Elmo 1.1, Guitar Digital Servo Drive

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 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 all the

software tools that are part of Elmo’s Composer software environment.

 The Guitar Evaluation Board User Guide contains information about how to

use the Guitar Evaluation Board and Cable Kit. (This user guide is currently

being developed.)

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