Elmo Guitar Digital Servo Drive, 1.1 User Manual

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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

To be assigned

 

 

 

Evaluation Board User Manual

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

1 Park Drive, Suite 12

 

Steinkirchring 1

 

 

Petach Tikva 49103

Westford, MA 01886

 

D-78056,Villingen-Schwenningen

 

 

Israel

USA

 

Germany

 

 

Tel: +972 (3) 929-2300

Tel: +1 (978) 399-0034

 

Tel: +49 (0) 7720-8577 60

 

 

Fax: +972 (3) 929-2322

Fax: +1 (978) 399-0035

 

Fax: +49 (0) 7720-8577 70

 

 

info-il@elmomc.com

info-us@elmomc.com

 

info-de@elmomc.com

www.elmomc.com

 

 

 

 

 

 

 

Guitar Installation Guide

i

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-EndedEncoder Input Option(YA[4]=2)3-25

 

3.10.4

Auxiliary Feedback: Pulse-and-DirectionInput Option (YA[4]=0) ...

3-27

Guitar Installation Guide

Contents

ii

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-232Communication ............................................................................

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-InProtection ......................................................................................

A-2

 

 

A.1.8

Accessories ..................................................................................................

A-3

 

 

A.1.9

Status Indication .........................................................................................

A-3

 

 

A.1.10 Automatic Procedures ...............................................................................

A-3

 

A.2

Guitar Dimensions ...........................................................................................

A-3

 

A.3

Power Ratings...................................................................................................

A-4

 

A.4

Environmental Conditions ..............................................................................

A-5

 

 

A.4.1

Auxiliary Supply ........................................................................................

A-5

 

A.5

Control Specifications ......................................................................................

A-5

 

 

A.5.1

Current Loop...............................................................................................

A-5

 

 

A.5.2

Velocity Loop..............................................................................................

A-6

 

 

A.5.3

Position Loop ..............................................................................................

A-6

 

A.6

Feedbacks ..........................................................................................................

A-7

 

 

A.6.1

Feedback Supply Voltage..........................................................................

A-7

 

 

A.6.2

Main Feedback Options.............................................................................

A-7

 

 

 

A.6.2.1Incremental Encoder Input......................................................................

A-7

 

 

 

A.6.2.2Digital Halls...................................................................................................

A-8

 

 

 

A.6.2.3Interpolated Analog Encoder (Sine/Cosine)...................................

A-8

 

 

 

A.6.2.4Resolver ...........................................................................................................

A-9

 

 

 

A.6.2.5Tachometer*...................................................................................................

A-9

 

 

 

A.6.2.6Potentiometer..............................................................................................

A-10

 

 

A.6.3

Auxiliary Feedback Port (output mode YA[4]= 4) ..............................

A-10

 

 

A.6.4

Auxiliary Feedback Port (input mode YA[4]= 2, 0).............................

A-11

 

A.7

I/Os

..................................................................................................................

A-12

 

 

A.7.1

Digital Input Interfaces............................................................................

A-12

 

 

A.7.2

Digital Output Interface ..........................................................................

A-13

 

Guitar Installation Guide

Contents

iii

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

 

Guitar Installation Guide

1-1

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-resistanceearth 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-sensitivecomponents 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 electricitybuild-up.

To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet doors shut.

The following safety symbols are used in this manual:

Warning:

This information is needed to avoid a safety hazard, which might cause bodily injury.

Caution:

This information is necessary for preventing damage to the product or to other equipment.

Note:

This is auxiliary information that ensures the correct operation of the equipment.

Guitar Installation Guide

Safety Information

1-2

MAN-GUIIG(Ver. 1.1)

 

 

 

 

 

 

1.1Warnings

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-basedcleaners. For further details see:

www.elmomc.com/applications/article/Soldering-and-Cleaning_Application-Note.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.

1.2Cautions

The Guitar servo drive contains hot surfaces and electrically-chargedcomponents 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.

Guitar Installation Guide

Safety Information

1-3

MAN-GUIIG(Ver. 1.1)

 

 

 

 

 

 

1.3Directives and Standards

The Guitar conforms to the following industry safety standards:

Safety Standard

Item

 

 

In compliance with UL508c

Power Conversion Equipment

In compliance with UL840

Insulation Coordination, Including Clearance and

 

 

Creepage Distances of Electrical Equipment

 

 

In compliance with UL60950-1

Safety of Information Technology Equipment,

(formerly UL1950)

Including Electrical Business Equipment

 

 

In compliance with 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.

1.4CE 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 EN60204-1andEN292-2at 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.

1.5Warranty 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

2-1

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.

2.1Drive 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-magnetsynchronous 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 astand-alonedevice or as part of amulti-axissystem in a distributed configuration on areal-timenetwork.

The Guitar drive is easily set up and tuned using Elmo’s Composer software tools. ThisWindows-basedapplication enables users to quickly and simply configure the servo drive for optimal use with their motor. The Guitar, as part of theSimplIQ product line, is fully programmable with the ElmoMetronome 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-supplyalgorithm 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-uppower 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.

Guitar Installation Guide

Introduction

2-2

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-232and CANopen communication.

2.2Product Features

2.2.1Current Control

Fully digital

Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digital Hall sensors.

12-bitcurrent loop resolution.

Automatic gain scheduling, to compensate for variations in the DC bus power supply.

2.2.2Velocity 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.

2.2.3Position Control

Programmable PIP control filter.

Programmable notch and low-passfilters.

Position follower mode for monitoring the motion of the slave axis relative to a master axis, via an auxiliary encoder input.

Pulse-and-directioninputs.

Sample time: four times that of the current loop.

Fast event capturing inputs.

PT and PVT motion modes.

Fast output compare (OC).

2.2.4Advanced Position Control

This relates to the Advanced model only.

Position-basedandtime-basedECAM mode that supports anon-linearfollower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory.

Dual (position/velocity) loop.

2.2.5Communication Options

Depending on the application, Guitar users can select from two communication options:

RS-232serial communication.

CANopen for fast communication in a multi-axisdistributed environment.