Installation Guide Instruction Manual
Table Of Contents
- Chapter 1: Safety Information
- Chapter 2: Introduction
- Chapter 3: Installation
- 3.1. Before You Begin
- 3.2. Unpacking the Drive Components
- 3.3. Assembling the Heatsink
- 3.4. Mounting the Harmonica
- 3.5. Connecting the Cables
- 3.5.1. Wiring the Harmonica
- 3.5.2. Connecting the Power Cables (J8)
- 3.5.3. Special Note about Disconnecting Molex Connectors
- 3.5.4. Connecting the Auxiliary Power Cable (J4)
- 3.5.5. Connecting the Feedback and Control Cables
- 3.5.5.1. Main Feedback (Feedback A) Cable (Port J3)
- 3.5.5.2. Communication Cable (Port J1)
- 3.5.5.3. I/O Cables
- 3.5.5.4. Auxiliary Feedback (Port J2)
- 3.5.5.4.a Auxiliary Feedback: Main Encoder Buffered Output or Emulated Encoder Output Option (Port J2)
- 3.5.5.4.b Auxiliary Feedback: Differential Encoder Input Option (Port J2)
- 3.5.5.4.c Auxiliary Feedback: Single-Ended Encoder Input Option (Port J2)
- 3.5.5.4.d Auxiliary Feedback: Pulse-and-Direction Input Option (Port J2)
- 3.6. Powering Up
- 3.7. Initializing the System
- Chapter 4: Technical Specifications
- 4.1. Features
- 4.2. Harmonica Dimensions
- 4.3. Power Ratings
- 4.4. Environmental Conditions
- 4.5. Harmonica Connectors
- 4.6. Auxiliary Power Supply (J4)
- 4.7. Control Specifications
- 4.8. Feedback
- 4.9. I/Os
- 4.10. Communications
- 4.11. Pulse-Width Modulation (PWM)
- 4.12. Heatsink Specifications
- 4.13. Compliance with Standards
Harmonica Installation Guide
MAN-HARIG (Ver. 1.902)
www.elmomc.com
10
Chapter 2:
Introduction
This installation guide describes the Harmonica servo drive and the steps for its wiring,
installation and powering up. Following these guidelines ensures maximum functionality of the
drive and the system to which it is connected.
2.1. Drive Description
The Harmonica is a powerful servo drive that operates in digital current, velocity, position and
advanced position modes, in conjunction with a permanent-magnet synchronous brushless
motor or DC brush motor. The Harmonica features flexible sinusoidal and trapezoidal
commutation, with vector control. The Harmonica can operate as a stand-alone device or as
part of a multi-axis network in a distributed configuration.
The Harmonica drive is set up and tuned using Elmo’s Composer software. This Windows-based
application enables users to quickly and simply configure the servo drive for optimal use with
their motor.
The Harmonica power source is a 10 to 195 VDC nominal power line. A separate 24 VDC power
supply serves as both the auxiliary supply and the backup supply. This allows a safe and
economical “power backup” feature that is essential for positioning systems.
Two variations of the Harmonica are available: the Standard version and the Advanced version,
which features advanced positioning capabilities. Both versions operate with
RS-232 and/or CAN communication.
2.2. Product Features
2.2.1. Current Control
• Fully digital
• Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
• 12-bit current loop resolution
• Automatic gain scheduling, to compensate for variations in the DC bus power supply
2.2.2. Velocity Control
• Fully digital
• Programmable PI and FFW (feed forward) control filters
• Sample rate two times current loop sample time
• “On-the-fly” gain scheduling
• Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins