Elmo 1.1 manuale d’uso

Guitar Digital Servo Drive Installation Guide July 2008 (Ver. 1.1) www.elmomc.com[...]

Notice This guide is de livered subject to th e following conditions and re strictions:  This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such inf ormation is supplied s olely for the pu rpose of ass isting users of the Guitar servo drive in its installation.  The text and graph ics included in this manual a[...]

Contents Chapter 1: S afety Infor mation ........................................................................................ 1-1 1.1 Warni ngs ............................................................................................................ 1-2 1.2 Cautions.............................................................................[...]

3.11 I/Os ................................................................................................................... 3-29 3.11.1 Digital Input ............................................................................................... 3-30 3.11.2 Digital Output ...........................................................................[...]

A.7.3 Analog Input ............................................................................................. A-13 A.8 Communicati ons............................................................................................. A-14 A.9 Pulse W idth Modulat ion ( PWM) .................................................................. A-14 A.10 S[...]

Chapter 1: Safety Information In order to operate the Guitar servo drive safely, it is imperative that you implement the safety proce dures included in this installation gu ide. This info rmation is provided to protect you and to keep your work area safe when operating the Guitar and accompanying equipment. Please read this chapter carefully b efor[...]

1.1 Warnings Cleaning after soldering To avoid damage to the product’s acrylic coatin g, the Bas soon must not be cleaned after soldering wi th solub le solv ents or water-based cl eaners. For further details s ee: www.elmomc.co m/applications/article/So ldering-and-Clean ing_Application- Note.pdf To avoid electric arcing and hazards to personnel[...]

1.3 Directives and Standards The Guitar conforms to the following industry safety standards: Safety Standard Item In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electri cal Equi pment In compliance with UL60950-1 (formerly UL1950) Safety of Informa[...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-1 Chapter 2: Introduction This installation guide describes the Guitar se rvo drive and the s teps for its w iring, installation and pow er-up. Following th ese guideline s en sures maximum fu nctionality of the drive and the system to which i t i s connected. 2.1 Drive Description T[...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-2  Th e Advanced Guitar in cludes all th e motion capabilities and communica tion options included in the S tandard model, as we ll as advanced pos itioning capabilitie s: ECA M, Dual Loop and increased program size. Both versions operate with RS-232 and CANopen communication. 2.2[...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-3 2.2.6 Feedback Options • Incremental Encod er – up to 20 Mega-Counts (5 Mega-Pul se) per second • Digital Halls – up to 2 kHz • Incremental En coder with Digital Halls f or commutation – up to 20 Me ga- Counts per second f or encoder • Interpolated Analog Sine/Cosine [...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-4 2.3 System Architecture Figure 2-1: Guitar System Block Diagram[...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-5 2.4 How to Use this Guide In order to install and ope rate your Elmo Guitar servo drive , you will use th is manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully readin g the safe ty instructions in the first c hapter, the fo llow[...]

Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-6 As depicted in the previous figure, this installation guide is an integral part of the Guitar documentati on set, com pri sing:  The SimplIQ Software Manual, which descri bes t he compr ehensiv e softwar e used with the Guitar.  The SimplIQ Command Reference Manual, which des[...]

Chapter 3: Installation 3.1 Site Requirements You can guarantee the safe operation of the Guitar by ensuring that it is installed in an appropriate environment. Feature Value Ambient operati ng temperature 0 ° C to 40 ° C (32 ° F to 104 ° F) Maximum rel ative humid ity 90% non-cond ensing Operating area atmosphere No flammable gases or vapors p[...]

The part number at the top gives the type designation as follows: Verify that the Guitar type is the one that you ordered, and ensure that the voltage meets your specific requirements . 3.3 Pinouts 3.3.1 Connector Types No. Pins Type Port Function Connector Location 2x16 J1 I/O, COMM, Auxiliary Fee dback 15 J2 Main Feedback, Analog Input, LED 6 VL [...]

3.3.2 Connector J1 Connector J1: Main Feedback and Analog Input functions Pin Signal Function J1/1 RS232_RX RS232 receive J1/2 RS232_TX RS232 Transmit J1/3 RS232_COMRET Communication return J1/4 AUX PORT C HA Auxiliary port CH A (bidirectional) J1/5 AUX PORT C HB Auxiliary port CH B (bidirectional) J1/6 SUPRET Supply return J1/7 OUT1 Programmable d[...]

Pin Signal Function J1/29 AU X PORT INDEX Auxiliary port inde x (bidirectional) J1/30 CAN_COMRET CAN com munication r eturn J1/31 CA N_L CAN_L bu sline (dominan t low) J1/32 CAN_H CAN_H busline (d ominant high) 3.3.3 Connector J2 Connector J 2: Communications , Auxiliary Feedback and I/O func tions Pin Signal Function J2/1 +5V Encoder/Hall +5V supp[...]

3.4 Mounting the Guitar The Guitar was designed for mounting on a printed circuit board (PCB). It is connected by 2 mm pitch 0.51 mm square pins. When designing the Guitar into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the Guitar. We recommend that the Guitar be soldered directl[...]

3.5 Integrating the Guitar on a PCB The Gu itar is designed to be mounted on a PCB, either by sold ering its pins directly to the PCB or by using sui table socket connectors. In b oth cases the following rul es apply: 3.5.1 Trac es 1. The size of the traces on the PCB (thicknes s and width) is determin ed by the current carrying capacity requ ired [...]

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[...]

3.6 The Guitar Connection Diagram Figure 3-2: The Guitar Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-8[...]

3.7 Main Power and Motor Power P in Function C able Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protecti ve earth Power AC Motor DC Motor PE Protecti ve earth Motor Motor M1 Motor phase Motor N/C M2 Motor phase Mot or Motor M3 Motor phase Mot or Motor When con necting seve ral drives to several motors , all should be w ired in[...]

3.7.2 Conn ecting Ma in Power Connect the VP+, PR and PE pins on the Guitar in the manner described in section 3.5 (Integrating the Guitar on a PCB).  The source of the 12 ~ 195 VD C Main Power Supply must be isolated. Figure 3-4: Main Power Supply Connection Diagram (no Auxiliary Supply) 3.8 Auxiliary Supply (for drive logic) Notes for 12 ~ 195[...]

3.8.1 Single Supply A single isolated DC power supply can provide powe r for both the main power and the Auxiliary (D rive Logic) Supply. The draw ing below sh ows how a s ingle supply is co nnected. Figure 3-5: Single Supply for both the Main Power Supply and the Auxiliary Supply 3.8.2 Separat e Auxiliary Supply Power to the Auxiliary Supply ca n [...]

3.8.3 Shared Supply A "Main" DC Power Supply can be designed to supply power to the drive's Logic as w ell as to the Main Power (see Figure 3-5 and the upper portion of Figure 3-7). If backup functionality is required (for storin g control parameters in case of pow er-outs) a backup supply can be connected (see the Aux. Backup Supply[...]

3.9 Main Feedback The Main Feedback port is used to transfer feedb ack data from the motor to the drive. The Guitar can accept any one the following devices as a main feedback mechanism:  Incremental encoder only  Incremen tal encoder w ith digital Hall sen sors  Digital Hall sen sors only  Incremental Anal og (Sine/Cosine) encoder (opt[...]

Figure 3-8: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-14[...]

Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-15[...]

Figure 3-10: Main Feedback – Interpolated Analog Encoder with Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-16[...]

Figure 3-11: Main Feedback – Resolver Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-17[...]

Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-18[...]

Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-14: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-19[...]

Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-16: Main Feedback – Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-20[...]

3.10 Auxiliary Feedback For auxiliary feedback, s elect one of the following options: a. Single-ended emulated encoder out puts , used to provide emulated encoder signal s to another con troller or drive. The Emulated En coder Output Option is only available whe n using a Resolver, Analog Encoder, Tachometer, Potentiometer or Absolute Encoder as th[...]

3.10.1 Main an d Auxiliary Feedbac k Combina tions The Main Fe edback is always u sed in motion con trol devices wh ereas Aux iliary Feedback is often, but no t always used. Th e Auxiliary Fee dback connector on th e Guitar has th ree bi- directional pins (CHA, CHB and INDEX). When used in combination with Main Feedback, the Auxiliary Fe edback can[...]

3.10.2 Auxiliary Feedback : Emulated Enc oder Out put Optio n (YA[4]=4) Pin Signal Function Pin Position J1/28 COMRET Common return J1/29 INDEX Auxiliary in dex output J1/5 CHBO Auxiliary C hannel B output J1/4 CHAO Auxiliary Channe l A output Note: The Emulated Encoder Output Option is only available when using a Resolver, Analog Encoder, Tachomet[...]

Figure 3-18: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 3-19: Emulated Encoder Differential Output – Highly Recommended Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-24[...]

3.10.3 Auxiliary Feedback: Single-Ended Enco der Input Opt ion (YA[4]=2) Pin Signal Function Pin Position J1/27 +5 V Encoder supply voltage J1/6 SUPRET Supply return J1/29 INDEX Auxiliary inde x input J1/5 CHB Auxiliary ch annel B input J1/4 CHA Auxiliary ch annel A in put Note: The Guitar’s Auxiliary Fee dback is single-e nded. When mounted on a[...]

Figure 3-21: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-26[...]

Figure 3-22: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram 3.10.4 Auxiliary Feedback: Pulse-an d-Direction Input Opt ion (YA[4]=0) Pin Signal Function Pin Position J1/28 COMRET Comm on return J1/5 DIR/ CHB Direction input (push /pull 5 V or open collector) J1/4 PULS/CHA Pulse i nput (push/pull 5 V or open collector)[...]

Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-28[...]

Figure 3-25: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram, Highly Recommended 3.11 I/Os The Guitar has 6 Digital Inputs, 4 Digital Outputs and 1 Analog Input. I/O J1 J2 Total Digital Input 6 - 6 Digital Output 4 - 2 Analog Input - 1 1 Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-29[...]

3.11.1 Digital Input Each of the pins below can function as an independent input. Pin Signal Function Pin Position J1/11 IN1 Programmable i nput 1 (general purpose, RLS, FLS, INH) J1/12 IN2 Programmable i nput 2 (general purpose, RLS, FLS, INH) J1/13 IN3 Programmable i nput 3 (general purpose, RLS, FLS, INH) J1/14 IN4 Programmable i nput 4 (general[...]

Figure 3-26: Digital Input Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-31[...]

3.11.2 Digital Output Pin Signal Function Pin Position J1/7 OUT1 High-Speed Programmable di gital output 1 J1/8 OUT2 Programmable digi tal output 2 J1/9 OUT3 Programmable digi tal output 3 J1/10 OUT4 Programmable di gital output 4 J1/26 OUTRET1 Programmable digital output 1 return J1/25 OUTRET2 Programmable digital output 2 return J1/24 OUTRET3 Pro[...]

Figure 3-27: Digital Output Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-33[...]

3.11.3 Analog Input Pin Signal Function Pin Position J2/3 ANLIN1+ Analog input 1+ J2/4 ANLIN1- Analog input 1- J2/2 ANLRET Analog ground Table 3-9: Analog Input Pin Assignments Figure 3-28: Analog Input with Single-ended Source Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-34[...]

3.12 Communications The communication interface may differ according to the user’s hardware. The Guitar can communicate using the f ollowing options: a. RS-232, full duplex b. CANopen RS-232 communication requir es a standard, commercial 3-core null-modem cable connected from the Guitar to a serial interface on the PC. The interface is selected a[...]

Figure 3-29: RS-232 Connection Diagram 3.12.2 CANopen Communication Notes for connecting the C ANopen commun ication cable:  C onnect the shield to the groun d of the hos t (PC). Us ually, this con nection is soldered internall y inside the connector at the PC end. You can use t he drain wire to facilitate co nnection.  Ensure that the shi el[...]

Pin Signal Function Pin Position J1/30 CAN_GND CAN ground J1/31 CAN_L CAN_L bu sline (dominan t low) J1/32 CAN_H CAN_H busline (d ominant high) Table 3-11: CANopen - Pin Assignments Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-37[...]

Figure 3-30: CANopen Network Diagram Caution: When installin g CANopen communication, e nsure that ea ch servo drive is allocated a uni que ID. Otherwise, the CANopen network may hang. Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-38[...]

3.13 Powering Up After the Guitar is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 3.14 Initializing the System After the Guitar has been connected and mounted, the system must be set up and initi[...]

Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-40[...]

3.15.3 How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% - 50% better power dissipation. To determine if your application needs a heatsink: 1. Allow maximum heatsink temperature to be 80 ° C or less. 2. Determine the ambient operating temperature of the Guitar. 3. Calculate the al[...]

Appendix: Guitar Technical Specifications A.1 Features A.1.1 Motion Cont rol Modes • Current/To rque - up to 14 kHz sampling rate • V elo city - up to 7 kHz sampling rate • Position - up to 3.5 kHz sampling rate A.1.2 Advanced Positioning Co ntrol Modes • PTP, PT, PV T, ECAM, Follower, Dual Loop, Current Follower • Fast event capturing in[...]

A.1.6 Inpu t/Output • One A nalog Input – up to 14-bit resolution • Six separate programmable Digita l Inputs , optically isolated (two of which are fast event capture inputs).  Inhibit/Enable motion  Software and analog reference stop  Motion limit switche s  Begin on input  Abort motion  Homing  General-purpose • Four[...]

A.1.8 Accesso ries • Heat sinks (TBD) • Evaluation Board/ Cable Kit A.1.9 Status Indication • Output for a bi-color LED A.1.10 Automatic Procedures • C ommutation alignment • Phase sequencing • Current loop offset adjustment • Current loop gain tuning • C urrent gain sch eduling • Velocity loop offset adjustment • Veloc ity gain[...]

A.3 Power Ratings Feature Unit s 35/48 20/60 25/60 35/60 20/100 25/100 3/200 6/200 10/200 17/200 R45/48 R45/60 R35/100 R30/200 Minimum supply voltage VDC 11 14 23 46 11 14 23 46 Nominal supply voltage VDC 42 50 85 170 42 50 85 170 Maximum s upply voltage VDC 48 59 95 195 48 59 95 195 Maximum continuous power output W 1300 960 1200 1700 1600 2000 48[...]

A.4 Environmental Conditions Feature Details Operating ambient temperature 0° ~ 40° C (32° ~ 104° F) Storage temperature -20° ~ +85° C ( -4° ~ +185° F) Humidit y 90% maximum non-condensi ng Maximum Operating Altitude “Unlimited” (above 10,000 m - 30,000 feet) Protection level N/A A.4.1 Auxiliary Supply Feature Details Auxiliary powe r s[...]

Feature Details Current sampling time Programmable 70 - 100 µ sec Current sampling rate Up to 16 kHz; default 11 kHz A.5.2 Velocit y Loop Feature Details Controller type PI Velocity control  Fully digital  Program mable PI and FFW control fil ters  "On-the-fly" gain scheduling  Automatic, manual and advanced manual tuning Vel[...]

Feature Details Position sampling time 280 - 400 µ sec (4x current loop sample time) Position sampling rate U p to 4 kHz; default 2.75 kHz A.6 Feedbacks A.6.1 Feedback Supply Voltage The Guitar has two feedback ports (Main and Au xiliary). The Gu itar supplies voltage only to the main fee dback device and to the auxiliary feedback de vice if nee d[...]

Figure A-1: Main Feedback - Encoder Phase Diagram A.6.2.2 Digital Halls Feature Details Halls inpu ts  H A , H B , H C .  Single ended in puts  Built in h ysteresis of 1V for nois e immunity Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level inpu t voltage: V InHigh[...]

Feature Details Encoder outputs S ee Auxiliary Encoder O utputs spec ifications ( A.6.3) A.6.2.4 Res olver Feature Details Resolver format  Sine/Cosine  Differential Input resistance Differential 2.49 k Ω Resolution Programmable: 10 ~ 15 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.5 Reference freque[...]

A.6.2.6 Pot ent iometer Feature Details Potentiomet er Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the G u i t a r Potentiometer Resistance 100 Ω ~ 1 k Ω … above this range, linea rity is affected de trimentally Input Resistance 100 k Ω Resolution 14 bit A.6.3 Auxiliary Feedback Po rt (out put mode YA[4]= 4) Feature Deta[...]

A.6.4 Auxiliary Feedback Po rt (input mo de YA[4]= 2, 0) Feature Details Encoder input, pulse and direc tion input  A, B, Index  Single ended Input voltage V In Low: 0 V < V IL < 0.8 V V In High: 2 V < V IH < 5 V Maximum absolute voltage: 0 < V In < 5.5 V Input current: ±1 µ A Available as options  Si ngle-ended Encoder[...]

A.7 I/Os The Guitar has: 6 Digital Inputs 4 Digital Outputs 1 Analog Input A.7.1 Di gi tal I nput I nterfaces Feature Details Sc hem ati c Dia gra m Type of input  Optically is olated  Each input has its ow n return Input current for all inputs Iin = 2.4 mA @ Vi n = 5 V High-level input voltage 2.5 V < Vin < 10 V, 5 V typical Low-leve l[...]

A.7.2 Di gi tal Output I nterf ace Feature Details Co nn ect or Lo cat ion Type of output  Optically isolated  Open col lector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (V out = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (o n) ≤ 0.3 V RL External resi stor RL must b e sele[...]

A.8 Communications Specification Details RS-232 Signals:  RxD , TxD , Gnd  Full duplex, serial communication for setup and control.  Baud Rate of 9,600 ~ 57,600 bit/sec. CANopen CANbus Signals:  CAN_H, CAN_L, CAN_GND  Maximum Baud Rate of 1 Mbit/sec. Version:  DS 301 V4.01 Layer Setting Service and Protocol Support:  DS 305 Dev[...]

A.10.3 Safety Specification Description In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination, including clearance and creepage distances of electri cal equipment In compliance with UL60950 Safety of in formation techno logy equipment, including elect rical business equipm ent In compliance with EN602[...]

Index A Advanced position control · 2-2 Ambient operati ng temp erature · 3-1 Analog input Cable · 3-34 Specification s · A- 13 Auxiliary Feedback cable · 3-21, 3-22 Power supply · A-5 C Cables Auxiliary feedback · 3- 21, 3-22 Main Power · 3-9, 3-10 CANopen · 3-35, 3-36 Communication · 2-2 Compliance standards · 1-3, A-14 Composer · 2-1[...]

Q Quality Assurance · A-14 R Relative humidity · 3-1 Resolver · 3-13 RoHS · A-15 RS-232 · 3-35 S Safety · 1-1, A-15 Cautions · 1-2 Standards · 1-3 Warnings · 1-2 Single-en ded auxiliary input · 3- 21 Site requirements · 3-1 Specific ations Analog input · A-13 Auxiliary powe r supply · A- 5 Control · A-5, A-6 Digital output interface ?[...]