17.7
35
25
20
25
3
6
10
17
45
7
12
32
14.1 17.7 2.12 4.2
2 x Ic
45
35
31.8 24.8
No peak
g (oz)
165 g (5.8 oz)
mm
(in)
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.
30
21.2
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
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 Supply
Feature
Details
Auxiliary power supply
Isolated DC source only
Auxiliary supply input voltage
12 VDC ~ 195 VDC
Auxiliary supply input power
< 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
Motor types
AC brushless (sinusoidal)
DC brushless (trapezoidal)
DC brush
Linear motors
“Voice” coils
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 control
Current loop bandwidth
< 2.5 kHz
A-5
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
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
Incremental Encoder
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Tachometer and Potentiometer (optional)
Velocity and position feedback
options
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency
and derivative).
Velocity loop bandwidth
< 350 Hz
Velocity sampling time
140 - 200 µsec (2x current loop sample time)
Velocity sampling rate
Up to 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
Feature
Details
Controller type
“1-2-4” PIP
Position command options
Software
Pulse and Direction
Analog Potentiometer
Position loop bandwidth
< 80 Hz
A-6
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
Feature
Details
Position sampling time
280 - 400 µsec (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.
Feature
Details
Main encoder supply voltage
5 V +5% @ 200 mA maximum
Auxiliary encoder supply voltage
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 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
Differential mode: ±7 V
A-7
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
Figure A-1: Main Feedback - Encoder Phase Diagram
A.6.2.2 Digital Halls
Feature
Details
Halls inputs
H A , H B, H C .
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
Analog encoder format
Sine and Cosine signals
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
fMAX : 250 kHz
Interpolation multipliers
Programmable: x4 to x4096
Maximum “counts” frequency
80 mega-counts/sec “internally”
Automatic errors correction
Signal amplitudes mismatch
Signal phase shift
Signal offsets
A-8
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
Feature
Details
Encoder outputs
See Auxiliary Encoder Outputs specifications
(A.6.3)
A-9
A.6.2.4 Resolver
Feature
Details
Resolver format
Input resistance
Differential 2.49 kΩ
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
See Auxiliary Encoder Output specifications
(A.6.3)
Sine/Cosine
Differential
A.6.2.5 Tachometer*
Feature
Details
Tachometer format
Differential
Maximum operating differential
voltage for TAC1+, TAC1-
±20 V
Maximum absolute differential input
voltage for TAC1+, TAC1-
±25 V
Maximum operating differential
voltage for TAC2+, TAC2-
±50 V
Maximum absolute differential input
voltage for TAC2+, TAC2-
±60 V
Input resistance for TAC1+, TAC1-
46 kΩ
Input resistance for TAC2+, TAC2-
100 kΩ
Resolution
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
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A.6.2.6 Potentiometer
Feature
Details
Potentiometer Format
Single-ended
Operating Voltage Range
0 ~ 5 V supplied by the Guitar
Potentiometer Resistance
100 Ω ~ 1 kΩ … above this range, linearity is
affected detrimentally
Input Resistance
100 kΩ
Resolution
14 bit
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: 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
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 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
A-10
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A.6.4
A-11
Auxiliary Feedback Port (input mode YA[4]= 2, 0)
Feature
Details
Encoder input,
pulse and direction input
A, B, Index
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
Available as options
Single-ended Encoder inputs
Pulse and Direction inputs
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
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A-12
A.7 I/Os
The Guitar has:
A.7.1
6 Digital Inputs
4 Digital Outputs
1 Analog Input
Digital Input Interfaces
Feature
Details
Type of input
Input current
for all inputs
Iin = 2.4 mA @ Vin = 5 V
High-level
input voltage
2.5 V < Vin < 10 V, 5 V typical
Low-level
input voltage
0 V < Vin < 1 V
Minimum
pulse width
> 4 x TS, where TS is sampling time
Schematic Diagram
Optically isolated
Each input has its own return
Execution time
(all inputs):
the time from
application of
voltage on
input until
execution is
complete
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<T<4xTS
High-speed
inputs – 5 & 6
minimum pulse
width, in highspeed mode
T < 5 µsec
Notes:
Home mode is high-speed mode and can be
used for fast capture and precise homing.
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.
If input is set to General input, execution depends
on program. Typical execution time: ≅ 0.5 msec.
Digital Input Schematic
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A.7.2
Digital Output Interface
Feature
Details
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 resistor RL must be
selected to limit output current to
no more than 15 mA.
RL =
Executable time
Connector Location
Vcc − VOL
Io(max)
If output is set to one of the builtin 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.
A.7.3
A-13
Digital Output Schematic
Analog Input
Feature
Details
Maximum operating differential voltage
± 10 V
Maximum absolute differential input voltage
± 16 V
Differential input resistance
3.74 kΩ
Analog input command resolution
14-bit
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A-14
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 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
UL840
In compliance with VDE0160-7 (IEC68)
Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors sizing,
etc.)
Type testing
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A.10.3
A-15
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 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
(effective July 2006)
Restrictions on Application of Hazardous
Substances in Electric and Electronic Equipment
Guitar Installation Guide
I-1
MAN-GUIIG (Ver. 1.1)
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 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-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
CANopen 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
I
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
Maximum
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
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 voltage · 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
I-2