Elmo 1.1 manual

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72

Ir a la página of

Buen manual de instrucciones

Las leyes obligan al vendedor a entregarle al comprador, junto con el producto, el manual de instrucciones Elmo 1.1. La falta del manual o facilitar información incorrecta al consumidor constituyen una base de reclamación por no estar de acuerdo el producto con el contrato. Según la ley, está permitido adjuntar un manual de otra forma que no sea en papel, lo cual últimamente es bastante común y los fabricantes nos facilitan un manual gráfico, su versión electrónica Elmo 1.1 o vídeos de instrucciones para usuarios. La condición es que tenga una forma legible y entendible.

¿Qué es un manual de instrucciones?

El nombre proviene de la palabra latina “instructio”, es decir, ordenar. Por lo tanto, en un manual Elmo 1.1 se puede encontrar la descripción de las etapas de actuación. El propósito de un manual es enseñar, facilitar el encendido o el uso de un dispositivo o la realización de acciones concretas. Un manual de instrucciones también es una fuente de información acerca de un objeto o un servicio, es una pista.

Desafortunadamente pocos usuarios destinan su tiempo a leer manuales Elmo 1.1, sin embargo, un buen manual nos permite, no solo conocer una cantidad de funcionalidades adicionales del dispositivo comprado, sino también evitar la mayoría de fallos.

Entonces, ¿qué debe contener el manual de instrucciones perfecto?

Sobre todo, un manual de instrucciones Elmo 1.1 debe contener:
- información acerca de las especificaciones técnicas del dispositivo Elmo 1.1
- nombre de fabricante y año de fabricación del dispositivo Elmo 1.1
- condiciones de uso, configuración y mantenimiento del dispositivo Elmo 1.1
- marcas de seguridad y certificados que confirmen su concordancia con determinadas normativas

¿Por qué no leemos los manuales de instrucciones?

Normalmente es por la falta de tiempo y seguridad acerca de las funcionalidades determinadas de los dispositivos comprados. Desafortunadamente la conexión y el encendido de Elmo 1.1 no es suficiente. El manual de instrucciones siempre contiene una serie de indicaciones acerca de determinadas funcionalidades, normas de seguridad, consejos de mantenimiento (incluso qué productos usar), fallos eventuales de Elmo 1.1 y maneras de solucionar los problemas que puedan ocurrir durante su uso. Al final, en un manual se pueden encontrar los detalles de servicio técnico Elmo en caso de que las soluciones propuestas no hayan funcionado. Actualmente gozan de éxito manuales de instrucciones en forma de animaciones interesantes o vídeo manuales que llegan al usuario mucho mejor que en forma de un folleto. Este tipo de manual ayuda a que el usuario vea el vídeo entero sin saltarse las especificaciones y las descripciones técnicas complicadas de Elmo 1.1, como se suele hacer teniendo una versión en papel.

¿Por qué vale la pena leer los manuales de instrucciones?

Sobre todo es en ellos donde encontraremos las respuestas acerca de la construcción, las posibilidades del dispositivo Elmo 1.1, el uso de determinados accesorios y una serie de informaciones que permiten aprovechar completamente sus funciones y comodidades.

Tras una compra exitosa de un equipo o un dispositivo, vale la pena dedicar un momento para familiarizarse con cada parte del manual Elmo 1.1. Actualmente se preparan y traducen con dedicación, para que no solo sean comprensibles para los usuarios, sino que también cumplan su función básica de información y ayuda.

Índice de manuales de instrucciones

  • Página 1

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

  • Página 2

    Notice This guide is de livered subject to th e following conditions and re strictions:  This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such inf ormation is supplied s olely for the pu rpose of ass isting users of the Guitar servo drive in its installation.  The text and graph ics included in this manual a[...]

  • Página 3

    Contents Chapter 1: S afety Infor mation ........................................................................................ 1-1 1.1 Warni ngs ............................................................................................................ 1-2 1.2 Cautions.............................................................................[...]

  • Página 4

    3.11 I/Os ................................................................................................................... 3-29 3.11.1 Digital Input ............................................................................................... 3-30 3.11.2 Digital Output ...........................................................................[...]

  • Página 5

    A.7.3 Analog Input ............................................................................................. A-13 A.8 Communicati ons............................................................................................. A-14 A.9 Pulse W idth Modulat ion ( PWM) .................................................................. A-14 A.10 S[...]

  • Página 6

    Chapter 1: Safety Information In order to operate the Guitar servo drive safely, it is imperative that you implement the safety proce dures included in this installation gu ide. This info rmation is provided to protect you and to keep your work area safe when operating the Guitar and accompanying equipment. Please read this chapter carefully b efor[...]

  • Página 7

    1.1 Warnings Cleaning after soldering To avoid damage to the product’s acrylic coatin g, the Bas soon must not be cleaned after soldering wi th solub le solv ents or water-based cl eaners. For further details s ee: www.elmomc.co m/applications/article/So ldering-and-Clean ing_Application- Note.pdf To avoid electric arcing and hazards to personnel[...]

  • Página 8

    1.3 Directives and Standards The Guitar conforms to the following industry safety standards: Safety Standard Item In compliance with UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electri cal Equi pment In compliance with UL60950-1 (formerly UL1950) Safety of Informa[...]

  • Página 9

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-1 Chapter 2: Introduction This installation guide describes the Guitar se rvo drive and the s teps for its w iring, installation and pow er-up. Following th ese guideline s en sures maximum fu nctionality of the drive and the system to which i t i s connected. 2.1 Drive Description T[...]

  • Página 10

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-2  Th e Advanced Guitar in cludes all th e motion capabilities and communica tion options included in the S tandard model, as we ll as advanced pos itioning capabilitie s: ECA M, Dual Loop and increased program size. Both versions operate with RS-232 and CANopen communication. 2.2[...]

  • Página 11

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-3 2.2.6 Feedback Options • Incremental Encod er – up to 20 Mega-Counts (5 Mega-Pul se) per second • Digital Halls – up to 2 kHz • Incremental En coder with Digital Halls f or commutation – up to 20 Me ga- Counts per second f or encoder • Interpolated Analog Sine/Cosine [...]

  • Página 12

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-4 2.3 System Architecture Figure 2-1: Guitar System Block Diagram[...]

  • Página 13

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-5 2.4 How to Use this Guide In order to install and ope rate your Elmo Guitar servo drive , you will use th is manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully readin g the safe ty instructions in the first c hapter, the fo llow[...]

  • Página 14

    Guitar In stallat ion Gu ide Introduction MAN-GUIIG ( Ver. 1.1) 2-6 As depicted in the previous figure, this installation guide is an integral part of the Guitar documentati on set, com pri sing:  The SimplIQ Software Manual, which descri bes t he compr ehensiv e softwar e used with the Guitar.  The SimplIQ Command Reference Manual, which des[...]

  • Página 15

    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 environment. Feature Value Ambient operati ng temperature 0 ° C to 40 ° C (32 ° F to 104 ° F) Maximum rel ative humid ity 90% non-cond ensing Operating area atmosphere No flammable gases or vapors p[...]

  • Página 16

    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 voltage meets your specific requirements . 3.3 Pinouts 3.3.1 Connector Types No. Pins Type Port Function Connector Location 2x16 J1 I/O, COMM, Auxiliary Fee dback 15 J2 Main Feedback, Analog Input, LED 6 VL [...]

  • Página 17

    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 Transmit J1/3 RS232_COMRET Communication return J1/4 AUX PORT C HA Auxiliary port CH A (bidirectional) J1/5 AUX PORT C HB Auxiliary port CH B (bidirectional) J1/6 SUPRET Supply return J1/7 OUT1 Programmable d[...]

  • Página 18

    Pin Signal Function J1/29 AU X PORT INDEX Auxiliary port inde x (bidirectional) J1/30 CAN_COMRET CAN com munication r eturn J1/31 CA N_L CAN_L bu sline (dominan t low) J1/32 CAN_H CAN_H busline (d ominant high) 3.3.3 Connector J2 Connector J 2: Communications , Auxiliary Feedback and I/O func tions Pin Signal Function J2/1 +5V Encoder/Hall +5V supp[...]

  • Página 19

    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. When designing the Guitar into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the Guitar. We recommend that the Guitar be soldered directl[...]

  • Página 20

    3.5 Integrating the Guitar on a PCB The Gu itar is designed to be mounted on a PCB, either by sold ering its pins directly to the PCB or by using sui table socket connectors. In b oth cases the following rul es apply: 3.5.1 Trac es 1. The size of the traces on the PCB (thicknes s and width) is determin ed by the current carrying capacity requ ired [...]

  • Página 21

    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 INRET2 for input 2, etc.) . To retain isolation, the Input Return pins, as well as other conductors on the input circuit, must be laid out separately. 3. Outputs : The 4 outputs are optically isolated[...]

  • Página 22

    3.6 The Guitar Connection Diagram Figure 3-2: The Guitar Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-8[...]

  • Página 23

    3.7 Main Power and Motor Power P in Function C able Pin Positions VP+ Pos. Power input Power PR Power return Power PE Protecti ve earth Power AC Motor DC Motor PE Protecti ve earth Motor Motor M1 Motor phase Motor N/C M2 Motor phase Mot or Motor M3 Motor phase Mot or Motor When con necting seve ral drives to several motors , all should be w ired in[...]

  • Página 24

    3.7.2 Conn ecting Ma in 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).  The source of the 12 ~ 195 VD C Main Power Supply must be isolated. Figure 3-4: Main Power Supply Connection Diagram (no Auxiliary Supply) 3.8 Auxiliary Supply (for drive logic) Notes for 12 ~ 195[...]

  • Página 25

    3.8.1 Single Supply A single isolated DC power supply can provide powe r for both the main power and the Auxiliary (D rive Logic) Supply. The draw ing below sh ows how a s ingle supply is co nnected. Figure 3-5: Single Supply for both the Main Power Supply and the Auxiliary Supply 3.8.2 Separat e Auxiliary Supply Power to the Auxiliary Supply ca n [...]

  • Página 26

    3.8.3 Shared Supply A "Main" DC Power Supply can be designed to supply power to the drive's Logic as w ell as to the Main Power (see Figure 3-5 and the upper portion of Figure 3-7). If backup functionality is required (for storin g control parameters in case of pow er-outs) a backup supply can be connected (see the Aux. Backup Supply[...]

  • Página 27

    3.9 Main Feedback The Main Feedback port is used to transfer feedb ack data from the motor to the drive. The Guitar can accept any one the following devices as a main feedback mechanism:  Incremental encoder only  Incremen tal encoder w ith digital Hall sen sors  Digital Hall sen sors only  Incremental Anal og (Sine/Cosine) encoder (opt[...]

  • Página 28

    Figure 3-8: Main Feedback- Incremental Encoder with Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-14[...]

  • Página 29

    Figure 3-9: Main Feedback – Interpolated Analog Encoder Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-15[...]

  • Página 30

    Figure 3-10: Main Feedback – Interpolated Analog Encoder with Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-16[...]

  • Página 31

    Figure 3-11: Main Feedback – Resolver Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-17[...]

  • Página 32

    Figure 3-12: Main Feedback – Resolver and Digital Hall Sensors Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-18[...]

  • Página 33

    Figure 3-13: Main Feedback – Tachometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-14: Main Feedback – Tachometer Feedback Connection Diagram for Brush Motors Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-19[...]

  • Página 34

    Figure 3-15: Main Feedback – Potentiometer Feedback with Digital Hall Sensors Connection Diagram for Brushless Motors Figure 3-16: Main Feedback – Potentiometer Feedback Connection Diagram for Brush Motors and Voice Coils Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-20[...]

  • Página 35

    3.10 Auxiliary Feedback For auxiliary feedback, s elect one of the following options: a. Single-ended emulated encoder out puts , used to provide emulated encoder signal s to another con troller or drive. The Emulated En coder Output Option is only available whe n using a Resolver, Analog Encoder, Tachometer, Potentiometer or Absolute Encoder as th[...]

  • Página 36

    3.10.1 Main an d Auxiliary Feedbac k Combina tions The Main Fe edback is always u sed in motion con trol devices wh ereas Aux iliary Feedback is often, but no t always used. Th e Auxiliary Fee dback connector on th e Guitar has th ree bi- directional pins (CHA, CHB and INDEX). When used in combination with Main Feedback, the Auxiliary Fe edback can[...]

  • Página 37

    3.10.2 Auxiliary Feedback : Emulated Enc oder Out put Optio n (YA[4]=4) Pin Signal Function Pin Position J1/28 COMRET Common return J1/29 INDEX Auxiliary in dex output J1/5 CHBO Auxiliary C hannel B output J1/4 CHAO Auxiliary Channe l A output Note: The Emulated Encoder Output Option is only available when using a Resolver, Analog Encoder, Tachomet[...]

  • Página 38

    Figure 3-18: Emulated Encoder Buffered Output – Recommended Connection Diagram Figure 3-19: Emulated Encoder Differential Output – Highly Recommended Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-24[...]

  • Página 39

    3.10.3 Auxiliary Feedback: Single-Ended Enco der Input Opt ion (YA[4]=2) Pin Signal Function Pin Position J1/27 +5 V Encoder supply voltage J1/6 SUPRET Supply return J1/29 INDEX Auxiliary inde x input J1/5 CHB Auxiliary ch annel B input J1/4 CHA Auxiliary ch annel A in put Note: The Guitar’s Auxiliary Fee dback is single-e nded. When mounted on a[...]

  • Página 40

    Figure 3-21: Single-ended Auxiliary Encoder Input - Recommended Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-26[...]

  • Página 41

    Figure 3-22: Differential Auxiliary Encoder Input – Highly Recommended Connection Diagram 3.10.4 Auxiliary Feedback: Pulse-an d-Direction Input Opt ion (YA[4]=0) Pin Signal Function Pin Position J1/28 COMRET Comm on return J1/5 DIR/ CHB Direction input (push /pull 5 V or open collector) J1/4 PULS/CHA Pulse i nput (push/pull 5 V or open collector)[...]

  • Página 42

    Figure 3-23: Pulse-and-Direction Auxiliary Encoder Input – Direct Connection Diagram Figure 3-24: Pulse-and-Direction Auxiliary Encoder Input – Buffered Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-28[...]

  • Página 43

    Figure 3-25: Pulse-and-Direction Auxiliary Encoder Input – Differential Connection Diagram, Highly Recommended 3.11 I/Os The Guitar has 6 Digital Inputs, 4 Digital Outputs and 1 Analog Input. I/O J1 J2 Total Digital Input 6 - 6 Digital Output 4 - 2 Analog Input - 1 1 Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-29[...]

  • Página 44

    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 i nput 1 (general purpose, RLS, FLS, INH) J1/12 IN2 Programmable i nput 2 (general purpose, RLS, FLS, INH) J1/13 IN3 Programmable i nput 3 (general purpose, RLS, FLS, INH) J1/14 IN4 Programmable i nput 4 (general[...]

  • Página 45

    Figure 3-26: Digital Input Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-31[...]

  • Página 46

    3.11.2 Digital Output Pin Signal Function Pin Position J1/7 OUT1 High-Speed Programmable di gital output 1 J1/8 OUT2 Programmable digi tal output 2 J1/9 OUT3 Programmable digi tal output 3 J1/10 OUT4 Programmable di gital output 4 J1/26 OUTRET1 Programmable digital output 1 return J1/25 OUTRET2 Programmable digital output 2 return J1/24 OUTRET3 Pro[...]

  • Página 47

    Figure 3-27: Digital Output Connection Diagram Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-33[...]

  • Página 48

    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 Table 3-9: Analog Input Pin Assignments Figure 3-28: Analog Input with Single-ended Source Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-34[...]

  • Página 49

    3.12 Communications The communication interface may differ according to the user’s hardware. The Guitar can communicate using the f ollowing options: a. RS-232, full duplex b. CANopen RS-232 communication requir es a standard, commercial 3-core null-modem cable connected from the Guitar to a serial interface on the PC. The interface is selected a[...]

  • Página 50

    Figure 3-29: RS-232 Connection Diagram 3.12.2 CANopen Communication Notes for connecting the C ANopen commun ication cable:  C onnect the shield to the groun d of the hos t (PC). Us ually, this con nection is soldered internall y inside the connector at the PC end. You can use t he drain wire to facilitate co nnection.  Ensure that the shi el[...]

  • Página 51

    Pin Signal Function Pin Position J1/30 CAN_GND CAN ground J1/31 CAN_L CAN_L bu sline (dominan t low) J1/32 CAN_H CAN_H busline (d ominant high) Table 3-11: CANopen - Pin Assignments Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-37[...]

  • Página 52

    Figure 3-30: CANopen Network Diagram Caution: When installin g CANopen communication, e nsure that ea ch servo drive is allocated a uni que ID. Otherwise, the CANopen network may hang. Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-38[...]

  • Página 53

    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 supply is within the specified range and that the proper plus-minus connections are in order. 3.14 Initializing the System After the Guitar has been connected and mounted, the system must be set up and initi[...]

  • Página 54

    Guitar In stallat ion Gu ide In stallatio n MAN-GUIIG ( Ver. 1.1) 3-40[...]

  • Página 55

    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 dissipation. To determine if your application needs a heatsink: 1. Allow maximum heatsink temperature to be 80 ° C or less. 2. Determine the ambient operating temperature of the Guitar. 3. Calculate the al[...]

  • Página 56

    Appendix: Guitar Technical Specifications A.1 Features A.1.1 Motion Cont rol Modes • Current/To rque - up to 14 kHz sampling rate • V elo city - up to 7 kHz sampling rate • Position - up to 3.5 kHz sampling rate A.1.2 Advanced Positioning Co ntrol Modes • PTP, PT, PV T, ECAM, Follower, Dual Loop, Current Follower • Fast event capturing in[...]

  • Página 57

    A.1.6 Inpu t/Output • One A nalog Input – up to 14-bit resolution • Six separate programmable Digita l Inputs , optically isolated (two of which are fast event capture inputs).  Inhibit/Enable motion  Software and analog reference stop  Motion limit switche s  Begin on input  Abort motion  Homing  General-purpose • Four[...]

  • Página 58

    A.1.8 Accesso ries • Heat sinks (TBD) • Evaluation Board/ Cable Kit A.1.9 Status Indication • Output for a bi-color LED A.1.10 Automatic Procedures • C ommutation alignment • Phase sequencing • Current loop offset adjustment • Current loop gain tuning • C urrent gain sch eduling • Velocity loop offset adjustment • Veloc ity gain[...]

  • Página 59

    A.3 Power Ratings Feature Unit s 35/48 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 VDC 11 14 23 46 11 14 23 46 Nominal supply voltage VDC 42 50 85 170 42 50 85 170 Maximum s upply voltage VDC 48 59 95 195 48 59 95 195 Maximum continuous power output W 1300 960 1200 1700 1600 2000 48[...]

  • Página 60

    A.4 Environmental Conditions Feature Details Operating ambient temperature 0° ~ 40° C (32° ~ 104° F) Storage temperature -20° ~ +85° C ( -4° ~ +185° F) Humidit y 90% maximum non-condensi ng Maximum Operating Altitude “Unlimited” (above 10,000 m - 30,000 feet) Protection level N/A A.4.1 Auxiliary Supply Feature Details Auxiliary powe r s[...]

  • Página 61

    Feature Details Current sampling time Programmable 70 - 100 µ sec Current sampling rate Up to 16 kHz; default 11 kHz A.5.2 Velocit y Loop Feature Details Controller type PI Velocity control  Fully digital  Program mable PI and FFW control fil ters  "On-the-fly" gain scheduling  Automatic, manual and advanced manual tuning Vel[...]

  • Página 62

    Feature Details Position sampling time 280 - 400 µ sec (4x current loop sample time) Position sampling rate U p to 4 kHz; default 2.75 kHz A.6 Feedbacks A.6.1 Feedback Supply Voltage The Guitar has two feedback ports (Main and Au xiliary). The Gu itar supplies voltage only to the main fee dback device and to the auxiliary feedback de vice if nee d[...]

  • Página 63

    Figure A-1: Main Feedback - Encoder Phase Diagram A.6.2.2 Digital Halls Feature Details Halls inpu ts  H A , H B , H C .  Single ended in puts  Built in h ysteresis of 1V for nois e immunity Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level inpu t voltage: V InHigh[...]

  • Página 64

    Feature Details Encoder outputs S ee Auxiliary Encoder O utputs spec ifications ( A.6.3) A.6.2.4 Res olver Feature Details Resolver format  Sine/Cosine  Differential Input resistance Differential 2.49 k Ω Resolution Programmable: 10 ~ 15 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.5 Reference freque[...]

  • Página 65

    A.6.2.6 Pot ent iometer Feature Details Potentiomet er Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the G u i t a r Potentiometer Resistance 100 Ω ~ 1 k Ω … above this range, linea rity is affected de trimentally Input Resistance 100 k Ω Resolution 14 bit A.6.3 Auxiliary Feedback Po rt (out put mode YA[4]= 4) Feature Deta[...]

  • Página 66

    A.6.4 Auxiliary Feedback Po rt (input mo de YA[4]= 2, 0) Feature Details Encoder input, pulse and direc tion input  A, B, Index  Single ended Input voltage V In Low: 0 V < V IL < 0.8 V V In High: 2 V < V IH < 5 V Maximum absolute voltage: 0 < V In < 5.5 V Input current: ±1 µ A Available as options  Si ngle-ended Encoder[...]

  • Página 67

    A.7 I/Os The Guitar has: 6 Digital Inputs 4 Digital Outputs 1 Analog Input A.7.1 Di gi tal I nput I nterfaces Feature Details Sc hem ati c Dia gra m Type of input  Optically is olated  Each input has its ow n return Input current for all inputs Iin = 2.4 mA @ Vi n = 5 V High-level input voltage 2.5 V < Vin < 10 V, 5 V typical Low-leve l[...]

  • Página 68

    A.7.2 Di gi tal Output I nterf ace Feature Details Co nn ect or Lo cat ion Type of output  Optically isolated  Open col lector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (V out = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (o n) ≤ 0.3 V RL External resi stor RL must b e sele[...]

  • Página 69

    A.8 Communications Specification Details RS-232 Signals:  RxD , TxD , Gnd  Full duplex, serial communication for setup and control.  Baud Rate of 9,600 ~ 57,600 bit/sec. CANopen CANbus Signals:  CAN_H, CAN_L, CAN_GND  Maximum Baud Rate of 1 Mbit/sec. Version:  DS 301 V4.01 Layer Setting Service and Protocol Support:  DS 305 Dev[...]

  • Página 70

    A.10.3 Safety Specification Description In compliance with UL508c Power conversion equipment In compliance with UL840 Insulation coordination, including clearance and creepage distances of electri cal equipment In compliance with UL60950 Safety of in formation techno logy equipment, including elect rical business equipm ent In compliance with EN602[...]

  • Página 71

    Index A Advanced position control · 2-2 Ambient operati ng temp erature · 3-1 Analog input Cable · 3-34 Specification s · A- 13 Auxiliary Feedback cable · 3-21, 3-22 Power supply · A-5 C Cables Auxiliary feedback · 3- 21, 3-22 Main Power · 3-9, 3-10 CANopen · 3-35, 3-36 Communication · 2-2 Compliance standards · 1-3, A-14 Composer · 2-1[...]

  • Página 72

    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 Warnings · 1-2 Single-en ded auxiliary input · 3- 21 Site requirements · 3-1 Specific ations Analog input · A-13 Auxiliary powe r supply · A- 5 Control · A-5, A-6 Digital output interface ?[...]