Elmo Piccolo Installation Manual

Elmo Motion Control Piccolo PIC-6/200

Pic-Starter Servo Amplifier for Brushless Motors

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Piccolo

Installation Guide

April 2008 (Ver. 2.2)

www.elmomc.com

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Important 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 Piccolo
servo amplifier.

 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. Corporate and

individual names and data used in examples herein are fictitious unless otherwise
noted.

Doc. No. MAN-PICIG

Copyright  2008

Elmo Motion Control Ltd.

All rights reserved.

Piccolo Catalog Number

PIC-XX/YYYV

Continuous

Operating

Current

.

Maximum
Operating

Voltage

_ = Current
V = Velocity

Revision History

Ver. 2.2 April 2008 Updated Power Ratings Table in Appendix
Ver. 2.1 Aug. 2004 50 VDC models upgraded to 60 VDC models
Ver. 2.0 May 2003 Manual name revised to Piccolo User G uide and look updated
Ver. 1.0 April 2000 Initial release of PIC Series Installation and Operating Manual

Elmo Motion Control Ltd.

64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel

Tel: [phone]
Fax: [phone]

[e-mail]

Elmo Motion Control Inc.

1 Park Drive, Suite 12
Westford, MA 01886
USA

Tel: [phone]
Fax: [phone]

[e-mail]

Elmo Motion Control GmbH

Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany

Tel: [phone]
Fax: [phone]

[e-mail]

Mode

www.elmomc.com

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iPiccolo Installation Guide

MAN-PICIG (Ver. 2.2)

Contents

Chapter 1: Safety Information...............................................................................................1-1

1.1 Warnings .........................................................................................................................1-2

1.2 Cautions..........................................................................................................................1-2

1.3 Conformance to Standards............................................................................................1-2

1.4 Warranty Information....................................................................................................1-3

Chapter 2: Introduction...........................................................................................................2-1

2.1 Product Description.......................................................................................................2-1

2.2 Standard Features..........................................................................................................2-1

2.3 Fault Protection..............................................................................................................2-1

2.4 How to Use this Guide..................................................................................................2-3

Chapter 3: Installation ............................................................................................................3-1

3.1 Site Requirements...........................................................................................................3-1

3.2 Unpacking the Amplifier............................................................................................... 3-1

3.3 Piccolo Dimensions........................................................................................................3-2

3.4 Mounting the Piccolo.....................................................................................................3-3

3.4.1 Mounting the Heatsink .......................................................................................3-3

3.4.2 Mounting on the PC Board.................................................................................3-3

3.5 Wiring the Piccolo..........................................................................................................3-4

3.6 Connections....................................................................................................................3-4

3.6.1 Pin Functions........................................................................................................3-4

3.6.2 Connecting a Non-isolated Piccolo to an Isolating Power Transformer........3-7

3.7 DC Power Supply........................................................................................................... 3-7

i

Chapter 4: Servo Control Operation.....................................................................................4-1

4.1 Current Command Input............................................................................................... 4-1

4.2 CFM.................................................................................................................................4-1

4.3 Current Gain Control (CGC).........................................................................................4-2

4.4 External Current Limit - Continuous (ECLC).............................................................4-3

4.4.1 External Voltage...................................................................................................4-3

4.4.2 External Resistor..................................................................................................4-3

4.5 External Current Limit - Peak (ECLP)..........................................................................4-3

4.5.1 External Voltage...................................................................................................4-3

4.5.2 External Resistor..................................................................................................4-4

4.6 Latch Mode (LM)............................................................................................................4-4

4.7 “30/60” Hall Sensor Selector (SEL)..............................................................................4-4

4.8 Amplifier Enable Logic..................................................................................................4-4

4.9 Status Indications...........................................................................................................4-5

Appendix: Technical Specifications....................................................................................A-1

A.1 Power Ratings................................................................................................................A-1

A.2 Electrical Specifications................................................................................................A-1

A.3 Mechanical Specifications.............................................................................................A-2

A.4 Environmental Conditions...........................................................................................A-2

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Piccolo Installa tion Guide

MAN-PICIG (Ver. 2.2)

Chapter 1: Safety Information

In order to achieve the optimum, safe operation of the Piccolo servo amplifier, it is
imperative that you implement the safety procedures included in t his user guide. Thi s
information is provided to protect you and to keep your work area safe when operating
the Piccolo and accompanying equipment.

Please read this chapter carefully before you begin the installation process.

Ensure that all system components are connected to earth ground. Electrical safety is
provided through a low-resistance earth connect ion.

Only qualified personnel may install, adjust, maintain and repair the servo amplifier. A
“qualified person” has the knowledge and authorization to perform tasks such as
transporting, assembling, installing, commissioning and operating motors.

The Piccolo servo amplifier contains electrostati c-sensit iv e components t hat 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.

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Piccolo Installa tion Guide Safety Information

MAN-PICIG (Ver. 2.2)

1.1 Warnings

Cleaning after soldering

To avoid the damage of the product's acrylic coating the Piccolo must not
be cleaned after soldering by diss olving solve nts and / or "water" clea ning
process. For more details:

http://www.elmomc.com/applicat ions/ar ti cl e/Sol der ing-and ­Cleaning_Application-Note.pdf

To avoid electric arcing and hazards to personnel and electrical contacts,
never connect/disconnect the servo amplifier while the power source is
on.

Power cables can carry a high voltage, even when the motor is not in
motion. Disconnect the Piccolo from all voltage sources before it is
opened for servicing.

1-2

After shutting off the power and removing the power source from your
equipment, wait at least 5 minutes 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 Piccolo servo amplifier 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.

1.3 Conformance to Standards

The Piccolo servo amplifier 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.

The Piccolo servo amplifier 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 89/392/EEC as amended, and with those
of the most recent versions of standards EN60204-1 and EN292-2 at the least.

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Piccolo Installa tion Guide Safety Information

MAN-PICIG (Ver. 2.2)

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 Piccolo meets the provision s ou tline d in C oun cil Direc tive 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.

1.4 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 amplifiers 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.

1-3

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Piccolo Installa tion Guide

MAN-PICIG (Ver. 2.2)

Chapter 2: Introduction

This user guide is intended for the design engineer who is integrating an Elmo Motion
Control Piccolo servo amplifier into a machine.

2.1 Product Description

The Piccolo series of miniature servo amplifiers is designed for DC brushless motors and
incorporates custom mixed analog/digital ICs and a hybrid power stage. The basic
configuration is a current mode amplifier targeting the OEM market. As such, no
trimmers are used in the basic version. The Piccolo amplifier meets UL508c and the
relevant CE regulations.

The Piccolo power stage is implemented on a single ceramic subst rate. Thi s design
enables very high thermal conductivity, high current carrying capacity, improved EMC
and good mechanical strength. The control section is implemented by dedicated custom
ICs that contribute to enhanced performance.

2-1

2.2 Standard Features

 Operation in current mode (velocity mode option available)
 Internal DC-to-DC converter, which allows for operation from a single supply
 Zero deadband
 Excellent linearity
 One differential input
 Motor current monitor
 Current gain change for low inductance motors
 Remote current gain control
 Current feedback multiplier for low current motors
 Status indication and remote control functions by four open collector transistors
 External continuous and peak current-limit adjustments
 Interface via soldering pins
 Package: plated-copper base plate, plastic housing, UL94V0 recognized
 Ultra-compact size

2.3 Fault Protection

Built-in protection against possible fault conditions, including:

 Shorts between the outputs or between each output and the power input/return
 Over-temperature
 Under/over voltage
 Failure of internal power supplies
 Latch mode for each protective feature

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Piccolo Installa tion Guide Introduction

MAN-PICIG (Ver. 2.2)

10.5K

10nF

44.2K

CREF- (J1,2)

CREF+ (J1,1)

20K

20K

20K

-

AD

+

Buffer

20K

10K

Current Loop

-

A

+

100K

AS

Amp.

2-2

ECLC(J1,3)

ECLP(J1,4)

CL return(J1,5)

CM(J1,6)

CM ret u rn (J 1,7)

AOK(J2,7)

SO1(J2,8)

SO2(J2,9)

SO3(J2,10)

SORET(J2,5)

11K

1K

1K

Current

Limits

PWM

Processor

Current
Feedback
Processor

CFM(J1,10)

27.4K

CGC(J1,8)

14.7K

Return(J1,9)

M1

Current

Sensing

M2

M3

VP+

Protections

Logic

Dr3

Dr4

Commutation

Dr2

Dr5

Dr1

Dr6

PR

EN+ (J2,4)

EN- (J2,6)

SEL(J2,1)

LM(J2,2)

LMRET(J2,3)

7.5K

7.5K

14.7K27.4K

7.5K

Hc(J3,6)

Hb(J3,4)

Ha(J3,2)

+5v(J3,1)

Return(J3,3)

+15v(J3,5)

Figure 2-1: Piccolo Block Diagram

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Piccolo Installa tion Guide Introduction

MAN-PICIG (Ver. 2.2)

2.4 How to Use this Guide

Installation is the first step in integrating and operating the Elmo Piccolo servo
amplifier. 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 and

connecting the Piccolo.

Chapter 4, Servo Control Operation, explains how to control the operat ion of t he servo

amplifier.
The Appendix, Technical Specifications, lists all the drive ratings and specifications.

2-3

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Piccolo Installa tion Guide

MAN-PICIG (Ver. 2.2)

Chapter 3: Installation

3.1 Site Requirements

You can guarantee the safe operation of the Piccolo by ensuring that it is installed in an
appropriate environment.

Feature Value

Ambient operating temperature 0 °C – 50 °C (32 °F – 122 °F)

Maximum case temperature 87 °C (188 °F)

Note: Models for extended environmental conditions are available.

3.2 Unpacking the Amplifier

3-1

To unpack the Piccolo:

Carefully remove the servo amplifier from the box and the Styrofoam.

1. Check the amplifier to ensure that there is no visible damage to the instrument. If
any damage has occurred, report immediately to the carrier that delivered your
amplifier.

2. To ensure that the Piccolo you have unpacked is the appropriate type for your
requirements, find the part number sticker on the side of the Piccolo:

The P/N number at the top gives the type designation as follows:

PIC-15/200V

Continuous

Output

Current

.

Maximum
Operating

Voltage

Mode

_ = Current
V = Veloc ity

3. Verify that the Piccolo type is the one that you ordered, and ensure that the voltage
meets your specific requirements.

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3.3 Piccolo Dimensions

3-2

Figure 3-1: Piccolo Dimensions

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3.4 Mounting the Piccolo

3.4.1 Mounting the Heatsink

The Piccolo dissipates its heat by natural convection, up to loads of 500 W. For higher
output loads, the amplifier should be mounted on an additional heatsink or cooled by
fan. There are two 4.5-mm holes in the base plate for mounting an additional heatsink
(see Figure

3.4.2 Mounting on the PC Board

When mounting the Piccolo on a PC board, four screws (in addition to the solder pins)
may be installed to provide a mechanical connection. It is important to provide a spacer if
any components are located above the amplifier. Failure to do so can warp the PC board
or puncture the amplifier case. When selecting screws, the following specifications
should be used. If a spacer has been added, the screw length must be calculated to
penetrate the case by no more than 2.6 mm.

3-1).

3-3

Screw Type: Phillips pan head self-tapping (for plastic) screw – Nickel-plated Steel.

Meets standards ISO 1478, EN 21478, or DIN 7970.

d ST2.2

L 4.5*

P 0.8

dk 4.2

k 1.8

m≈ 2.6

Phillips size 1

*4.5 mm is typical for mounting on a
PC board assembly without spacers.

Table 3-1: Dimensions in Millimeters

Basic
Diameter

ISO
Nr.

Pitch
P

Main Diameter Minor Diameter Flat End Diameter

D

1max

D

D

1min

D

2max

D

2min

D

3max

3min

ST2.2 2 0.8 2.24 2.1 1.63 1.52 1.47 1.37

Table 3-2: Size Limits for Tapping Screw Thread

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3.5 Wiring the Piccolo

3-4

Figure 3-2: Basic Wiring

3.6 Connections

3.6.1 Pin Functions

The Piccolo connections are described in the following figure and tables.

Figure 3-3: Piccolo Connector Locations

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

Pin Function Remarks

VP+ Positive power input

PR Power input return

M1

M2

M3

Motor power output 1

Motor power output 2

Motor power output 3

Table 3-3: Piccolo Power Connections

3-5

Pin #/
Short Form

1

CREF1+

2

CREF-

3

ECLC

4

ECLP

5

ECLRET

6

CM

7

CMRET

8

CGC

9

CGCRET

10

CFM

Function

Current command
input ( + )

Remarks

Positive input of a differential amplifier:

 Input operating voltage range: ±3.75 V

 Maximum input voltage: ±20 V

(see section 4.1)

 Maximum common mode voltage: ±6 V

(referred to as CMRET)

 Differential input impedance: 40 kΩ

Current command
input ( - )

External current
limit- continuous

Negative input of a differential amplifier.
Specification as for pin J1/1.

External voltage scales down the rated value.

 Voltage range: 0 V to 3.75 V (3.75 V = rated Ic)

 Internally limited to rated value

External current
limit - peak

External voltage scales down the rated value.

 Voltage range: 0 V to 3.75 V (3.75 V = rated Ip)

 Internally limited to rated value

Current limits

Return for current limits signals.

return

Current monitor Analog output with a scale of ±3.9 V for ±Ip.

 Output resistance: 10 kΩ

Current monitor

Return for current monitor (CM) signal.

return

Current gain
change

Shorting this pin to the CGCRET pin (J1/9)
reduces the proportional gain (P) of the current
loop by 70%.

Current gain

Return for CGC signal.

change return

Current feedback
multiplier

Shorting this pin to pin J1/8 (CGC) multiplies
the current feedback signal by 2.

Table 3-4: Connector J1

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3-6

Pin #/
Short Form

1

SEL

2

LM

3

LMRET

4

EN+

5

SORET

6

EN-

7

AOK

Function

Hall sensor
selector

Remarks

Input for selection of Hall signal format. The
default (open pin) is 60°. When shorting this pin
to pin J2/2 (LM), the selected Hall format is
changed to 30°.

Latch mode Latch mode input.

Latch mode return Return for Latch mode (LM).

Enable ( + ) Positive voltage input of "Amplifier Enable”

function. To enable operation of the amplifier,
the opto must be switched on by applying
voltage between this pin (+) and pin J2/6 (-).
The opto is isolated from the amplifier. See

Figure 2-1.

 Minimum “On” voltage: 3 V , current

consumption 0.6 mA.

 Maximum “On” voltage: 5 V , current

consumption 5.4 mA.

Status output
return

Status output common for AOK, SO1, SO2, SO3.
Isolated from circuit common. See Figure 2-1.

Enable ( - ) Negative voltage input of “Amplifier Enable”

function. Opto isolated from amplifier. For
details, see pin J2/4.

Amplifier OK “Amplifier OK” indication output pin. When the

amplifier is at normal operating conditions, this
output is in “active low “ state. When a failure
occurs, this output is changed to “open” state.
Opto isolated, open collector NPN type. See

Figure 2-1.

 Maximum voltage = 30 V

 Maximum current = 8 mA.

8

SO1

9

SO2

10

SO3

“On” voltage: V

OUT(On)

Status output 1 Status indication output 1. Specification as in

pin J2/7.

Status output 2 Status indication output 2. Specification as in pin

J2/7.

Status output 3 Status indication output 3. Specification as in pin

J2/7.

< 0.8 V

Table 3-5: Connector J2

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3-7

Pin #/
Short Form

1

+5V

2

Ha

3

HARET

Function

+5 V Hall/encoder
supply voltage

Remarks

+5 V supply voltage for Hall sensors.
Output current: 20 mA.

Hall A input Logic levels: TTL

Maximum input voltage: 30 VDC.

Hall/encoder

Return used only for Hall supply.
supply voltage
return

4

Hb

5

+15V

Hall B input Logic levels: TTL

Maximum input voltage 30 VDC.

+15 V Hall/
encoder supply

+15 V supply voltage for Hall sensors.

Output current: 20 mA.
voltage

6

Hc

Hall C input Logic levels: TTL.

Maximum input voltage: 30 VDC.

Table 3-6: Connector J3

3.6.2 Connecting a Non-isolated Piccolo to an Isolating
Power Transformer

Be sure to ground:

 DC power common

 Motor chassis

 Amplifier heatsink

Do not ground the control common, which is internally connected to the power common.

Grounding the control common will create a ground loop.

3.7 DC Power Supply

The DC power supply can be at any voltage in the range defined in the technical
specifications (Appendix of this guide). The supply source must comply with the safety
aspects of the relevant requirements, in accordance with the most recent version of the
standard EN60950 or equivalent Low Voltage Directive Standard, all according to the
applicable over-voltage category. If the power source to the power supply is the AC line
(through a transformer), safety margins must be considered, in order to avoid activating
the under/over voltage protection due to line variations and/or voltage drop under load.

In addition to the above, the transformer must comply with the safety aspects of the
relevant requirements in accordance with the most recent version of the standard
EN60742 (Isolating and Safety Isolating Transformers). The nominal DC bus voltage
should be in the following range:

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Piccolo Installa tion Guide Installation

MAN-PICIG (Ver. 2.2)

3-8

1.2 V

dcmin

< Vdc < 0.9

Vdcmax

where:

V

Vdcmax

is the minimum DC bus

dcmin

is the maximum DC bus

The recommended minimum power supply capacitance for single-phase connections is
as follows:

Amplifier Voltage Range 50 - 55 V 100 V 200 V

Recommended capacitance 5600 µF 3300 µF 1500 µF

The transformer power should be calculated such that it will be able to deliver power to
the amplifier (including peak power) without significant voltage drops.

The power supply should be located as close as possible to the amplifier. The maximum
distance is 30 cm (1 foot). While driving high-inertia loads, the power supply must be
equipped with a shunt regulator; otherwise, the amplifier will be disabled whenever the
capacitors are charged above the maximum voltage.

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Piccolo Installa tion Guide

MAN-PICIG (Ver. 2.2)

Chapter 4: Servo Control Operation

4.1 Current Command Input

The Piccolo has a single differential input. The input operating voltage range is ± 3.75 V,
meaning that a 3.75 V signal will result in a fully rated peak current. The current limit
circuits will override this signal if the peak duration exceeds 2.7 seconds and/or the
required current exceeds the values set by the ECLC and ECLP signals. If the input
command voltage exceeds 3.75 V, input scaling must be implemented by adding a pair of
external resistors, according to the following formula:

4-1

R

= (5.33 * Vin) - 20

in (KΩ)

Be careful not to apply input voltage above the maximum allowed input voltage as this
will cause the input operational amplifier to operate beyond its limits (+20 V) and in
extreme cases, may even damage it.

4.2 CFM

The amplifier is equipped with a current feedback multiplier (CFM). Connecting pin
J1/10 to J1/8 multiplies the signal of the current feedback by 2 and consequently causes
the following changes to occur:

 Current gains are divided by 2.

 Current monitor is multiplied by 2.

 Current limits are divided by 2.

This function should be activated whenever the rated current and the peak current of the

motor are less than 50% of the amplifier rated continuous and peak limits, respectively.

Continuous
Current limit

Peak Current
Limit

Current
Gain(A/V)

Current
Monitor
(V/A)

Differential
Input
Impedance

Without CFM Ic Ip Ip/3.75 3.9/Ip 40 kΩ

With CFM Ic/2 Ip/2 Ip/7.5 7.8/Ip 40 kΩ

Table 4-1: CFM Effects

 The default (pin J1/10 left open) is the low current feedback.

 For permanent selection, a simple short is recommended.

 For remote selection, the scheme in Figure

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4-1 should be used.

Piccolo Installa tion Guide Servo Control Operation

MAN-PICIG (Ver. 2.2)

4.3 Current Gain Control (CGC)

The Piccolo amplifier is equipped with Current Gain Control (CGC) for improved
performance of low induction motors. Connecting pin J1/8 to J1/9 reduces the gain of
the current loop, thus enabling the use of low inductance motors without the insertion of
an additional inductor. The default (pin J1/8 left open) is high gain.

Shorting this pin to the circuit common pin (J1/9) reduces the proportional gain (P) of the
current loop by approx. 70%.

For permanent selection, a simple short is recommended. For remote selection, the
following scheme should be used.

4-2

Figure 4-1: CFM and CGC Remote Control

The following table should be used for calculating minimum inductance values.

Minimum Inductance for High Gain Minimum Inductance for Low Gain

5/60 L

10/60 L

15/60 L

25/60 L

3/100

10/100 L

15/100 L

20/100 L

2/200

6/200 L

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

L

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

L

Load (millihenry)

Load (millihenry)

> 12*10

> 6*10

> 4*10

> 2.4*10

> 30*10

> 9*10 -3 * V

> 6*10 -3 * V

> 4*10 -3 * V

> 50*10

> 16.5*10 -3 *V

-3

-3

* V

-3

* V

-3

-3

-3

* V

supply (Volt)

supply (Volt)

supply (Volt)

* V

supply (Volt)

* V

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

* V

supply (Volt)

L

L

L

L

L

L

L

L

L

supply(Volt)

L

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

Load (millihenry)

> 4.8*10 -3 * V

> 2.4*10 -3 * V

> 1.6*10 -3 * V

> 0.9*10 -3 * V

> 7.5*10 -3 * V

> 2.2*10 -3 * V

> 1.5*10 -3 * V

> 1.1*10 -3 * V

> 12*10 -3 * V

> 4*10 -3 * V

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

10/200 L

15/200 L

Load (millihenry)

Load (millihenry)

> 10*10 -3 *V

> 6.5*10 -3 *V

supply(Volt)

supply(Volt)

L

Load (millihenry)

L

Load (millihenry)

> 2.4 -3 * V

> 1.6 -3 * V

Table 4-2: Minimum Inductance Values

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supply (Volt)

supply (Volt)

Piccolo Installa tion Guide Servo Control Operation

MAN-PICIG (Ver. 2.2)

4.4 External Current Limit - Continuous (ECLC)

The continuous current limit of the Piccolo amplifier can be scaled down by an external
voltage or by an external resistor connected from pin J1/3 (ECLC) to pin J1/5 (ECLRET).

4.4.1 External Voltage

An external positive voltage (0 to 3.75 V) to terminal J1/3 (ECLC) in reference to terminal
J1/5 (ECLRET) will control the continuous current limit from zero to Ic(nom).

V

V

ECLC

IC(new) =

IC(new) =

ECLC

3.75V

3.75V

* Ic(nom)

* Ic(nom)

4-3

 The voltage is internally clamped to 3.75 V whenever the external V

is greater

ECLC

than 3.75 V.

 The external voltage source must be able to source/ sink at least ±0.2 mA.

 The maximum absolute V

ECLC

is 12 V.

4.4.2 External Resistor

Connect an external resistor between terminal J1/4 (ECLC) and terminal J1/5 (ECLRET).
The resistor value is given by:

Ic(new)

R

R

R

(Kohm) = 37.4 *

(Kohm) = 37.4 *

(Kohm) = 37.4 *

ECLC

ECLC

ECLC

 0 < R

 At R

< 36.4 K (1/8 Watt)

ECLC

greater than 36.4 K, the current limit will be internally clamped to the

ECLC

Ic(new)

Ic(nom)

Ic(nom)

- 1

- 1

nominal value.

 I

is the nominal continuous current limit of the amplifier.

C(nom)

4.5 External Current Limit - Peak (ECLP)

The peak current limit of the Piccolo amplifier can be scaled down by an external voltage
or by an external resistor connected between pin J1/4 (ECLP) and pin J1/5 (ECLRET).

4.5.1 External Voltage

An external positive voltage (0 to 3.75 V) to terminal J1/4 (ECLP) in reference to terminal
J1/5 (ECLRET) will control the peak current limit from zero to Ip(nom).

V

V

ECLP

Ip(new) =

Ip(new) =

 The voltage is internally clamped to 3.75 V whenever the external V

3.75 V.

 The external voltage source must be able to source/sink at least ±0.2 mA.

 The maximum absolute V

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ECLP

3.75V

3.75V

* Ip(nom)

* Ip(nom)

ECLP

is 12 V.

is higher than

ECLP

Piccolo Installa tion Guide Servo Control Operation

MAN-PICIG (Ver. 2.2)

4.5.2 External Resistor

Connect an external resistor between terminal J2/3 (ECLP) and terminal J2/2 (ECLRET).
The resistor value is given by:

Ip(new)

R

R

R

(Kohm) = 37.4 *

(Kohm) = 37.4 *

(Kohm) = 37.4 *

ECLP

ECLP

ECLP

Ip(new)

Ip(nom)

Ip(nom)

- 1

- 1

4-4

 0 < R

 At R

< 36.4 K (1/8 Watt)

ECLP

greater than 36.4K, the current limit will be internally clamped to the

ECLP

nominal value.

 I

is the nominal peak current limit of the amplifier.

P(nom)

4.6 Latch Mode (LM)

By connecting J2/2 to J2/3, the amplifier can be latched to Disable mode whenever a
Short, Commutation or Over Temperature failure occurs. Disabling the amplifier
temporarily (by removing the power from Enable pins J2/4 and J2/6) resets the latch. Be
sure to restore the Enable connection when the reason for the event no longer exists. For
permanent selection, a simple short is recommended. For remote selection, use the
following scheme.

Figure 4-2: “30/60” and LM Remote Control

4.7 “30/60” Hall Sensor Selector (SEL)

This is the input for selecting the Hall signal format. The default (pin J2/1 open) is 60°.
Shorting pin J2/1 to pin J2/2 (LM) changes the selected Hall format to 30°. For
permanent selection, use a simple short; for remote selection, use the scheme shown in

Figure

4-2.

4.8 Amplifier Enable Logic

Pins J2/4 and J2/6 are the inputs of an opto-coupler, which must be energized to enable
operation of the amplifier. If the Enable input is kept high before turning on the
amplifier, the amplifier power output will be active immediately upon power on.

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Piccolo Installa tion Guide Servo Control Operation

MAN-PICIG (Ver. 2.2)

4.9 Status Indications

The following table lists the Piccolo amplifier status indications.

4-5

Function

1 Amplifier OK

Latch
Option AOK

SO1

SO2

SO3

N/A Low Open collector Open collector Open collector

(AOK)

2 External disable No Low Low Open collector Low

3 Current limit No Low Open collector Open collector Low

4 Short Yes Open collector Low Open collector Low

5 Over

Yes Open collector Open collector Low Low

temperature

6 Internal supplies

No Open collector Low Low Open collector

protection

7 Under voltage No Open collector Low Open collector Open collector

8 Over voltage No Open collector Open collector Low Open collector

9 Shunt* No Low Open collector Low Open collector

10 Power up reset No Open collector Open collector Open collector Open collector

11 Commutation

Yes Open collector Low Low Low

failure

* This indication can be used as a digital input for activating an external shunt regulator.

Notes:

 Without latch mode:

The status indications are reset when the fault disappears.

 With latch mode:

The Short, Over Temperature and Commutation Failure status indications are
reset when the enable signal is temporarily removed from the enable input.

 Multiple faults:

Only the reading of the first fault is reliable. Additional faults add on to the
status outputs and the indication is therefore meaningless.

Table 4-3: Piccolo Status Indications

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Piccolo Installa tion Guide

MAN-PICIG (Ver. 2.2)

Appendix: Technical Specifications

A.1 Power Ratings

A-1

Feature

Minimum supply
voltage

Nominal supply
voltage

Maximum supply
voltage

Maximum
continuous power
output

Efficiency at rated
power (at nominal
conditions)

Maximum output
voltage

DC and trapezoidal
commutation
continuous current
limit (Ic)

DC and trapezoidal
commutation peak
current limit (Ic)

Units

5/60

10/60

15/60

25/60

3/100

10/100

15/100

20/100

2/200

6/200

10/200

15/200

VDC 10 20 40

VDC 50 85 170

VDC 59 95 195

W 290 570 860 1400 310 950 1400 1900 430 1200 1950 2900

% > 97

Up to 100% of DC bus voltage

A 5 10 15 25 3.3 10 15 20 2.25 6 10 15

A 2 x Ic

Mounting method PCB Mounted

A.2 Electrical Specifications

Feature Details

Switching frequency on the load 32 kHz (±5%)
Current loop bandwidth Up to 4 kHz
Current step response < 100 µsec

Peak current duration (full rated
peak current)

Continuous current limit tolerance -1% +5 %
Peak current limit tolerance -1% +5%

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Utilization dependent up to 2.7 sec ±15%,
reduced by RMS current limit

Piccolo Installa tion Guide Technical Specif ications

MAN-PICIG (Ver. 2.2)

Feature Details

A-2

Current gain linearity
Current gain accuracy
Current monitor accuracy

Better than ±1% of rated continuous cu rre nt
Better than ±5% for 0.05 Ic < lmotor > Ip
Better than ±5% for 0.05 Ic < lmotor > Ip

A.3 Mechanical Specifications

Feature Details

Dimensions 82 x 62 x 25.4 mm (3.228 x 2.440 x 1.000 in)
Weight 230 g (8.1 oz)
Power pin material Brass with tin plating
Power pin size 1.14 mm (0.45 in) square
Power pin PCB layout 1.8 ± 0.05 mm (0.071 ± 0.002 in)
Signal pin (J1, J2) mate ria l Phosphor bronze with 10µ gold plating
Signal pin (J1, J2) size 0.5 ± 0.1 mm (0.02 ± 0.004 in) square
Signal pin (J1, J2) PCB layout 1 ± 0.05 mm (0.04 ± 0.002 in)

A.4 Environmental Conditions

Feature Details

Ambient operating temperature 0 °C – 50 °C (32 °F – 122 °F)
Maximum case temperature 87 °C (188 °F)
Storage temperature -40 °C to 100 °C (-40 °F to +212 °F)
Operating humidity 90% non-condensing
Maximum operating altitude Up to 10,000 m (30,000 ft)
Storage humidity 98% non-condensing
Protective coating Applied to all circuits

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