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Solo Guitar Installation Guide

Technical Specifications

MAN-SOLGUIIG (Ver. 1.404)

www.elmomc.com

4.5.2.

Velocity Loop

Feature

Details

Controller type

Velocity control

•

Fully digital

•

Programmable PI and FFW control filters

•

"On-the-fly" gain scheduling

•

Automatic, manual and advanced manual tuning

Velocity and position feedback
options

•

Incremental Encoder

•

Digital Halls

•

Interpolated Analog (Sine/Cosine) Encoder (optional)

•

Resolver (optional)

•

Tachometer and Potentiometer (optional)

Note:

With all feedback options, 1/T with automatic

mode switching is activated (gap, frequency and
derivative).

Velocity loop bandwidth

< 350 Hz

Velocity sampling time

140 to 200

sec (2x current loop sample time)

Velocity sampling rate

Up to 8 kHz; default 5.5 kHz

Velocity command options

•

Analog

•

Internally calculated by either jogging or step

Note:

All software-calculated profiles support on-the-fly

changes.

Содержание SimplIQ Series

Страница 1: ...Solo Guitar Digital Servo Drive Installation Guide October 2017 Ver 1 404 www elmomc com...

Страница 2: ...d 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 Informat...

Страница 3: ...updated also updated on page 17 MTCR 04 009 48 Table 2 Pin 2 renamed to PR Ver 1 4 September 2012 Update to main board Formatted according to the new template Metronome was replaced by the Composer s...

Страница 4: ...ntrol GmbH Steinkirchring 1 D 78056 Villingen Schwenningen Germany Tel 49 0 7720 85 77 60 Fax 49 0 7720 85 77 70 info de elmomc com China Elmo Motion Control Technology Shanghai Co Ltd Room 1414 Huawe...

Страница 5: ...s Guide 14 Chapter 3 Installation 16 3 1 Site Requirements 16 3 2 Unpacking the Drive Components 16 3 3 Pinouts 18 3 3 1 Connector Types for the Solo Guitar 18 3 4 Main Power and Motor Power 19 3 4 1...

Страница 6: ...Status Indication 56 4 1 10 Automatic Procedures 56 4 2 Solo Guitar Dimensions 57 4 3 Power Ratings 58 4 3 1 Auxiliary Supply 58 4 4 Environmental Conditions 59 4 5 Control Specifications 59 4 5 1 Cur...

Страница 7: ...Solo Guitar Installation Guide Table of Contents MAN SOLGUIIG Ver 1 404 7 4 7 4 Brake 71 4 7 5 Analog Input 71 4 8 Communications 71 4 9 Pulse Width Modulation PWM 72 4 10 Compliance with Standards 72...

Страница 8: ...fied person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating motors The Solo Guitar servo drive contains electrostatic sensit...

Страница 9: ...is recommended 1 2 Cautions The Solo Guitar servo drive contains hot surfaces and electrically charged components during operation The maximum DC power supply connected to the instrument must comply...

Страница 10: ...4 CE Marking Conformance The Solo 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...

Страница 11: ...control The Solo 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 The Solo Guitar drive is easily set up and tuned usi...

Страница 12: ...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...

Страница 13: ...r 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...

Страница 14: ...e 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 Solo Guitar C...

Страница 15: ...of the Solo Guitar documentation set comprising The SimplIQ Software Manual which describes the comprehensive software used with the Solo Guitar The SimplIQ Command Reference Manual which describes i...

Страница 16: ...ar 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 3 2 Unpacking the Drive Components Before you begin working with the So...

Страница 17: ...ignation as follows 4 Verify that the Solo Guitar type is the one that you ordered and ensure that the voltage meets your specific requirements Note There are two models of the Solo Guitar connectors...

Страница 18: ...08 mm Pitch Figure 3 Power Motor Power 2 seven wires 5 08 mm Pitch Figure 4 14 AWG M1 M2 M3 VP PR 16 AWG PE Wires Power Motor Power 4 2 54 mm Pitch J4 Motor Brake PTC 20 2 54 mm Pitch J5 I O 12 2 54...

Страница 19: ...res 3 4 Main Power and Motor Power The Solo Guitar receives power from main and auxiliary supplies and delivers power to the motor Pin Signal Function 1 VL Auxiliary supply input 2 PR Auxiliary supply...

Страница 20: ...s will enable the same SimplIQ program to run on all drives 3 4 1 Connecting Motor Power Connect the M1 M2 M3 and PE pins on the Solo Guitar The phase connection is arbitrary as the Composer will esta...

Страница 21: ...orithm enables the Solo Guitar to operate with the power supply only with no need for an auxiliary 24 Volt supply If backup functionality is required for storing control parameters in case of power ou...

Страница 22: ...3 4 3 Motor Brake PTC Pin Signal Function J4 1 BRAKE Brake coming from the motor J4 2 BRAKE Brake coming from the motor J4 3 PTC Motor Protection Sensor coming from the motor J4 4 PTC Motor Protection...

Страница 23: ...9 HA Hall sensor A input HA Hall sensor A input NC HA Hall sensor A input 12 PE Protective Earth PE Protective Earth PE Protective Earth PE Protective Earth 2 SUPRET Supply return SUPRET Supply return...

Страница 24: ...ide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 24 Figure 7 Main Feedback Incremental Encoder with Digital Hall Sensors Connection Diagram Figure 8 Main Feedback Interpolated Analog Sine Cosine...

Страница 25: ...on Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 25 Figure 9 Main Feedback Interpolated Analog Sine Cosine Encoder with Digital Hall Sensors Connection Diagram Figure 10 Main Feedback Resol...

Страница 26: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 26 Figure 11 Main Feedback Resolver and Digital Hall Sensors Connection Diagram...

Страница 27: ...lation MAN SOLGUIIG Ver 1 404 www elmomc com 27 Figure 12 Main Feedback Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 13 Main Feedback Tachometer Feedbac...

Страница 28: ...SOLGUIIG Ver 1 404 www elmomc com 28 Figure 14 Main Feedback Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 15 Main Feedback Potentiometer Feedback Con...

Страница 29: ...ack for another axis Pin J17 Signal Function 1 CHAO Buffered Channel A output 2 CHAO Buffered Channel A complement output 3 CHBO Buffered Channel B output 4 CHBO Buffered Channel B complement output 5...

Страница 30: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 30 Figure 16 Main Buffered Output Port Differential Main Feedback Output Connection Diagram...

Страница 31: ...erential buffered outputs There are two modes of operation for this interface Mode 1 Composer Command YA 4 4 see Section 3 7 2 When the Auxiliary port of the Solo Guitar is set by the software to act...

Страница 32: ...e Cosine Encoder Input Resolver Input Potentiometer Tachometer Input Typical Applications Analog Encoder applications where position data is required in the Encoder s quadrature format for other purpo...

Страница 33: ...er Input Typical Applications Any application where two Feedbacks are used by the drive The Auxiliary Feedback port serves as an input for the Auxiliary incremental encoder For applications such as Fo...

Страница 34: ...entiometer Tachometer Input Typical Applications Any application where two Feedbacks are used by the drive The Auxiliary Feedback port serves as an input for Pulse Direction Commands Main Feedback Inc...

Страница 35: ...n the Auxiliary Feedback ports when the Solo Guitar Auxiliary Feedback port is set up for emulated output of the Main Feedback device Resolver or Analog Incremental Encoder only Port Pin J3 Signal Fun...

Страница 36: ...uide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 36 Pin Positions Table 6 Emulated Encoder Output on the Auxiliary Feedback Port B2 Pin Assignments Figure 17 Emulated Encoder Direct Output Acce...

Страница 37: ...dback port is set up to run as a differential Auxiliary input Port Pin J3 Signal Function PWR 1 5V Encoder supply voltage PWR 2 COMRET Common return B1 3 CHA Auxiliary channel A input B1 4 CHA Auxilia...

Страница 38: ...stallation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 38 Pin Positions Table 7 Differential Auxiliary Encoder Input Option along with Differential Encoder Outputs on Auxiliary Feedback P...

Страница 39: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 39 Figure 18 Differential Auxiliary Input Option on Auxiliary Feedback Connection Diagram...

Страница 40: ...al pulse and direction input Port Pin J3 Signal Function PWR 1 5V Encoder supply voltage PWR 2 COMRET Common return B1 3 CHA Auxiliary pulse input B1 4 CHA Auxiliary pulse complement input B1 5 CHB Au...

Страница 41: ...Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 41 Pin Positions Table 8 Pulse and Direction Pin Assignments on Auxiliary Feedback Figure 19 Pulse and Direction Input Option on Auxiliary Fee...

Страница 42: ...le input 2 general purpose RLS FLS INH 2 INRET2 Programmable input 2 return 3 IN4 Programmable input 4 general purpose RLS FLS INH 4 IN3 Programmable input 3 general purpose RLS FLS INH 5 IN5 Hi Speed...

Страница 43: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 43 Figure 20 Digital Input Connection Diagram...

Страница 44: ...Digital output supply 10 OUT1 Programmable digital output 1 11 VDDIN Digital output supply 12 OUT2 Programmable digital output 2 13 VDDRET Digital output supply return 14 OUT3 Programmable digital out...

Страница 45: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 45 Figure 21 Digital Output Connection Diagram...

Страница 46: ...LGUIIG Ver 1 404 www elmomc com 46 3 8 3 Analog Input Pin J5 Signal Function 18 ANLIN1 Analog input 1 20 ANLIN1 Analog input 1 17 ANLRET Analog return Pin Positions Table 11 Analog Input Pin Assignmen...

Страница 47: ...t from CAN communication the user must have an understanding of the basic programming and timing issues of a CAN network For ease of setup and diagnostics of CAN communication RS 232 and CAN can be us...

Страница 48: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 48 Figure 23 RS 232 Connection Diagram...

Страница 49: ...ly inside the connector at the PC end You can use the drain wire to facilitate connection 2 Make sure to have a 120 resistor termination at each of the two ends of the network cable 3 The Solo Guitar...

Страница 50: ...n Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 50 Figure 24 CAN Network Diagram Caution When installing CAN communication ensure that each servo drive is allocated a unique ID Otherwise th...

Страница 51: ...itar has been connected and mounted the system must be set up and initialized This is accomplished using the Composer Elmo s Windows based software application Install the application and then perform...

Страница 52: ...Solo Guitar Installation Guide Installation MAN SOLGUIIG Ver 1 404 www elmomc com 52...

Страница 53: ...the ambient operating temperature of the Solo Guitar 3 Calculate the allowable temperature increase as follows For an ambient temperature of 40 C T 80 C 40 C 40 C 4 Use the chart to find the actual di...

Страница 54: ...up to 16 kHz sampling rate Velocity up to 8 kHz sampling rate Position up to 4 kHz sampling rate 4 1 2 Advanced Positioning Control Modes PTP PT PVT ECAM Follower Dual Loop Current Follower Fast even...

Страница 55: ...olutions per second RPS Emulated encoder outputs single ended unbuffered of the Resolver Auxiliary Encoder inputs ECAM follower etc single ended unbuffered Tachometer Potentiometer The Solo Guitar can...

Страница 56: ...eating Continuous temperature measurement Temperature can be read on the fly a warning can be initiated x degrees before temperature disable is activated Over Under voltage Loss of feedback Following...

Страница 57: ...Solo Guitar Installation Guide Technical Specifications MAN SOLGUIIG Ver 1 404 www elmomc com 57 4 2 Solo Guitar Dimensions Figure 25 Solo Guitar Dimensions...

Страница 58: ...tude sinusoidal DC continuous current A 20 35 20 25 35 20 25 3 6 10 17 45 45 35 30 Sinusoidal continuous RMS current limit Ic A 14 1 25 14 1 17 7 25 14 1 17 7 2 12 4 2 7 12 32 31 8 24 8 21 2 Peak curr...

Страница 59: ...ccording to IEC60068 2 6 5 Hz f 10 Hz 10mm 10 Hz f 57 Hz 4G 57 Hz f 500 Hz 5G 4 5 Control Specifications 4 5 1 Current Loop Feature Details Controller type Vector digital Compensation for bus voltage...

Страница 60: ...remental Encoder Digital Halls Interpolated Analog Sine Cosine Encoder optional Resolver optional Tachometer and Potentiometer optional Note With all feedback options 1 T with automatic mode switching...

Страница 61: ...80 Hz Position sampling time 280 to 400 sec 4x current loop sample time Position sampling rate Up to 4 kHz default 2 75 kHz 4 6 Feedbacks 4 6 1 Feedback Supply Voltage The Solo Guitar has two feedback...

Страница 62: ...re Details Encoder format A B and Index Differential Quadrature Interface RS 422 Input resistance Differential 120 TBD Maximum incremental encoder frequency Maximum absolute 5 MHz pulses Minimum quadr...

Страница 63: ...current when input pulled to the common 5 mA Maximum frequency fMAX 2 kHz 4 6 2 3 Interpolated Analog Sine Cosine Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input sig...

Страница 64: ...ry Encoder Output specifications 4 6 3 4 6 2 5 Tachometer Feature Details Tachometer format Differential Maximum operating differential voltage for TAC1 TAC1 20 V Maximum absolute differential input v...

Страница 65: ...lly Input Resistance 100 k Resolution 14 bit 4 6 3 Main Encoder Buffered Output Feature Details Main encoder buffered output A B Index Differential outputs Quadrature Interface RS 422 Output current c...

Страница 66: ...voltage VOL 0 4 V Available as options Emulated encoder outputs of analog encoder Emulated encoder outputs of the resolver Emulated encoder outputs of the tachometer Emulated encoder outputs of the po...

Страница 67: ...h 2 V VIH 5 V Maximum absolute voltage 0 VIn 5 5 V Input current 1 A Available as options Differential Buffered Encoder inputs Differential Buffered Pulse and Direction inputs Edge separation between...

Страница 68: ...ts the time from application of voltage on input until execution is complete If input is set to one of the built in functions Home Inhibit Hard Stop Soft Stop Hard and Soft Stop Forward Limit Reverse...

Страница 69: ...output current Iout max Iout1 max 500 mA Iout2 3 4 max 250 mA VOH VDD VOH VDD Ix0 15 VOL VOL 1 V RL External RL must be selected to limit output current RL VDD Ix0 15 Executable time If output is set...

Страница 70: ...5 V to 30 V Max output current Iout max Iout max 8 mA VOL VOL 0 3 V RL External RL must be selected to limit output current RL VDD VOL Executable time If output is set to one of the built in functions...

Страница 71: ...m operating differential voltage 10 V Maximum absolute differential input voltage 16 V Differential input resistance 3 74 k Analog input command resolution 14 bit 4 8 Communications Specification Deta...

Страница 72: ...liability prediction of electronic equipment rating de rating stress etc UL 60950 IPC D 275 IPC SM 782 IPC CM 770 UL 508C UL 840 Printed wiring for electronic equipment clearance creepage spacing cond...

Страница 73: ...ria A IEC 61000 4 11 criteria B C Electromagnetic compatibility EMC Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies PCB In compliance with IPC A 600 level 2 Acc...

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