ElmoMC SimplIQ Digital Servo Drives-Guitar Installation Guide

Guitar

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.601)

www.elmomc.com

Notice

This guide is delivered subject to the following conditions and restrictions:

• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Guitar servo drive
in its installation.

• The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change without
notice.

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

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

Document no. MAN-GUIIG (Ver. 1.601)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Catalog Number

Evaluation Board

Catalog Number: EVA-WHI/GUI/BEL (can be ordered separately). For further details, see the
documentation for this evaluation board (MAN-EVLBRD-WHI_BEL_GUI-UG.pdf).

Revision History

Version Details

1.0 April 2008 Initial release

1.1 July 2008 Heat dissipation data added in Chapter 3

1.2 April 2009 Updated Section 3.8.3; added Section 3.16

1.3 March 2010 MTCR 01-010-01: Updated Figure 22

1.4 July 2010 Updated Sections 3.4 and 4.1.8

1.5 July 2012 Formatted according to new template

“Metronome” was replaced by the “Composer” software.

1.501 February 2013 Added a caution and recommendation on the type of
cleaning solution to use for the Elmo unit.

1.502 March 2013 The maximum auxiliary supply voltage was added to the
Power Ratings table

General document updates

1.503 March 2013 The Power Ratings table (Section 4.3) was updated.

1.600 June 2013 Addition 20/200, R75/48, and R75/60 models

1.601 July 2014 General format changes

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 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China

Tel: [phone] • Fax: [phone] • [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-GUIIG (V er. 1.601)

Table of Contents

Guitar Installation Guide

Chapter 1: Safety Information .......................................................................................... 8

1.1. Warnings ......................................................................................................................... 9

1.2. Cautions .......................................................................................................................... 9

1.3. Directives and Standards .............................................................................................. 10

1.4. CE Marking Conformance ............................................................................................. 10

1.5. Warranty Information .................................................................................................. 10

Chapter 2: Introduction ................................................................................................. 11

2.1. Drive Description .......................................................................................................... 11

2.2. Product Features .......................................................................................................... 12

2.2.1. Current Control .............................................................................................. 12

2.2.2. Velocity Control ............................................................................................. 12

2.2.3. Position Control ............................................................................................. 12

2.2.4. Advanced Position Control ............................................................................ 13

2.2.5. Communication Options ................................................................................ 13

2.2.6. Feedback Options .......................................................................................... 13

2.2.7. Fault Protection ............................................................................................. 13

2.3. System Architecture ..................................................................................................... 14

2.4. How to Use this Guide .................................................................................................. 14

5

Chapter 3: Installation ................................................................................................... 16

3.1. Site Requirements ........................................................................................................ 16

3.2. Unpacking the Drive Components ................................................................................ 16

3.3. Pinouts .......................................................................................................................... 17

3.3.1. Connector Types ............................................................................................ 17

3.3.2. Connector J1 .................................................................................................. 18

3.3.3. Connector J2 .................................................................................................. 19

3.4. Mounting the Guitar ..................................................................................................... 20

3.5. Integrating the Guitar on a PCB .................................................................................... 21

3.5.1. Traces ............................................................................................................. 21

3.5.2. Grounds and Returns ..................................................................................... 21

3.6. The Guitar Connection Diagram ................................................................................... 23

3.7. Main Power and Motor Power ..................................................................................... 24

3.7.1. Connecting Motor Power .............................................................................. 24

3.7.2. Connecting Main Power ................................................................................ 25

3.8. Auxiliary Supply (for drive logic) ................................................................................... 25

3.8.1. Single Supply .................................................................................................. 26

3.8.2. Separate Auxiliary Supply .............................................................................. 26

3.8.3. Shared Supply ................................................................................................ 27

3.9. Main Feedback ............................................................................................................. 28

3.10.

Auxiliary Feedback ........................................................................................................ 36

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Table of Contents

3.10.1. Main and Auxiliary Feedback Combinations ................................................. 37

3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) ................. 38

3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 40

3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 43

3.11. I/Os ............................................................................................................................... 46

3.11.1. Digital Input ................................................................................................... 46

3.11.2. Digital Output ................................................................................................ 48

3.11.3. Analog Input .................................................................................................. 50

3.12. Communications ........................................................................................................... 51

3.12.1. RS-232 Communication ................................................................................. 51

3.12.2. CAN Communication ..................................................................................... 52

3.13. Powering Up ................................................................................................................. 54

3.14. Initializing the System ................................................................................................... 54

3.15. Heat Dissipation............................................................................................................ 54

3.15.1. Guitar Thermal Data ...................................................................................... 54

3.15.2. Heat Dissipation Data .................................................................................... 55

3.15.3. How to Use the Charts ................................................................................... 57

3.16. Evaluation Board and Cable Kit .................................................................................... 58

6

Chapter 4: Technical Specifications ................................................................................ 59

4.1. Features ........................................................................................................................ 59

4.1.1. Motion Control Modes .................................................................................. 59

4.1.2. Advanced Positioning Control Modes ........................................................... 59

4.1.3. Advanced Filters and Gain Scheduling........................................................... 59

4.1.4. Fully Programmable ....................................................................................... 59

4.1.5. Feedback Options .......................................................................................... 60

4.1.6. Input/Output ................................................................................................. 60

4.1.7. Built-In Protection ......................................................................................... 61

4.1.8. Accessories .................................................................................................... 61

4.1.9. Status Indication ............................................................................................ 61

4.1.10. Automatic Procedures ................................................................................... 61

4.2. Guitar Dimensions ........................................................................................................ 62

4.3. Power Ratings up to 100 V Models .............................................................................. 63

4.4. Power Ratings for 200 V Models .................................................................................. 64

4.5. Auxiliary Supply ............................................................................................................ 64

4.6. Environmental Conditions ............................................................................................ 65

4.7. Control Specifications ................................................................................................... 65

4.7.1. Current Loop .................................................................................................. 65

4.7.2. Velocity Loop ................................................................................................. 66

4.7.3. Position Loop

................................................................................................. 66

4.8. Feedbacks ..................................................................................................................... 67

4.8.1. Feedback Supply Voltage ............................................................................... 67

4.8.2. Main Feedback Options ................................................................................. 67

4.8.2.1. Incremental Encoder Input ........................................................... 67

4.8.2.2. Digital Halls ................................................................................... 68

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Table of Contents

4.8.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 68

4.8.2.4. Resolver ........................................................................................ 68

4.8.2.5. Tachometer ................................................................................... 69

4.8.2.6. Potentiometer .............................................................................. 69

4.8.3. Auxiliary Feedback Port (output mode YA[4]= 4) .......................................... 70

4.8.4. Auxiliary Feedback Port (input mode YA[4]= 2, 0)......................................... 71

4.9. I/Os ............................................................................................................................... 72

4.9.1. Digital Input Interfaces .................................................................................. 72

4.9.2. Digital Output Interface ................................................................................. 73

4.9.3. Analog Input .................................................................................................. 73

4.10. Communications ........................................................................................................... 74

4.11. Pulse-Width Modulation (PWM) .................................................................................. 74

4.12. Compliance with Standards .......................................................................................... 75

7

MAN-GUIIG (V er. 1.601)

Chapter 1: Safety Information

Warning:

Caution:

Guitar Installation Guide

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-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.

8

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-GUIIG (V er. 1.601)

Guitar 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.

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

• The Guitar servo drive contains grounding conduits for electric current protection. Any
disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at
least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.

1.2. Cautions

• The Guitar servo drive contains hot surfaces and electrically-charged components during
operation.

9

• 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 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.

• Do not clean any of the Guitar 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-GUIIG (V er. 1.601)

Guitar Installation Guide Safety Information

1.3. Directives and Standards

The Guitar 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

10

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 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 Marking 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 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
Guitar 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-GUIIG (V er. 1.601)

Chapter 2: Introduction

Guitar Installation Guide

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 8.0 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.

11

The Guitar servo 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
programmable with the Elmo Composer motion control language.

Power to the Guitar is provided by an isolated DC power source (not included with the Guitar). A
“smart” control-supply algorithm enables the Guitar to operate with only this 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 isolated supply should be connected (via the VL terminal on the Guitar) providing
maximum flexibility and backup functionality when needed.

If backup power is not needed, two terminals (VP and VL) must be connected together by the
user. 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 RS-232 and CAN DS
301, DS 305, DS 402 communications and features a third-generation programming
environment.

SimplIQ product line, is fully

• The Advanced Guitar includes all the motion capabilities and communication options
included in the Standard model, as well as advanced positioning capabilities: ECAM, Dual
Loop and increased program size.

Both versions operate with RS-232 and CAN communication.

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Introduction

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

• Programmable PI and FFW (feed forward) control filters

• Sample rate two times current loop sample time

• “On-the-fly” gain scheduling

12

• Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins

2.2.3. Position Control

• Programmable PIP control filter

• Programmable notch and low-pass filters

• 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 inputs

• PT and PVT motion modes

• Fast output compare (OC)

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Introduction

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

• CAN for fast communication in a multi-axis distributed environment

2.2.6. Feedback Options

• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second

• Digital Halls – up to 2 kHz

13

• 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 to 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

2.2.7. 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 power outputs and between each
output and power input/return

• Recovery from loss of commutation signals and from communication errors

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Introduction

2.3. System Architecture

14

Figure 1: Guitar System Block Diagram

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.

• Chapter 4, 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.

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Introduction

15

Figure 2: Elmo Digital Servo Drive Documentation Hierarchy

As depicted in the previous figure, this installation guide is an integral part of the Guitar
documentation set, comprising:

• The SimplIQ Software Manual, which describes the comprehensive software used with the
Guitar

• The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the Guitar motion controller

• 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

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Chapter 3: Installation

Guitar Installation Guide

The Guitar must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.

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

16

Ambient operating temperature

Maximum non-condensing humidity 90%

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution:
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.

0 °C to 40 °C (32 °F to 104 °F)

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:

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

The part number at the top gives the type designation as follows:

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

3.3. Pinouts

The Guitar has nine connectors.

17

3.3.1. Connector Types

Pins Type Port Function Connector Location

2x16 2 mm Pitch

0.51 mm SQ

15 J2 Main Feedback, Analog

2 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

6 M3 Motor power output 3

J1 I/O, COMM,

Auxiliary Feedback

Input, LED

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

3.3.2. Connector J1

Connector J1: Main Feedback and Analog Input functions

Pin (J1) Signal Function

1 RS232_RX RS-232 receive

2 RS232_TX RS-232 Transmit

3 RS232_COMRET Communication return

4 AUX PORT CHA Auxiliary port CHA (bidirectional)

5 AUX PORT CHB Auxiliary port CHB (bidirectional)

6 SUPRET Supply return

7 OUT1 Programmable digital output 1

8 OUT2 Programmable digital output 2

9 OUT3 Programmable digital output 3

18

10 OUT4 Programmable digital output 4

11 IN1 Programmable digital input 1

12 IN2 Programmable digital input 2

13 IN3 Programmable digital input 3

14 IN4 Programmable digital input 4

15 IN5 Programmable digital input 5

16 IN6 Programmable digital input 6

17 INRET6 Programmable digital input 6 return

18 INRET5 Programmable digital input 5 return

19 INRET4 Programmable digital input 4 return

20 INRET3 Programmable digital input 3 return

21 INRET2 Programmable digital input 2 return

22 INRET1 Programmable digital input 1 return

23 OUTRET4 Programmable digital output 4 return

24 OUTRET3 Programmable digital output 3 return

25 OUTRET2 Programmable digital output 2 return

26 OUTRET1 Programmable digital output 1 return

27 +5 V Encoder +5 V supply voltage. Maximum output current:

200 mA

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

Pin (J1) Signal Function

28 COMRET Common return

29 AUX PORT INDEX Auxiliary port index (bidirectional)

30 CAN_COMRET CAN communication return

31 CAN_L CAN_L busline (dominant low)

32 CAN_H CAN_H busline (dominant high)

3.3.3. Connector J2

Connector J2: Communications, Auxiliary Feedback and I/O functions

Pin (J2) Signal Function

1 +5V Encoder/Hall +5V supply voltage

Maximum output current: 200 mA

19

2 SUPRET Supply return

3 ANALIN1+ Analog input 1+

4 ANALIN1- Analog input 1-

5 CHA Channel A input

6 CHA- Channel A input complement

7 CHB Channel B input

8 CHB- Channel B input complement

9 INDEX+ Index input

10 INDEX- Index input complement

11 HA Hall sensor A input

12 HB Hall sensor B input

13 HC Hall sensor C input

14 LED_2_OUT Bi-color indication output 2 (Cathode)

15 LED_1_OUT Bi-color indication output 1 (Anode)

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

3.4. Mounting the Guitar

The Guitar was designed for mounting on a printed circuit board (PCB) via 2 mm pitch 0.51 mm
square pins. When integrating 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 drive. 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.

20

Figure 3: The Guitar Footprint

When the Guitar is not connected to a metal chassis, the application’s thermal profile may
require a solution for heat dissipation due to insufficient air convection. In this case, we
recommend that you connect an external heatsink.

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

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:

21

 Surface layer: 1.5 mm
 Internal layer: 0.5 mm

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.

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)

RS-232 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)

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

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).

2. Inputs: The 6 inputs are optically isolated from the other parts of the Guitar. Each input has
a separate floating return (INRET1 for input 1 and INRET2 for input 2, etc.). To retain
isolation, the Input Return pins, as well as other conductors on the input circuit, must be
laid out separately.

3. Outputs: The 4 outputs are optically isolated from the other parts of the Guitar. 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.

22

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.

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.

Caution:
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.

www.elmomc.com

MAN-GUIIG (V er. 1.601)

Guitar Installation Guide Installation

3.6. The Guitar Connection Diagram

23

Figure 4: The Guitar Connection Diagram

www.elmomc.com