ElmoMC SimplIQ Digital Servo Drives-Guitar Installation Guide

Guitar
Digital Servo Drive
Installation Guide
July 2014 (Ver. 1.601)
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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: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060 USA
Tel: +1 (603) 821-9979 Fax: +1 (603) 821-9943 info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051) China
Tel: +86-21-32516651 Fax: +86-21-32516652 info-asia@elmomc.com
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: +82-31-698-2010 Fax: +82-31-801-8078 info-asia@elmomc.com
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
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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
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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
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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
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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.
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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.
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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.
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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
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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
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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.
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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.
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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.
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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
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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)
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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
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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 offsetAuxiliary 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
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MAN-GUIIG (V er. 1.601)
Guitar Installation Guide Introduction

2.3. System Architecture

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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.
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MAN-GUIIG (V er. 1.601)
Guitar Installation Guide Introduction
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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
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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:
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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.
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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
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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
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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
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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
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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)
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MAN-GUIIG (V er. 1.601)
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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.
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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.
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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:
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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)
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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.
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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.
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MAN-GUIIG (V er. 1.601)
Guitar Installation Guide Installation

3.6. The Guitar Connection Diagram

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Figure 4: The Guitar Connection Diagram
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