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Guitar
Digital Servo Drive
Installation Guide
July 2008 (Ver. 1.1)
www.elmomc.com
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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
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Guitar Installation Guide i MAN-GUIIG (Ver. 1.1) Contents Chapter 1: Safety Information ........................................................................................ 1-1 1.1 Warnings ............................................................................................................ 1-2 1.2 Cautions.............................................................................................................. 1-2 1.3 Directives and Standards............................
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Guitar Installation Guide Contents ii MAN-GUIIG (Ver. 1.1) 3.11 I/Os................................................................................................................... 3-29 3.11.1 Digital Input...............................................................................................3-30 3.11.2 Digital Output............................................................................................3-32 3.11.3 Analog Input .............................................
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Guitar Installation Guide Contents iii MAN-GUIIG (Ver. 1.1) A.7.3 Analog Input .............................................................................................A-13 A.8 Communications............................................................................................. A-14 A.9 Pulse Width Modulation (PWM) .................................................................. A-14 A.10 Standards Compliance....................................................................
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Guitar Installation Guide 1-1 MAN-GUIIG (Ver. 1.1) Chapter 1: Safety Information 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
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Guitar Installation Guide Safety Information 1-2 MAN-GUIIG (Ver. 1.1) 1.1 Warnings Cleaning after soldering To avoid damage to the product’s acrylic coating, the Bassoon must not be cleaned after soldering with soluble solvents or water-based cleaners. For further details see: www.elmomc.com/applications/article/Soldering-and-Cleaning_Application- Note.pdf To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the
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Guitar Installation Guide Safety Information 1-3 MAN-GUIIG (Ver. 1.1) 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 Electrical Equipment In compliance with UL60950-1 Safety of Information Technology Equipment, (formerly UL1950) Including Electrical Business Equipme
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Guitar Installation Guide Introduction 2-1 MAN-GUIIG (Ver. 1.1) Chapter 2: Introduction 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 con
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Guitar Installation Guide Introduction 2-2 MAN-GUIIG (Ver. 1.1) 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 CANopen communication. 2.2 Product Features 2.2.1 Current Control Fully digital Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digi
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Guitar Installation Guide Introduction 2-3 MAN-GUIIG (Ver. 1.1) 2.2.6 Feedback Options Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second Digital Halls – up to 2 kHz 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 Aux
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Guitar Installation Guide Introduction 2-4 MAN-GUIIG (Ver. 1.1) 2.3 System Architecture Figure 2-1: Guitar System Block Diagram
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Guitar Installation Guide Introduction 2-5 MAN-GUIIG (Ver. 1.1) 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
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Guitar Installation Guide Introduction 2-6 MAN-GUIIG (Ver. 1.1) 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 al
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Guitar Installation Guide 3-1 MAN-GUIIG (Ver. 1.1) 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 operating temperature 0 °C to 40 °C (32 °F to 104 °F) Maximum relative humidity 90% non-condensing Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available. The Guitar dissi
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Guitar Installation Guide Installation 3-2 MAN-GUIIG (Ver. 1.1) 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 Feedback 15 J2 Main Feedback, Analog Input, LED 6 VL Auxiliary power input 2 mm Pitch 6 VP+ Positive power input 0.5
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Guitar Installation Guide Installation 3-3 MAN-GUIIG (Ver. 1.1) 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 CHA Auxiliary port CHA (bidirectional) J1/5 AUX PORT CHB Auxiliary port CHB (bidirectional) J1/6 SUPRET Supply return J1/7 OUT1 Programmable digital output 1 J1/8 OUT2 Programmable digital output 2 J1/9 OUT3 Pro
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Guitar Installation Guide Installation 3-4 MAN-GUIIG (Ver. 1.1) Pin Signal Function J1/29 AUX PORT INDEX Auxiliary port index (bidirectional) J1/30 CAN_COMRET CAN communication return J1/31 CAN_L CAN_L busline (dominant low) J1/32 CAN_H CAN_H busline (dominant high) 3.3.3 Connector J2 Connector J2: Communications, Auxiliary Feedback and I/O functions Pin Signal Function J2/1 +5V Encoder/Hall +5V supply voltage. Maximum output current: 200 mA. J2/2 SUPRET Supply return J2/3 AN
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Guitar Installation Guide Installation 3-5 MAN-GUIIG (Ver. 1.1) 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 directly to the board. Alternatively, though this is not recommended, the Guitar can be
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Guitar Installation Guide Installation 3-6 MAN-GUIIG (Ver. 1.1) 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 c
