ElmoMC SimplIQ Analog Servo Amplifiers-Piccolo Installation

Piccolo

Analog Servo Drive

Installation Guide

July 2014 (Ver. 2.301)

www.elmomc.com

PIC-XX/YYYV

.

Mode

Continuous

Operating

Current

_ = Current
V

= Velocity

Maximum
Operating

Voltage

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 drive
in its installation.

• The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change
without notice.

• Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion

Control Ltd.

• Information in this document is subject to change without notice.

Document no. MAN-PICIG (Ver. 2.301)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Revision History

Version Date Details

Ver. 1.0 May 1999 Initial release

Ver. 2.0 May 2003 Manual name revised to Piccolo User Guide and look

updated

Ver. 2.1 Aug 2004 50 VDC models upgraded to 60 VDC models

Ver. 2.2 Apr 2008 Updated Power Ratings Table in Appendix

Ver. 2.201 Feb 2013 Updated Section 3.3: Piccolo Dimensions

Ver. 2.300 Apr 2013 Formatted according to the new template

Updated Section 5.2: Electrical Specifications

Ver. 2.301 July 2014 General format updates

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel

Tel: [phone] • Fax: [phone] • [e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

Tel: [phone] • Fax: [phone] • [e-mail]

Europe

Elmo Motion Control GmbH

Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany

Tel: [phone] • Fax: [phone] • [e-mail]

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

Room 208, Building 2, Tlan'An, High Tech Industrial Plaza, Guangzhou 511400,
No. 555 PanYuDaDao, China

Cell: [phone] (Shi Zhonglin) • [e-mail]

Asia Pacific

Elmo Motion Control APAC Ltd.

B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)

Tel: [phone] • Fax: [phone] • [e-mail]

MAN-PICIG (Ver. 2.301)

Table of Contents

Piccolo Installation Guide

Chapter 1: Safety Information .......................................................................................... 7

1.1. Warnings ......................................................................................................................... 8

1.2. Cautions .......................................................................................................................... 8

1.3. Directives and Standards ................................................................................................ 9

1.4. CE Marking Conformance ............................................................................................... 9

1.5. Warranty Information .................................................................................................... 9

Chapter 2: Product Description ...................................................................................... 10

2.1. Drive Description .......................................................................................................... 10

2.2. Standard Features ........................................................................................................ 10

2.3. Fault Protection ............................................................................................................ 11

2.4. System Architecture ..................................................................................................... 12

2.5. How to Use this Guide .................................................................................................. 13

5

Chapter 3: Installation ................................................................................................... 14

3.1. Site Requirements ........................................................................................................ 14

3.2. Unpacking the Drive Components ................................................................................ 14

3.3. Dimensions ................................................................................................................... 15

3.4. Mounting the Piccolo ................................................................................................... 16

3.4.1. Mounting the Heatsink .................................................................................. 16

3.4.2. Mounting on the PC Board ............................................................................ 16

3.5. Wiring the Piccolo ......................................................................................................... 17

3.6. Connections .................................................................................................................. 18

3.6.1. Pin Functions ................................................................................................. 18

3.6.1.1. Power ............................................................................................ 18

3.6.1.2. J1 Connector ................................................................................. 19

3.6.1.3. J2 Connector ................................................................................. 20

3.6.1.4. J3 Connector ................................................................................. 21

3.6.2. Connecting a Non-isolated Piccolo to an Isolating Power Transformer ........ 21

3.7. DC Power Supply .......................................................................................................... 22

Chapter 4: Servo Control Operation ............................................................................... 23

4.1. Current Command Input .............................................................................................. 23

4.2. CFM ............................................................................................................................... 23

4.3. Current Gain Control (CGC) .......................................................................................... 24

4.4. External Current Limit - Continuous (ECLC) .................................................................. 25

4.4.1. External Voltage ............................................................................................. 25

4.4.2. External Resistor ............................................................................................ 25

4.5. External Current Limit - Peak (ECLP) ............................................................................. 25

4.5.1. External Voltage ............................................................................................. 25

4.5.2. External Resistor ............................................................................................ 26

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Table of Contents

4.6. Latch Mode (LM) .......................................................................................................... 26

4.7. “30/60” Hall Sensor Selector (SEL) ............................................................................... 26

4.8. Amplifier Enable Logic .................................................................................................. 26

4.9. Status Indications ......................................................................................................... 27

Chapter 5: Technical Specifications ................................................................................ 28

5.1. Power Ratings ............................................................................................................... 28

5.2. Electrical Specifications ................................................................................................ 29

5.3. Mechanical Specifications ............................................................................................ 29

5.4. Environmental Conditions ............................................................................................ 30

5.5. Compliance with Standards .......................................................................................... 31

6

MAN-PICIG (Ver. 2.301)

Chapter 1: Safety Information

Warning:

Caution:

Piccolo Installation Guide

In order to operate the Piccolo 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 Piccolo and accompanying equipment.

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

Before you start, make sure 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 Piccolo servo drive contains electrostatic-sensitive components that can be damaged if
handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating
materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface
and ground yourself in order to discharge any possible static electricity build-up.

7

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:

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

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

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Safety Information

1.1. Warnings

• To avoid electric arcing and hazards to personnel and electrical contacts, never

connect/disconnect the servo drive while the power source is on.

• Disconnect the Piccolo from all voltage sources before it is opened for servicing.

• The Piccolo servo drive contains grounding conduits for electric current protection. Any

disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at

least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). It is recommended to
measure the electrical contact points with a meter before touching the equipment.

1.2. Cautions

• The Piccolo servo drive contains hot surfaces and electrically-charged components during

operation.

8

• The maximum DC power supply connected to the instrument must comply with the

parameters outlined in this guide.

• When connecting to Piccolo to an approved isolated 24 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 Piccolo, verify that all safety precautions have been observed and

that the installation procedures in this manual have been followed.

• Do not clean any of the Piccolo drive's soldering with solvent cleaning fluids of pH greater

than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual damage
to the drive's PCBs.

Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).

For further technical information on this recommended cleaning fluid, select the link:

http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1­VIGON_EFM-US.pdf

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Safety Information

1.3. Directives and Standards

The Piccolo conforms to the following industry safety standards:

Safety Standard Item

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

9

In compliance with UL 60950-1
(formerly UL 1950)

Safety of Information Technology Equipment
Including Electrical Business Equipment

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

The Piccolo 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 Marking Conformance

The Piccolo 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 EN 60204-1 and EN 292-2 at the least.

According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive
73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the
Piccolo meets the provisions outlined in Council Directive 73/23/EEC. The party responsible for
ensuring that the equipment meets the limits required by EMC regulations is the manufacturer
of the end product.

1.5. Warranty Information

The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the
time of installation, or 18 months from time of shipment, whichever comes first. No other
warranties, expressed or implied — and including a warranty of merchantability and fitness for
a particular purpose — extend beyond this warranty.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Chapter 2: Product Description

Piccolo Installation Guide

This installation guide describes the Piccolo servo drive and the steps for its wiring, installation
and power-up. Following these guidelines ensures optimal performance of the drive and the
system to which it is connected.

2.1. Drive 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 substrate. This 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.

10

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

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Product Description

2.3. Fault Protection

The Piccolo includes 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

11

www.elmomc.com

44.2K

27.4K

10.5K

10nF

10K

20K

20K

20K

1K

1K

11K

20K

100K

14.7K

CREF- ( J1,2)

Curren t

Limits

PWM

Processor

Curren t
Feedback
Processor

Curren t

Sensing

Protections

Logic

Commutatio n

Dr3

Dr4

Dr2

Dr5

Dr1

Dr6

CREF+ (J1,1)

ECLC(J1,3 )

ECLP(J1, 4)

CL return (J1,5)

CM retur n(J1,7)

7.5K

7.5K

7.5K

Ha(J3 ,2)

+15v(J3,5)

Hb(J3,4)

Return(J 3,3)

Hc(J3,6)

+5v(J3,1)

CM(J1 ,6)

Buffer

Current Lo op

Amp.

-

+

AD

-

+

A

AS

CFM(J1,10)

CGC(J1,8)

Return(J 1,9)

M1

M2

M3

VP+

PR

14.7K27.4K

AOK(J2,7)

SO1(J2,8)

SO2(J2,9)

SO3(J2,10)

EN+ (J2,4)

SEL(J 2,1)

LM(J 2,2)

LMRET(J2 ,3)

SORET(J2,5)

EN- (J2,6)

MAN-PICIG (Ver. 2.301)

2.4. System Architecture

Piccolo Installation Guide Product Description

12

Figure 1: Piccolo System Block Diagram

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Product Description

2.5. How to Use this Guide

In order to install and operate the Piccolo 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 Piccolo.

• Chapter 4 – Servo Control Operation, explains how to control the operation of the servo

amplifier.

• Chapter 5 - Technical Specifications, lists all the drive ratings and specifications.

13

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Chapter 3: Installation

PIC-15/200V

.

Mode

_ = Current
V = Velocity

Maximum
Operating

Voltage

Continuous

Output

Current

Piccolo Installation Guide

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)

14

Maximum case temperature

87 °C (188 °F)

Note: Models for extended environmental conditions are available.

3.2. Unpacking the Drive Components

Before you begin working with the Piccolo system, verify that you have all of its components, as
follows:

• The Piccolo servo drive

• The Composer software and software manual

The Piccolo is shipped in a cardboard box with Styrofoam protection.

To unpack the Piccolo:

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 Piccolo you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the Piccolo. It looks like this:

4. Verify that the Piccolo type is the one that you ordered, and ensure that the voltage meets

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

your specific requirements.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.3. Dimensions

15

Figure 2: Piccolo Dimensions

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

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 2.

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.

Screw Type: Phillips Pan Head Self-tapping (for plastic) screw – Nickel-plated Steel. Meets

standards ISO 1478, EN 21478, or DIN 7970.

16

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 1: Dimensions in Millimeters

Basic
Diameter

ISO Nr. Pitch P Main Diameter Minor Diameter Flat End Diameter

D

1max

D

1min

D

2max

D

2min

D

3max

D

ST2.2 2 0.8 2.24 2.1 1.63 1.52 1.47 1.37

3min

Table 2: Size Limits for Tapping Screw Thread

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.5. Wiring the Piccolo

17

Figure 3: Piccolo Basic Wiring

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.6. Connections

3.6.1. Pin Functions

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

Figure 4 Piccolo Connector Locations

18

3.6.1.1. Power

Pin Function Remarks

VP+ Positive power input

PR Power input return

M1 Motor power output 1

M2 Motor power output 2

M3 Motor power output 3

Table 3: Piccolo Power Connections

www.elmomc.com

MAN-PICIG (Ver. 2.301)

continuous

Piccolo Installation Guide Installation

3.6.1.2. J1 Connector

19

Pin #/
Short Form

1

CREF1+

2

CREF-

3

ECLC

4

Function Remarks

Current command input ( + ) 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 ( - ) Negative input of a differential amplifier.

Specification as for pin J1/1.

External current limit-

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.

ECLP

5

ECLRET

6

CM

7

CMRET

8

CGC

9

CGCRET

10

CFM

• Voltage range: 0 V to 3.75 V (3.75 V =

rated Ip)

• Internally limited to rated value

Current limits return Return for current limits signals.

Current monitor

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

• Output resistance: 10 kΩ

Current monitor return Return for current monitor (CM) signal.

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 change return Return for CGC signal.

Current feedback multiplier Shorting this pin to pin J1/8 (CGC) multiplies

the current feedback signal by 2.

Table 4: J1 Connector

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.6.1.3. J2 Connector

20

Pin #/
Short Form

1

SEL

2

LM

3

LMRET

4

EN+

Function Remarks

Hall sensor
selector

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 for Latch mode (LM).

return

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 1.

• Minimum “On” voltage: 3 V, current consumption 0.6 mA.

• Maximum “On” voltage: 5 V, current consumption

5.4 mA.

5

SORET

6

EN-

7

AOK

8

SO1

9

SO2

Status output
return

Status output common for AOK, SO1, SO2, SO3. Isolated
from circuit common, see Figure 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 1.

• Maximum voltage = 30 V

• Maximum current = 8 mA.

• “On” voltage: V OUT(On) < 0.8 V

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.

10

Status output 3 Status indication output 3. Specification as in pin J2/7.

SO3

Table 5: J2 Connector

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.6.1.4. J3 Connector

21

Pin #/
Short Form

1

+5V

2

Ha

3

HARET

4

Hb

5

+15V

6

Hc

Function Remarks

+5 V Hall/encoder supply
voltage

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

Hall A input Logic levels: TTL

Maximum input voltage: 30 VDC.

Hall/encoder supply voltage

Return used only for Hall supply.

return

Hall B input Logic levels: TTL

Maximum input voltage 30 VDC.

+15 V Hall/ encoder supply
voltage

+15 V supply voltage for Hall sensors.
Output current: 20 mA.

Hall C input Logic levels: TTL.

Maximum input voltage: 30 VDC.

Table 6: J3 Connector

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.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Installation

3.7. DC Power Supply

The DC power supply can be at any voltage in the range defined in Chapter 5: Technical
Specifications. 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:

22

1.2 V

< Vdc < 0.9 V

dcmin

dcmax

where:

V

is the minimum DC bus

dcmin

V

is the maximum DC bus

dcmax

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.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Chapter 4: Servo Control Operation

Piccolo Installation Guide 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:

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.

23

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

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

Peak Current
Limit

Table 7: CFM Effects

Current
Gain(A/V)

Current
Monitor
(V/A)

Differential
Input
Impedance

• 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 5 should be used.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

L

> 2.4*10

-3

* V

L

> 0.9*10 -3 * V

L

> 9*10 -3 * V

L

> 2.2*10 -3 * V

L

> 6*10 -3 * V

L

> 1.5*10 -3 * V

L

> 4*10 -3 * V

L

> 1.1*10 -3 * V

L

> 10*10 -3 *V

L

> 2.4 -3 * V

L

> 6.5*10 -3 *V

L

> 1.6 -3 * V

Piccolo Installation Guide Servo Control Operation

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.

24

Figure 5: CFM and CGC Remote Control

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

5/60

10/60

15/60

25/60

3/100

10/100

15/100

20/100

2/200

Minimum Inductance for High Gain Minimum Inductance for Low Gain

L

Load (millihe nry)

L

Load (millihe nry)

L

Load (millihe nry)

Load (millihe nry)

L

Load (millihe nry)

Load (millihenry)

Load (millihe nry)

Load (millihe nry)

L

Load (millihe nry)

> 12*10

> 6*10

> 4*10

> 30*10

> 50*10

-3

-3

-3

-3

-3

* V

* V

supply (Volt)

* V

supply (Volt)

* V

* V

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

L

L

L

L

L

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

Load (millihenry)

Load (millihe nry)

> 4.8*10 -3 * V

> 2.4*10 -3 * V

> 1.6*10 -3 * V

> 7.5*10 -3 * V

> 12*10 -3 * V

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

supply (Volt)

6/200

10/200

15/200

L

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

> 16.5*10 -3 *V

supply(Volt)

supply(Volt)

supply(Volt)

L

Load (millihe nry)

Load (millihe nry)

Load (millihe nry)

> 4*10 -3 * V

supply (Volt)

supply (Volt)

supply (Volt)

Table 8: Minimum Inductance Values

www.elmomc.com

MAN-PICIG (Ver. 2.301)

V

ECLC

IC(new) =

3.75V

* Ic(nom)

V

ECLC

IC(new) =

3.75V

* Ic(nom)

(Kohm) = 37.4 *

R

ECLC

Ic(new)

Ic(nom)

- 1(Kohm) = 37.4 *

R

ECLC

(Kohm) = 37.4 *

R

ECLC

Ic(new)

Ic(nom)

- 1

V

ECLP

Ip(new) =

3.75V

* Ip

(nom)

V

ECLP

Ip(new) =

3.75V

* Ip(nom)

Piccolo Installation Guide Servo Control Operation

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).

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

V.

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

is greater than 3.75

ECLC

25

• The maximum absolute V

is 12 V.

ECLC

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:

• 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 nominal

ECLC

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).

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

is higher than

ECLP

3.75 V.

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

• The maximum absolute V

is 12 V.

ECLP

www.elmomc.com

MAN-PICIG (Ver. 2.301)

(

Kohm

) = 37.4 *

R

ECLP

Ip

(new)

Ip

(nom)

- 1

(

Kohm

) = 37.4 *

R

ECLP

(Kohm

) = 37.4 *

R

ECLP

Ip(new)

Ip

(nom)

- 1

Piccolo Installation Guide Servo Control Operation

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::

26

• 0 < R

• At R

< 36.4 K (1/8 Watt)

ECLP

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

ECLP

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 6: “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 6.

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.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Servo Control Operation

4.9. Status Indications

The following table lists the Piccolo amplifier status indications.

27

Function Latch

Option

1 Amplifier OK

(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

temperature

6 Internal supplies

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

failure

N/A Low Open collector Open collector Open collector

Yes Open collector Open collector Low Low

No Open collector Low Low Open collector

Yes Open collector Low Low Low

AOK SO1 SO2 SO3

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

Table 9: Piccolo Status Indications

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.

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Chapter 5: Technical Specifications

5/60

10/100

Piccolo Installation Guide Technical Specifications

5.1. Power Ratings

Feature Units

10/60

15/60

25/60

3/100

15/100 20/100 2/200

6/200

28

10/200 15/200

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)

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

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Technical Specifications

5.2. Electrical Specifications

Feature Details

29

Switching frequency on the load

34 kHz (±10%)

Current loop bandwidth Up to 4 kHz

Current step response < 100 μsec

Peak current duration (full rated peak current)

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

Offset current at normal room temperature

Offset current for all range of temperatures

25°C (±1.5%)

0°C - 14°C (±2%)

Continuous current limit tolerance -1% +5%

Peak current limit tolerance -1% +5%

Current gain linearity

Current gain accuracy

Current monitor accuracy

Better than ±1% of rated continuous current

Better than ±5% for 0.05 Ic < lmotor > Ip

Better than ±5% for 0.05 Ic < lmotor > Ip

5.3. 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) material Phosphor bronze with 10μ gold plating

Signal pin (J1, J2) size

Signal pin (J1, J2) PCB layout

0.5 ± 0.1 mm (0.02 ± 0.004 in) square

1 ± 0.05 mm (0.04 ± 0.002 in)

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Technical Specifications

5.4. Environmental Conditions

Feature Details

30

Operating ambient temperature
according to IEC60068-2-2

Storage temperature

Maximum non-condensing humidity
according to IEC60068-2-78

Maximum Operating Altitude

Mechanical Shock
according to IEC60068-2-27

Vibration
according to IEC60068-2-6

0 °C to 40 °C (32 °F to 104 °F)

-20 °C to +85 °C ( -4 °F to +185 °F)

95%

2,000 m (6562 feet)

15g / 11ms Half Sine

5 Hz ≤ f ≤ 10 Hz: ±10mm

10 Hz ≤ f ≤ 57 Hz: 4G

57 Hz ≤ f ≤ 500 Hz:5G

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Technical Specifications

5.5. Compliance with Standards

Specification Details

Quality Assurance

ISO 9001:2008 Quality Management

Design

Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment

(clearance, creepage, spacing, conductors
sizing, etc.)

MIL-HDBK- 217F Reliability prediction of electronic equipment

(rating, de-rating, stress, etc.)

31

• UL 60950

• IPC-D-275

• IPC-SM-782

Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors
sizing, etc.)

• IPC-CM-770

• UL 508C

• UL 840

In compliance with VDE0160-7 (IEC 68) Type testing

Safety

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances

and Creepage Distances for Electrical
Equipment

In compliance with UL 60950 Safety of Information Technology Equipment

Including Electrical Business Equipment

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive

systems

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

www.elmomc.com

MAN-PICIG (Ver. 2.301)

Piccolo Installation Guide Technical Specifications

Specification Details

EMC

Approved IEC/EN 61800-3, EMC Adjustable speed electrical power drive

systems

32

In compliance with EN 55011 Class A with

Electromagnetic compatibility (EMC)

EN 61000-6-2: Immunity for industrial
environment, according to:

IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B

IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C

Workmanship

In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies

PCB

In compliance with IPC-A-600, level 2 Acceptability of printed circuit boards

Packing

In compliance with EN 100015 Protection of electrostatic sensitive devices

Environmental

In compliance with 2002/96/EC Waste Electrical and Electronic Equipment

regulations (WEEE)

Note: Out-of-service Elmo drives should be

sent to the nearest Elmo sales office.

In compliance with 2002/95/EC

(effective July 2006)

Restrictions on Application of Hazardous
Substances in Electric and Electronic
Equipment (RoHS)

www.elmomc.com