Elmo 1.1, Guitar Digital Servo Drive 2.4 How to Use this Guide

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 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,

connecting and powering up the Guitar.

The Appendix, Technical Specifications, lists all the drive ratings and specifications.

Upon completing the instructions in this guide, your Guitar servo drive should be

successfully mounted and installed. From this stage, you need to consult higher-level

Elmo documentation in order to set up and fine-tune the system for optimal operation.

The following figure describes the accompanying documentation that you will require.

Figure 2-2: Elmo Digital Servo Drive Documentation Hierarchy

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