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.
Guitar Catalog Number
Related Products:
Evaluation Board Catalog Number
Evaluation Board User Manual
Document. no.
To be assigned
In development
MAN-GUIIG (Ver. 1.1)
Copyright 2008
Elmo Motion Control Ltd.
All rights reserved.
Revision History:
Ver. 1.0 April 2008
Ver. 1.1 July 2008. Heat dissipation data added in Chapter 3.
Elmo Motion Control Ltd.
64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel
Tel: +972 (3) 929-2300
Fax: +972 (3) 929-2322
info-il@elmomc.com
Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
info-us@elmomc.com
Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (0) 7720-85 77 60
Fax: +49 (0) 7720-85 77 70
info-de@elmomc.com
www.elmomc.com
Guitar Installat ion 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
i
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
Guitar Installat ion 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
ii
Guitar Installat ion 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...................................................................................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 Installat ion 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-sensit ive com ponents 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.
1-1
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 Installat ion Guide Safety Information
MAN-GUIIG (Ver. 1.1)
1.1 Warnings
Cleaning after soldering
To avoid damage to the product’s acrylic coating, the Bass oon mus t n ot 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.
1-2
The Guitar servo drive contains groundi ng conduit s for elect ri c 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.
Guitar Installat ion Guide Safety Information
MAN-GUIIG (Ver. 1.1)
1.3 Directives and Standards
The Guitar conforms to the following industry safety standards:
Safety Standard Item
In compliance with UL508c Power Conversion Equipment
1-3
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 desi gned for use wit hin certai n
voltage limits, the Guitar meets the provisions outlined in Council Directive 73/23/EEC.
The party responsible for ensuring that the equipment meet the li mi ts requi red 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 Installat ion 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.
2-1
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.
Guitar Installat ion Guide Introduction
MAN-GUIIG (Ver. 1.1)
The Advanced Guitar includes all the motion c apabilities and co mmunication option s
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.
2-2
Programm abl e PI and FFW (feed forward) control fil ters.
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
Programm abl e PIP control fil ter.
Programm abl e notch and l ow-pass fil ters.
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 input s.
PT and PVT m otion m odes.
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 fa st commu nica tion in a mu lti-ax is dis tribute d environ men t.
Guitar Installat ion 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 Mega-
Counts per second for encoder
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
Internal interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signals
offset
Auxiliary emulated, unbuffered, single-ended, encoder output
• Resolver
Programmable 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
• Tachometer, Potentiometer
• Elmo drives provide supply voltage for all the feedback options
2-3
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 powe r
outputs and between each output and power input/return
• Recovery from loss of commutation signals and from communication errors
Guitar Installat ion Guide Introduction
MAN-GUIIG (Ver. 1.1)
2.3 System Architecture
2-4
Figure 2-1: Guitar System Block Diagram
Guitar Installat ion 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.
2-5
Figure 2-2: Elmo Digital Servo Drive Documentation Hierarchy
Guitar Installat ion 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 descr ib es the com pr ehensiv e softwar e
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 G uide
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.
3-1
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 Installat ion 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 Pinouts
3-2
3.3.1 Connector Types
No.
Pins
2x16 J1 I/O, COMM,
15 J2 Main Feedback,
6 VL Auxiliary power input
6 VP+ Positive power input
6 PR Power input return
4 PE Protective earth
6 M1 Motor power output 1
6 M2 Motor power output 2
2
Type
2 mm Pitch
0.51 mm SQ
Port Function
Auxiliary Feedback
Analog Input, LED
M3 Motor power output 3
Connector Location
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.3.2 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
3-3
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 Installat ion 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
3-4
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)
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.4 Mounting the Guitar
The Guitar was designed for mounting on a printed circuit board (PCB). It is connected by
2 mm pitch 0.51 mm square pins. When designing the Guitar into a device, be sure to leave
about 1 cm (0.4") outward from the heatsink to enable free air convection around the Guitar. We
recommend that the Guitar be soldered directly to the board. Alternatively, though this is not
recommended, the Guitar can be attached to socket connectors mounted on the PCB. If the PCB
is enclosed in a metal chassis, we recommend that the Guitar be screw-mounted to it as well to
help with heat dissipation. The Guitar has screw-mount holes on each corner of the heatsink for
this purpose.
3-5
Figure 3-1: Guitar Footprint
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.5 Integrating the Guitar on a PCB
The Guitar is designed to be mounted on a PCB, either by soldering its pins directly to the
PCB or by using suitable socket connectors. In both cases the following rules apply:
3.5.1 Traces
1. The size of the traces on the PCB (thickness and width) is determined by the current
carrying capacity required by the application.
The rated continuous current limit (Ic)of the Guitar is the current used for sizing
the motor traces (M1, M2, M3 and PE) and power traces (VP+, PR and PE).
For control, feedbacks and Inputs/ outputs conductors the actual current is very
small but “generous” thickness and width of the conductors will contribute to a
better performance and lower interferences.
2. The traces should be as short as possible to minimize EMI and to minimize the heat
generated by the conductors.
3. The spacing between the high voltage conductors (VP+, PR, M1, M2, M3, VL) must be
at least:
Surface layer: 1.5 mm
Internal layer: 0.5 mm
3-6
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
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. Outpu ts: The 4 outputs are optically isolated from the other parts of the Guitar. Each
output has a separate floating return (OUTRET1 for output 1 and OUTRET2 for output 2,
etc.) To retain isolation, the Output Return pins, as well as other conductors on the
output circuit, must be laid out separately.
4. Return Traces: The return traces should be as large as possible, but without shorting
each other, and with minimal cross-overs.
5. Main Power Supply and Motor Traces: The power traces must be kept as far away as
possible from the feedback, control and communication traces.
6. PE Terminal: The PE terminal is connected directly to the Guitar’s heat-sink. The heat-
sink serves as an EMI common plane. The PE terminal should be connected to the
system's Protective Earth. Any other metallic parts (such as the chassis) of the assembly
should be connected to the Protective Earth as well.
3-7
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.6 The Guitar Connection Diagram
3-8
Figure 3-2: The Guitar Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.7 Main Power and Motor Power
Pin Function Cable Pin Positions
VP+ Pos. Power input Power
PR Power return Power
PE Protective earth Power
3-9
AC Motor DC Motor
PE Protective earth Motor Motor
M1 Motor phase Motor N/C
M2 Motor phase Motor Motor
M3 Motor phase Motor Motor
When connecting several drives 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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.7.2 Connecting Main Power
Connect the VP+, PR and PE pins on the Guitar in the manner described in section 3.5
(Integrating the Guitar on a PCB).
The source of the 12 ~ 195 VDC Main Power Supply must be isolated.
3-10
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 Pin Positions
VL Auxiliary Supply Input
PR Supply Input Return
Caution:
Power from the Guitar to the
motor must come from the Main
Supply and NOT from the
Auxiliary Supply.
Table 3-2: Auxiliary Supply Pins
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.8.1 Single Supply
A single isolated DC power supply can provide power for both the main power and the
Auxiliary (Drive Logic) Supply. The drawing below shows how a single supply is connected.
3-11
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.8.3 Shared Supply
A "Main" DC Power Supply can be designed to supply power to the drive's Logic as well as to
the Main Power (see Figure
required (for storing control parameters in case of power-outs) a backup supply can be
connected (see the Aux. Backup Supply in Figure
3-5 and the upper portion of Figure 3-7). If backup functionality is
3-7).
3-12
Figure 3-7: Shared Supply Connection Diagram
Guitar Installat ion 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
GUI XX/YYY_ GUI XX/YYYI GUI XX/YYYR GUI XX/YYYT
Pin Signal Function Signal Function Signal Function Signal Function
Interpolated Analog
Encoder
Resolver
Tachometer and
Potentiometer
3-13
J2/1 +5V Encoder/Hall
+5V supply
J2/2 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
J2/6 CHA- Channel A
complement
J2/7 CHB Channel B B+ Cosine B S2 Cosine B Tac 2+ Tacho Input 2
J2/8 CHB- Channel B
complement
J2/9 INDEX Index R+ Reference R1 Vref f=1/TS,
J2/10 INDEX- Index
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 (AOKLED cathode) is used for LED indication
+5V Encoder/Hall
+5V supply
SUPRET Supply return SUPRET Supply return SUPRET Supply return
A- Sine A
complement
B- Cosine B
complement
R- Reference
complement
HA - NC - HA Hall sensor A
HB - NC - HB Hall sensor B
HC - NC - HC Hall sensor C
+5V Encoder/Hall
+5V supply
S3 Sine A
complement
S4 Cosine B
complement
50mA Max.
R2 Vref
complement
f= 1/TS, 50mA
Maximum
+5V Encoder/Hall
Tac 1- Tacho Input 1
Tac 2- Tacho Input 2
POT Potentiometer
NC -
+5V supply
Pos. (20V max)
Neg. (20V max)
Pos. (50V max)
Neg. (50V max)
Input (5V Max)
input
input
input
J2/15 LED_1_OUT (AOKLED anode) is used for LED indication
Table 3-3: Main Feedback Pin Assignments
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-14
Figure 3-8: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-15
Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-16
Figure 3-10: Main Feedback – Interpolated Analog Encoder with Digital Hall Sensors Connection
Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-17
Figure 3-11: Main Feedback – Resolver Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-18
Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram
Guitar Installat ion 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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-20
Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensors
Connection Diagram for Brushless Motors
Figure 3-16: Main Feedback –
Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.10 Auxiliary Feedback
For auxiliary feedback, select one of the following options:
a. Single-ended emulated encoder outputs, used to provide emulated encoder signals to
another controller or drive. The Emulated Encoder Output Option is only available when
using a Resolver, Analog Encoder, Tachometer, Potentiometer or Absolute Encoder as the
main feedback device. The absolute model provides differential emulated encoder
output.
This option can be used when:
The Guitar is used as a current amplifier to provide position data to the position
controller.
The Guitar is used in velocity mode, to provide position data to the position
controller.
The Guitar is used as a master in follower or ECAM mode.
b. Single-ended auxiliary encoder input, for the input of position data of the master
encoder in follower or ECAM mode.
3-21
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
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:
3-22
Main
Feedback
Incremental
Encoder
Input
Interpolated
Analog
(Sin/Cos)
Encoder
Input
Resolver
Input
YA[4] = 4
(Aux. Feedback: output)
Auxiliary Feedback
YA[4] = 2
(Aux. Feedback: input)
YA[4] = 0
(Aux. Feedback: input)
Potentiometer
or
Tachometer
Input
Typical
Applications
Analog Encoder applications
where position data is required in
the Encoder’s quadrature format.
Resolver applications where
position data is required in the
Encoder’s quadrature format.
Tachometer or potentiometer
applications where position data is
required in the Encoder’s
quadrature format.
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.
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.10.2 Auxiliary Feedback: Emulated Encoder Output Option
(YA[4]=4)
Pin Signal Function Pin Position
J1/28 COMRET Common return
J1/29 INDEX Auxiliary index output
J1/5 CHBO Auxiliary Channel B output
J1/4 CHAO Auxiliary Channel A output
Note: The Emulated Encoder Output Option is
only available when using a Resolver, Analog
Encoder, Tachometer or Potentiometer as the
main feedback device.
Note: The Guitar’s Auxiliary Feedback is
single-ended. When mounted on an integration
board, circuitry can be added to make it
differential.
3-23
Table 3-4: Emulated Single-Ended Encoder Output Pin Assignments
Figure 3-17: Emulated Encoder Direct Output – Acceptable Connection Diagram
Guitar Installat ion 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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-25
3.10.3 Auxiliary Feedback: Single-Ended Encoder Input Option
(YA[4]=2)
Pin Signal Function Pin Position
J1/27 +5 V Encoder supply voltage
J1/6 SUPRET Supply return
J1/29 INDEX Auxiliary index input
J1/5 CHB Auxiliary channel B input
J1/4 CHA Auxiliary channel A input
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-26
Figure 3-21: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-27
Figure 3-22: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram
3.10.4 Auxiliary Feedback: Pulse-and-Direction Input Option
(YA[4]=0)
Pin Signal Function Pin Position
J1/28 COMRET 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)
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-28
Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram
Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram
Guitar Installat ion 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 Installat ion 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 Pin Position
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)
3-30
J1/16 IN6 Hi-Speed Programmable input 6
(event capture, Auxiliary Home,
general purpose, RLS, FLS, INH)
J1/17 INRET6 Programmable input 6 return
J1/18 INRET5 Programmable input 5 return
J1/19 INRET4 Programmable input 4 return
J1/20 INRET3 Programmable input 3 return
J1/21 INRET2 Programmable input 2 return
J1/22 INRET1 Programmable input 1 return
Table 3-7: Digital Input Pin Assignments
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-31
Figure 3-26: Digital Input Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.11.2 Digital Output
Pin Signal Function Pin Position
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
3-32
Table 3-8: Digital Output Pin Assignment
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-33
Figure 3-27: Digital Output Connection Diagram
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.11.3 Analog Input
Pin Signal Function Pin Position
J2/3 ANLIN1+ Analog input 1+
J2/4 ANLIN1- Analog input 1-
J2/2 ANLRET Analog ground
3-34
Table 3-9: Analog Input Pin Assignments
Figure 3-28: Analog Input with Single-ended Source
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.12 Communications
The communication interface may differ according to the user’s hardware. The Guitar can
communicate using the following options:
a. RS-232, full duplex
b. CANopen
RS-232 communication requires a standard, commercial 3-core null-modem cable connected
from the Guitar to a serial interface on the PC. The interface is selected and set up in the
Composer software.
In order to benefit from CANopen communication, the user must have an understanding of
the basic programming and timing issues of a CANopen network.
For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used
simultaneously.
3-35
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 Pin Location
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
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
Figure 3-29: RS-232 Connection Diagram
3-36
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
Pin Signal Function Pin Position
J1/30 CAN_GND CAN ground
J1/31 CAN_L CAN_L busline (dominant low)
J1/32 CAN_H CAN_H busline (dominant high)
3-37
Table 3-11: CANopen - Pin Assignments
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-38
Figure 3-30: CANopen Network Diagram
Caution:
When installing CANopen communication, ensure that each servo drive is
allocated a unique ID. Otherwise, the CANopen network may hang.
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3.13 Powering Up
After the Guitar is connected to its device, it is ready to be powered up.
3-39
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 Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-40
Guitar Installat ion Guide Installation
MAN-GUIIG (Ver. 1.1)
3-41
3.15.3 How to Use the Char ts
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 Installat ion Guide
MAN-GUIIG (Ver. 1.1)
Appendix: Guitar Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque - up to 14 kHz sampling rate
• Velocity - up to 7 kHz sampling rate
• Position - up to 3.5 kHz sampling rate
A.1.2 Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower
• Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog current and velocity, PWM current and velocity,
digital (SW) and Pulse and Direction
A-1
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
A.1.5 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
Internal Interpolation - up to x4096
Automatic Correction of amplitude mismatch, phase mismatch, signal offset
Emulated encoder outputs, single-ended, unbuffered of the Analog encoder
• Analog Hall Sensor
• Resolver
Programmable 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Emulated encoder outputs, single-ended, unbuffered of the Resolver.
• Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered.
• Tachometer & Potentiometer
• The Guitar can provide power (5 V, 2x200 mA max) for Encoders, Resolver or Halls.
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A.1.6 Input/Output
• One Analog Input – up to 14-bit resolution
• Six separate programmable Digital Inputs, optically isolated (two of which are fast
event capture inputs).
Inhibit/Enable motion
Software and analog reference stop
Motion limit switches
Begin on input
Abort motion
Homing
General-purpose
• Four separate programmable Digital Outputs, optically isolated (open collector)
one with fast output compare (OC):
Brake Control
Amplifier fault indication
General-purpose
Servo enable indication
A-2
• 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 Installat ion Guide Guitar Technic a l Specifications
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
A-3
• Velocity gain scheduling
• Position gain tuning
A.2 Guitar Dimensions
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A.3 Power Ratings
A-4
Feature
Minimum supply
voltage
Nominal supply
voltage
Maximum supply
voltage
Maximum continuous
power output
Efficiency at rated
power (at nominal
conditions)
Maximum output
voltage
Amplitude
sinusoidal/DC
continuous current
Sinusoidal continuous
RMS current limit (Ic)
Units
VDC
VDC
VDC
35/48
11
42
48
20/60
14
50
59
25/60
35/60
20/100
23 46 11
85 170 42
95 195 48
25/100
3/200
6/200
10/200
17/200
R45/48
R45/60
14 23 46
50 85 170
59
95 195
R35/100
R30/200
W 1300 960 1200 1700 1600 2000 480 960 1600 2700 1700 2200 2800 4800
% > 97
A
35 20 25 35 20 25 3 6
A 25 14.1
17.7 25
97% of DC bus voltage at f=22 kHz
10 17
14.1 17.7 2.12 4.2 7 12
45 45
32 31.8
35 30
24.8 21.2
Peak current limit A 2 x Ic No peak
Weight g (oz) 165 g (5.8 oz)
Dimensions
Digital in/Digital
out/Analog in
mm
(in)
80 x 61 x 24.5 (3.15" x 2.4" x 0.965")
6/4/1
Mounting method PCB mount
Note:
• Current rating: The current ratings of the Guitar are given in units of DC amperes
(ratings that are used for trapezoidal commutation or DC motors). The RMS
(sinusoidal commutation) value is the DC value divided by 1.41.
Guitar Installat ion Guide Guitar Technic a l 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
A-5
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
Motor types
“On-the-fly” automatic gain scheduling
AC brushless (sinusoidal)
DC brushless (trapezoidal)
DC brush
Linear motors
“Voice” coils
Current control
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 loop bandwidth < 2.5 kHz
Guitar Installat ion Guide Guitar Technic a l 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
A-6
Velocity control
Fully digital
Programmable PI and FFW control filters
"On-the-fly" gain scheduling
Automatic, manual and advanced manual tuning
Velocity and position feedback
options
Incremental Encoder
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Tachometer and Potentiometer (optional)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency
and derivative).
Velocity loop bandwidth < 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
Position loop bandwidth < 80 Hz
Software
Pulse and Direction
Analog Potentiometer
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A-7
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
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
A, B and Index
Differential
Quadrature
Differential mode: ±7 V
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
Figure A-1: Main Feedback - Encoder Phase Diagram
A.6.2.2 Digital Halls
Feature Details
A-8
Halls inputs
H
, HB, HC.
A
Single ended inputs
Built in hysteresis of 1V for noise immunity
Input voltage Nominal operating range: 0 V < V
Maximum absolute: -1 V < V
High level input voltage: V
Low level input voltage: V
InLow
In_Hall
InHigh
In_Hall
< 15 V
> 2.5 V
< 1 V
Input current Sink current (when input pulled to the
common): 5 mA
Maximum frequency f
MAX
: 2 kHz
A.6.2.3 Interpolated Analog En coder (Sin e/Cos ine)
Feature Details
Analog encoder format
Analog input signal level
Sine and Cosine signals
Offset voltage: 2.2 V – 2.8 V
Differential, 1 V peak to peak
< 5 V
Input resistance Differential 120 Ω
Maximum analog signal frequency f
: 250 kHz
MAX
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
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
Feature Details
A-9
Encoder outputs
See Auxiliary Encoder Outputs specifications
( A.6.3)
A.6.2.4 Resolver
Feature Details
Resolver format
Sine/Cosine
Differential
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)
A.6.2.5 Tachometer*
Feature Details
Tachometer format Differential
Maximum operating differential
±20 V
voltage for TAC1+, TAC1-
Maximum absolute differential input
±25 V
voltage for TAC1+, TAC1-
Maximum operating differential
±50 V
voltage for TAC2+, TAC2-
Maximum absolute differential input
±60 V
voltage for TAC2+, TAC2-
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 Installat ion Guide Guitar Technic a l 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
A-10
Emulated output
A, B, Index
Single ended
Output current capability Maximum output current: IOH (max) = 2 mA
> 3.0 V
OH
= 2 mA
OL
< 0.4 V
OL
Available as options
High level output voltage: V
Minimum output current: I
Low level output voltage: V
Emulated encoder outputs of analog encoder
Emulated encoder outputs of the resolver
Emulated encoder outputs of the tachometer
Emulated encoder outputs of the potentiometer
Maximum frequency f
Edge separation between A & B
: 5 MHz pulses/output
MAX
Programmable number of clocks to allow adequate
noise filtering at remote receiver of emulated
encoder signals
Index (marker): Length of pulse is one quadrature (one quarter of
an encoder cycle) and synchronized to A&B
Figure A-2: Auxiliary Feedback - Encoder Phase Diagram
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A.6.4 Auxiliary Feedback Port (input mode YA[4]= 2, 0)
Feature Details
A-11
Encoder input,
pulse and direction input
A, B, Index
Single ended
Input voltage VIn Low: 0 V < VIL < 0.8 V
V
High: 2 V < VIH < 5 V
In
Maximum absolute voltage: 0 < V
< 5.5 V
In
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 Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A-12
A.7 I/Os
The Guitar has: 6 Digital Inputs 4 Digital Outputs 1 Analog Input
A.7.1 Digital Input Inter faces
Feature Details Schematic Diagram
Type of input
Input current
for all inputs
High-level
input voltage
Low-level
input voltage
Minimum
pulse width
Execution time
(all inputs):
the time from
application of
voltage on
input until
execution is
complete
High-speed
inputs – 5 & 6
minimum pulse
width, in highspeed mode
Optically isolated
Each input has its own return
Iin = 2.4 mA @ Vin = 5 V
2.5 V < Vin < 10 V, 5 V typical
0 V < Vin < 1 V
> 4 x TS, where TS is sampling time
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
If input is set to General input, execution depends
on program. Typical execution time: ≅ 0.5 msec.
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.
Digital Input Schematic
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A-13
A.7.2 Digital Output Interface
Feature Details Connector Location
Type of output
Optically isolated
Open collector and open emitter
Maximum supply output
30 V
(Vcc)
Max. output current
Iout (max) ≤ 15 mA
Iout (max) (Vout = Low)
VOL at maximum output
Vout (on) ≤ 0.3 V
voltage (low level)
RL External resistor RL must be
selected to limit output current to
no more than 15 mA.
−
=
R
L
VOLVcc
(max)Io
Executable time If output is set to one of the built-
in functions — Home flag, Brake
or AOK — execution is immediate
upon detection:
0 < T < 4 x TS
If output is set to General output
and is executed from a program,
the typical time is approximately
Digital Output Schematic
0.5 msec.
A.7.3 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 Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A.8 Communications
Specification Details
A-14
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) Type testing
Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors sizing,
etc.)
Guitar Installat ion Guide Guitar Technic a l Specifications
MAN-GUIIG (Ver. 1.1)
A.10.3 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-15
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 Installat ion Guide
MAN-GUIIG (Ver. 1.1)
Index
Feedback
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
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
I-1
E
EMC · A-15
Environmental conditions · A-5
F
Fault protection · 2-3
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 Installat ion Guide Index
MAN-GUIIG (Ver. 1.1)
I-2
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
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