Guitar Digital Servo Drive Installation Guide July 2008 (Ver. 1.1) www.elmomc.
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.
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................................................
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 .................................................................
Guitar Installation Guide 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 ...................................................................................
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.
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.
Guitar Installation Guide Safety Information MAN-GUIIG (Ver. 1.1) 1.
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.
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.
Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2.2.
Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2.
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.
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.
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.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3.3.
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.
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.
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.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3.
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.
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.
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.
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).
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.
Guitar Installation Guide MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
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.
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.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
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.
Guitar Installation Guide MAN-GUIIG (Ver. 1.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
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.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3.11.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3.11.
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.
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.
Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.
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.
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.
Guitar Installation Guide MAN-GUIIG (Ver. 1.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Guitar Installation Guide I-1 MAN-GUIIG (Ver. 1.
Guitar Installation Guide Index MAN-GUIIG (Ver. 1.
