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1.1, Guitar Digital Servo Drive manual
1
1
72
72
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72 pages, 2.92 Mb
Guitar
Digital Servo Drive
Installation Guide
July 2008 (Ver. 1.1)
www.elmomc.com
Contents
Main
Notice
Contents
Page
Page
Chapter 1: Safety Information
1.1 Warnings
1.2 Cautions
1.3 Directives and Standards
1.4 CE Mark Conformance
1.5 Warranty Information
Chapter 2: Introduction
2.1 Drive Description
2.2 Product Features
2.2.1 Current Control
2.2.2 Velocity Control
2.2.3 Position Control
2.2.4 Advanced Position Control
2.2.6 Feedback Options
2.2.7 Fault Protection
Page
2.4 How to Use this Guide
Page
Chapter 3: Installation
3.1 Site Requirements
3.2 Unpacking the Drive Components
3.3 Pinouts
3.3.1 Connector Types
3.3.2 Connector J1
3.3.3 Connector J2
3.4 Mounting the Guitar
3.5 Integrating the Guitar on a PCB
3.5.1 Traces
3.5.2 Grounds and Returns
Page
Page
3.7 Main Power and Motor Power
3.7.1 Connecting Motor Power
3.7.2 Connecting Main Power
3.8 Auxiliary Supply
Page
3.8.3 Shared Supply
3.9 Main Feedback
Page
Page
Page
Page
Page
Page
Page
3.10 Auxiliary Feedback
3.10.1 Main and Auxiliary Feedback Combinations
Auxiliary Feedback
3.10.2 Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4)
Page
3.10.3 Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2)
Page
3.10.4 Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0)
Page
3.11 I/Os
3.11.1 Digital Input
Page
3.11.2 Digital Output
Page
3.11.3 Analog Input
3.12 Communications
3.12.1 RS-232 Communication
3.12.2 CANopen Communication
Page
Page
3.13 Powering Up
3.14 Initializing the System
3.15 Heat Dissipation
3.15.1 Guitar Thermal Data
3.15.2 Heat Dissipation Data
Page
3.15.3 How to Use the Charts
3.16 Evaluation Board and Cable Kit
Appendix: Guitar Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
A.1.2 Advanced Positioning Control Modes
A.1.3 Advanced Filters and Gain Scheduling
A.1.6 Input/Output
A.1.7 Built-In Protection
A.1.8 Accessories
A.1.9 Status Indication
A.1.10 Automatic Procedures
A.2 Guitar Dimensions
A.3 Power Ratings
Note:
A.4 Environmental Conditions
A.4.1 Auxiliary Supply
A.5 Control Specifications
A.5.1 Current Loop
A.5.2 Velocity Loop
A.5.3 Position Loop
A.6 Feedbacks
A.6.1 Feedback Supply Voltage
A.6.2 Main Feedback Options
A.6.2.1 Incremental Encoder Input
A.6.2.2 Digital Halls
A.6.2.3 Interpolated Analog Encoder (Sine/Cosine)
A.6.2.4 Resolver
A.6.2.5 Tachometer*
A.6.2.6 Potentiometer
A.6.3 Auxiliary Feedback Port (output mode YA[4]= 4)
A.6.4 Auxiliary Feedback Port (input mode YA[4]= 2, 0)
A.7 I/Os
A.7.1 Digital Input Interfaces
A.7.2 Digital Output Interface
(max)Io
VOLVcc R
=
A.7.3 Analog Input
A.8 Communications
A.9 Pulse Width Modulation (PWM)
A.10 Standards Compliance
A.10.1 Quality Assurance
A.10.2 Design
A.10.3 Safety
A.10.4 EMC
A.10.5 Workmanship
A.10.6 PCB
A.10.7 Packing
Index
Feedback options A-7, A-8, A-12
