Elmo Computer Hardware 1.1 Manuel d'utilisateur

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

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-2  The Advanced Guitar includes all the motion capabilities and communication option

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-3 2.2.6 Feedback Options • Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse)

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-4 2.3 System Architecture Figure 2-1: Guitar System Block Diagram

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-5 2.4 How to Use this Guide In order to install and operate your Elmo Guitar servo dr

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-6 As depicted in the previous figure, this installation guide is an integral part of t

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 en

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 voltag

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 Tra

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 busli

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. Whe

Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belonging to Elmo

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 suita

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

3.6 The Guitar Connection Diagram Figure 3-2: The Guitar Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-8

3.7 Main Power and Motor Power Pin Function Cable Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protective earth Power

3.7.2 Connecting Main 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).

3.8.1 Single Supply A single isolated DC power supply can provide power for both the main power and the Auxiliary (Drive Logic) Supply. The drawing be

3.8.3 Shared Supply A "Main" DC Power Supply can be designed to supply power to the drive's Logic as well as to the Main Power (see F

3.9 Main Feedback The Main Feedback port is used to transfer feedback data from the motor to the drive. The Guitar can accept any one the following d

Figure 3-8: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver.

Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-15

Contents Chapter 1: Safety Information...1-1 1.1 Warnings...

Figure 3-10: Main Feedback – Interpolated Analog Encoder with Digital Hall Sensors Connection Diagram Guitar Installation Guide Installation MAN-G

Figure 3-11: Main Feedback – Resolver Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-17

Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-

Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-14: Main Feedback – T

Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-16: Main Feedback

3.10 Auxiliary Feedback For auxiliary feedback, select one of the following options: a. Single-ended emulated encoder outputs, used to provide emulat

3.10.1 Main and Auxiliary Feedback Combinations The Main Feedback is always used in motion control devices whereas Auxiliary Feedback is often, but n

3.10.2 Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) Pin Signal Function Pin Position J1/28 COMRET Common return J1/29 INDEX Auxil

Figure 3-18: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 3-19: Emulated Encoder Differential Output – Highly Recomme

3.10.3 Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) Pin Signal Function Pin Position J1/27 +5 V Encoder supply voltage J1/6 SU

3.11 I/Os...3-29 3.11.1 Digital Inpu

Figure 3-21: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-2

Figure 3-22: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram 3.10.4 Auxiliary Feedback: Pulse-and-Direction Input Opti

Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – B

Figure 3-25: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram, Highly Recommended 3.11 I/Os The Guitar has 6 Digital In

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 input

Figure 3-26: Digital Input Connection Diagram Guitar Installation Guide Installation MAN-GUIIG (Ver. 1.1) 3-31

3.11.2 Digital Output Pin Signal Function Pin Position J1/7 OUT1 High-Speed Programmable digital output 1 J1/8 OUT2 Programmable digital outpu

Figure 3-27: Digital Output Connection Diagram Guitar Installation Guide Installation 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 Tabl

3.12 Communications The communication interface may differ according to the user’s hardware. The Guitar can communicate using the following options

A.7.3 Analog Input...A-13 A.8 Communications...

Figure 3-29: RS-232 Connection Diagram 3.12.2 CANopen Communication Notes for connecting the CANopen communication cable:  Connect the shield to

Pin Signal Function Pin Position J1/30 CAN_GND CAN ground J1/31 CAN_L CAN_L busline (dominant low) J1/32 CAN_H CAN_H busline (dominant high)

Figure 3-30: CANopen Network Diagram Caution: When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherw

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 sup

Guitar Installation Guide Installation 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 dis

Appendix: Guitar Technical Specifications A.1 Features A.1.1 Motion Control Modes • Current/Torque - up to 14 kHz sampling rate • Velocity - up

A.1.6 Input/Output • One Analog Input – up to 14-bit resolution • Six separate programmable Digital Inputs, optically isolated (two of which are fas

A.1.8 Accessories • Heat sinks (TBD) • Evaluation Board/Cable Kit A.1.9 Status Indication • Output for a bi-color LED A.1.10 Automatic Procedures

A.3 Power Ratings Feature Units35/48 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 V

Chapter 1: Safety Information In order to operate the Guitar servo drive safely, it is imperative that you implement the safety procedures included in

A.4 Environmental Conditions Feature Details Operating ambient temperature 0° ~ 40° C (32° ~ 104° F) Storage temperature -20° ~ +85° C ( -4° ~ +18

Feature Details Current sampling time Programmable 70 - 100 µsec Current sampling rate Up to 16 kHz; default 11 kHz A.5.2 Velocity Loop Feature D

Feature Details Position sampling time 280 - 400 µsec (4x current loop sample time) Position sampling rate Up to 4 kHz; default 2.75 kHz A.6 Feedb

Figure A-1: Main Feedback - Encoder Phase Diagram A.6.2.2 Digital Halls Feature Details Halls inputs  HA, HB, HC.  Single ended inputs  Built in

Feature Details Encoder outputs See Auxiliary Encoder Outputs specifications ( A.6.3) A.6.2.4 Resolver Feature Details Resolver format  Sine/Cosine

A.6.2.6 Potentiometer Feature Details Potentiometer Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Guitar Potentiometer Resis

A.6.4 Auxiliary Feedback Port (input mode YA[4]= 2, 0) Feature Details Encoder input, pulse and direction input  A, B, Index  Single ended Input

A.7 I/Os The Guitar has: 6 Digital Inputs 4 Digital Outputs 1 Analog Input A.7.1 Digital Input Interfaces Feature Details Schematic Diagram Type

A.7.2 Digital Output Interface Feature Details Connector Location Type of output  Optically isolated  Open collector and open emitter Maximum supp

A.8 Communications Specification Details RS-232 Signals:  RxD , TxD , Gnd  Full duplex, serial communication for setup and control.  Baud Rate of

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

A.10.3 Safety Specification Description In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination, inclu

Index A Advanced position control · 2-2 Ambient operating temperature · 3-1 Analog input Cable · 3-34 Specifications · A-13 Auxiliary Feedback cable ·

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 War

1.3 Directives and Standards The Guitar conforms to the following industry safety standards: Safety Standard Item In compliance with UL508c Power

Guitar Installation Guide Introduction MAN-GUIIG (Ver. 1.1) 2-1 Chapter 2: Introduction This installation guide describes the Guitar servo drive and