Elmo SimplIQ Series User manual

Solo Guitar
Digital Servo Drive
Installation Guide
October 2017 (Ver. 1.404)
www.elmomc.com

Notice
This guide is delivered subject to the following conditions and restrictions:
•This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Solo Guitar servo
drive in its installation.
•The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change without
notice.
•Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo Motion
Control Ltd.
•Information in this document is subject to change without notice.
Document no. MAN-SOLGUIIG (Ver. 1.404)
Copyright 2017
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Note: There are two models of the Solo Guitar: connectors only (for currents of 30 A or less)
and wires only (for currents of 35 A or more). On request, the wires model may be ordered
for currents of 30 A or less.

Revision History
Version Date Details
Ver. 1.0
August 2008
Initial Release
Ver. 1.1
November 2008
Correction to J6 & J7 pinout diagrams
Ver. 1.2
May 2009
MTCR 01-009-41: Clarifications regarding models with
connectors and wires on Notice page (above) and page 17.
Changes to table in Section 3.3.1.
MTCR 01-009-52: Added Section 3.4.3: Motor (Brake, PTC).
Ver. 1.3
March 2010
MTCR 01-010-05: Notice page (above): The note was
updated, also updated on page 17.
MTCR 04-009-48: Table 2: Pin 2 renamed to PR.
Ver. 1.4
September
2012
Update to main board
Formatted according to the new template.
“Metronome” was replaced by the “Composer” software.
Ver. 1.401
January 2013
Updated the Powerful Digital Output Interface table.
Ver. 1.402
February 2013
Updated the Opto Digital Output Interface table.
Added a caution and recommendation on the type of
cleaning solution to use for the Elmo unit.
Ver. 1.403
July 2014
General format changes
Ver. 1.404
October 2017
Updated Warranty Information section 1.5 and updated the
part number label in section 3.2

Elmo Worldwide
Head Office
Elmo Motion Control Ltd.
60 Amal St., P.O. Box 3078, Petach Tikva 4951360
Israel
Tel: [phone] • Fax: [phone]• [e-mail]
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: [phone] • Fax: [phone] • [e-mail]
Europe
Elmo Motion Control GmbH
Steinkirchring 1, D-78056, Villingen-Schwenningen
Germany
Tel: [phone] • Fax: [phone] • [e-mail]
China
Elmo Motion Control Technology (Shanghai) Co. Ltd.
Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China
Tel: [phone] • Fax: [phone] • info-[email protected]
Asia Pacific
Elmo Motion Control APAC Ltd.
B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)
Tel: [phone] • Fax: [phone] • info-[email protected]

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Table of Contents
Chapter 1: Safety Information.......................................................................................... 8
1.1. Warnings......................................................................................................................... 9
1.2. Cautions.......................................................................................................................... 9
1.3. Directives and Standards..............................................................................................10
1.4. CE Marking Conformance.............................................................................................10
1.5. Warranty Information .................................................................................................. 10
Chapter 2: Introduction ................................................................................................. 11
2.1. Drive Description ..........................................................................................................11
2.2. Product Features ..........................................................................................................12
2.2.1. Current Control..............................................................................................12
2.2.2. Velocity Control .............................................................................................12
2.2.3. Position Control .............................................................................................12
2.2.4. Advanced Position Control ............................................................................13
2.2.5. Communication Options................................................................................ 13
2.2.6. Feedback Options ..........................................................................................13
2.2.7. Fault Protection ............................................................................................. 13
2.3. System Architecture .....................................................................................................14
2.4. How to Use this Guide.................................................................................................. 14
Chapter 3: Installation ................................................................................................... 16
3.1. Site Requirements ........................................................................................................16
3.2. Unpacking the Drive Components................................................................................16
3.3. Pinouts..........................................................................................................................18
3.3.1. Connector Types for the Solo Guitar ............................................................. 18
3.4. Main Power and Motor Power.....................................................................................19
3.4.1. Connecting Motor Power .............................................................................. 20
3.4.2. Connecting Main Power ................................................................................21
3.4.3. Motor (Brake, PTC) ........................................................................................ 22
3.5. Main Feedback for the Solo Guitar...............................................................................23
3.6. Main Buffered Output Port ..........................................................................................29
3.7. Auxiliary Feedback (Bi-Directional) ..............................................................................31
3.7.1. Main and Auxiliary Feedback Combinations .................................................32
3.7.2. Solo Guitar Auxiliary Feedback – Differential Buffered Encoder Output
(YA[4]=4) ........................................................................................................ 35
3.7.3. Auxiliary Feedback – Differential Encoder Input Option (YA[4]=2)............... 37
3.7.4. Auxiliary Feedback – Differential Pulse-and-Direction Input Option (YA[4]=0)
.......................................................................................................................40
3.8. I/Os ...............................................................................................................................42
3.8.1. Digital Input ................................................................................................... 42
3.8.2. Digital Output ................................................................................................
44

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3.8.3. Analog Input .................................................................................................. 46
3.9. Communications........................................................................................................... 47
3.9.1. RS-232 Communication ................................................................................. 47
3.9.2. CAN Communication .....................................................................................49
3.10. Powering Up .................................................................................................................51
3.11. Initializing the System................................................................................................... 51
3.12. Heat Dissipation............................................................................................................51
3.12.1. How to Use the Charts...................................................................................53
Chapter 4: Technical Specifications ................................................................................ 54
4.1. Features........................................................................................................................54
4.1.1. Motion Control Modes ..................................................................................54
4.1.2. Advanced Positioning Control Modes ...........................................................54
4.1.3. Advanced Filters and Gain Scheduling...........................................................54
4.1.4. Fully Programmable.......................................................................................54
4.1.5. Feedback Options ..........................................................................................55
4.1.6. Input/Output ................................................................................................. 55
4.1.7. Built-In Protection .........................................................................................56
4.1.8. Accessories ....................................................................................................56
4.1.9. Status Indication ............................................................................................56
4.1.10. Automatic Procedures ................................................................................... 56
4.2. Solo Guitar Dimensions ................................................................................................ 57
4.3. Power Ratings...............................................................................................................58
4.3.1. Auxiliary Supply .............................................................................................58
4.4. Environmental Conditions............................................................................................59
4.5. Control Specifications...................................................................................................59
4.5.1. Current Loop..................................................................................................59
4.5.2. Velocity Loop ................................................................................................. 60
4.5.3. Position Loop .................................................................................................61
4.6. Feedbacks .....................................................................................................................61
4.6.1. Feedback Supply Voltage............................................................................... 61
4.6.2. Main Feedback Options.................................................................................62
4.6.2.1. Incremental Encoder Input........................................................... 62
4.6.2.2. Digital Halls ...................................................................................63
4.6.2.3. Interpolated Analog (Sine/Cosine) Encoder .................................63
4.6.2.4. Resolver ........................................................................................64
4.6.2.5. Tachometer...................................................................................64
4.6.2.6. Potentiometer ..............................................................................65
4.6.3. Main Encoder Buffered Output ..................................................................... 65
4.6.4. Auxiliary Feedback Port (output mode YA[4]= 4)..........................................66
4.6.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0).........................................67
4.7. I/Os ...............................................................................................................................68
4.7.1. Digital Input Interfaces .................................................................................. 68
4.7.2. Powerful Digital Output Interface .................................................................69
4.7.3. Opto Digital Output Interface........................................................................70

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4.7.4. Brake.............................................................................................................. 71
4.7.5. Analog Input .................................................................................................. 71
4.8. Communications........................................................................................................... 71
4.9. Pulse-Width Modulation (PWM).................................................................................. 72
4.10. Compliance with Standards..........................................................................................72

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Chapter 1:
Safety Information
In order to operate the Solo Guitar servo drive safely, it is imperative that you implement the
safety procedures included in this installation guide. This information is provided to protect you
and to keep your work area safe when operating the Solo Guitar and accompanying equipment.
Please read this chapter carefully before you begin the installation process.
Before you start, ensure that all system components are connected to earth ground. Electrical
safety is provided through a low-resistance earth connection.
Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified
person has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating motors.
The Solo Guitar servo drive contains electrostatic-sensitive components that can be damaged if
handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating
materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface
and ground yourself in order to discharge any possible static electricity build-up.
To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this manual:
Warning:
This information is needed to avoid a safety hazard, which might cause bodily
injury.
Caution:
This information is necessary for preventing damage to the product or to
other equipment.

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1.1. Warnings
•To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
•Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Solo Guitar from all voltage sources before it is opened for servicing.
•The Solo Guitar servo drive contains grounding conduits for electric current protection. Any
disruption to these conduits may cause the instrument to become hot (live) and dangerous.
•After shutting off the power and removing the power source from your equipment, wait at
least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.
1.2. Cautions
•The Solo Guitar servo drive contains hot surfaces and electrically-charged components
during operation.
•The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
•When connecting the Solo Guitar to an approved 12 to 195 VDC auxiliary power supply,
connect it through a line that is separated from hazardous live voltages using reinforced or
double insulation in accordance with approved safety standards.
•Before switching on the Solo Guitar, verify that all safety precautions have been observed
and that the installation procedures in this manual have been followed.
•Do not clean any of the Solo Guitar drive's soldering with solvent cleaning fluids of pH
greater than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual
damage to the drive's PCBs.
Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).
For further technical information on this recommended cleaning fluid, select the link:
http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1-
VIGON_EFM-US.pdf

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1.3. Directives and Standards
The Solo Guitar conforms to the following industry safety standards:
Safety Standard Item
Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems
Recognized UL 508C Power Conversion Equipment
In compliance with UL 840 Insulation Coordination Including Clearances and
Creepage Distances for Electrical Equipment
In compliance with UL 60950-1
(formerly UL 1950)
Safety of Information Technology Equipment
Including Electrical Business Equipment
In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC
The Solo Guitar servo drive has been developed, produced, tested and documented in
accordance with the relevant standards. Elmo Motion Control is not responsible for any
deviation from the configuration and installation described in this documentation.
Furthermore, Elmo is not responsible for the performance of new measurements or ensuring
that regulatory requirements are met.
1.4. CE Marking Conformance
The Solo Guitar servo drive is intended for incorporation in a machine or end product. The
actual end product must comply with all safety aspects of the relevant requirements of the
European Safety of Machinery Directive 98/37/EC as amended, and with those of the most
recent versions of standards EN 60204-1 and EN 292-2 at the least.
According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive
73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the
Solo Guitar meets the provisions outlined in Council Directive 73/23/EEC. The party responsible
for ensuring that the equipment meets the limits required by EMC regulations is the
manufacturer of the end product.
1.5. Warranty Information
The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the
date of shipment. No other warranties, expressed or implied — and including a warranty of
merchantability and fitness for a particular purpose — extend beyond this warranty.

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Chapter 2:
Introduction
The Solo Guitar is an integrated solution designed to simply and efficiently connect Elmo’s
Guitar servo drive directly to the application. The solution consists of the Guitar together with a
convenient connection interface which either eliminates or reduces development time and
resources when designing an application’s PCB board.
This installation guide describes the Solo Guitar servo drive and the steps for its wiring,
installation and power-up. Following these guidelines ensures maximum functionality of the
drive and the system to which it is connected.
2.1. Drive Description
The Solo Guitar series of digital servo drives is designed to deliver “the highest density of power
and intelligence”. The Solo Guitar delivers up to 4.8 kWof continuous power or 5.4 kW of peak
power in a 227.9 cc (13.9 in³) package (80 x 61 x 46.7 mm or 3.15" x 2.4" x 1.84").
The Solo Guitar is designed for OEMs. It operates from a DC power source in current, velocity,
position and advanced position modes, in conjunction with a permanent-magnet synchronous
brushless motor, DC brush motor, linear motor or voice coil. It is designed for use with any type
of sinusoidal and trapezoidal commutation, with vector control. The Solo Guitar can operate as
a stand-alone device or as part of a multi-axis system in a distributed configuration on a real-
time network.
The Solo Guitar drive is easily set up and tuned, using Elmo’s Composer software tools. This
Windows-based application enables users to quickly and simply configure the servo drive for
optimal use with their motor. The Solo Guitar, as part of the SimplIQ product line, is fully
programmable with the Elmo Composer motion control language.
Power to the Solo Guitar is provided by a 12 to 195 VDC isolated DC power source (not included
with the Solo Guitar). A “smart” control-supply algorithm enables the Solo Guitar to operate
with only one power supply, with no need for an auxiliary power supply for the logic.
If backup functionality is required for storing control parameters in case of power-loss, an
external 12 to 195 VDC isolated supply should be connected (via the +VL terminal on the Solo
Guitar) providing maximum flexibility and backup functionality when needed.
Note: This backup power supply can operate from any voltage source within the 12 to 195
VDC range. This is much more flexible than a standard 24 VDC power supply requirement.
If backup power is not needed, two terminals (VP and VL) are shorted so that the main power
supply will also power the control/logic supply. In this way, there is no need for a separate
control/logic supply.
The Solo Guitar is a PCB mounted device, which enables efficient and economic
implementation.

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The Solo Guitar is available in two models:
•The Standard Solo Guitar is a basic servo drive, which operates in current, velocity and
position modes including Follower and PT & PVT. It operates simultaneously via RS-232 and
CAN DS 301, DS 305, DS 402 communications and features a third-generation programming
environment.
•The Advanced Solo Guitar includes all the motion capabilities and communication options
included in the Standard model, as well as advanced positioning capabilities: ECAM, Dual
Loop and increased program size.
Both versions operate with RS-232 and 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
2.2.3. Position Control
•Programmable PIP control filter
•Programmable notch and low-pass filters
•Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
•Pulse-and-direction inputs
•Sample time: four times that of the current loop
•Fast event capturing inputs
•PT and PVT motion modes
•Fast output compare (OC)

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2.2.4. Advanced Position Control
This relates to the Advanced model only.
•Position-based and time-based ECAM mode that supports a non-linear follower mode, in
which the motor tracks the master motion using an ECAM table stored in flash memory
•Dual (position/velocity) loop
2.2.5. Communication Options
Depending on the application, Solo Guitar users can select from two communication options:
•RS-232 serial communication
•CAN for fast communication in a multi-axis distributed environment
2.2.6. Feedback Options
•Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
•Digital Halls – up to 2 kHz
•Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts per
second for encoder
•Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz (analog signal)
Internal interpolation - up to x4096
Automatic correction of amplitude mismatch, phase mismatch, signals offset
Auxiliary emulated, unbuffered, single-ended, encoder output
•Resolver
Programmable 10 to 15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
•Tachometer, Potentiometer
•Elmo drives provide supply voltage for all the feedback options
2.2.7. Fault Protection
The Solo Guitar includes built-in protection against possible fault conditions, including:
•Software error handling
•Status reporting for a large number of possible fault conditions
•Protection against conditions such as excessive temperature, under/over voltage, loss of
commutation signal, short circuits between the motor power outputs and between each
output and power input/return
•Recovery from loss of commutation signals and from communication errors

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2.3. System Architecture
Figure 1: Solo Guitar System Block Diagram
2.4. How to Use this Guide
In order to install and operate your Elmo Solo 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 Solo Guitar
•Chapter 4, Technical Specifications,lists all the drive ratings and specifications
Upon completing the instructions in this guide, your Solo 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.

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Figure 2: Elmo Digital Servo Drive Documentation Hierarchy
As depicted in the previous figure, this installation guide is an integral part of the Solo Guitar
documentation set, comprising:
•The SimplIQ Software Manual, which describes the comprehensive software used with the
Solo Guitar
•The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the Solo Guitar motion controller
•The Composer Software Manual, which includes explanations of all the software tools that
are part of Elmo’s Composer software environment

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Chapter 3:
Installation
The Solo Guitar must be installed in a suitable environment and properly connected to its
voltage supplies and the motor.
3.1. Site Requirements
You can guarantee the safe operation of the Solo Guitar by ensuring that it is installed in an
appropriate environment.
Feature Value
Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F)
Maximum relative humidity 90% non-condensing
Operating area atmosphere No flammable gases or vapors permitted in area
Models for extended environmental conditions are available.
Caution:The Solo Guitar dissipates its heat by convection. The maximum
operating ambient temperature of 0 °C to 40 °C (32 °F to 104 °F) must not be
exceeded.
3.2. Unpacking the Drive Components
Before you begin working with the Solo Guitar, verify that you have all of its components, as
follows:
•The Solo Guitar servo drive
•The Composer software and software manual
The Solo Guitar is shipped in a cardboard box with Styrofoam protection.
To unpack the Solo Guitar
1. Carefully remove the servo drive from the box and the Styrofoam.
2. Check the drive to ensure that there is no visible damage to the instrument. If any damage
has occurred, report it immediately to the carrier that delivered your drive.
3. To ensure that the Solo Guitar you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Solo Guitar.

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It looks like this:
The part number at the top gives the type designation as follows:
4. Verify that the Solo Guitar type is the one that you ordered, and ensure that the voltage
meets your specific requirements.
Note: There are two models of the Solo Guitar: connectors only (for currents of 30 A or less)
and wires only (for currents of 35 A or more). On request, the wires model may be ordered for
currents of 30 A or less.

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3.3. Pinouts
The Solo Guitar has seven connectors (in the connectors version).
3.3.1. Connector Types for the Solo Guitar
No.
Pins
Type Port Function
9 5.08 mm Pitch (Figure 3) Power + Motor Power
2
(+seven
wires)
5.08 mm Pitch (Figure 4)
14 AWG (M1, M2, M3, VP+, PR)
16 AWG (PE)
Wires
Power + Motor Power
4 2.54 mm Pitch J4 Motor (Brake, PTC)
20 2.54 mm Pitch J5 I/O
12 2.54 mm Pitch J1 Communication
12 2.54 mm Pitch J14 Main Feedback
8 2.54 mm Pitch J17 Main Feedback Buffered
Output
16 2.54 mm Pitch J3 Auxiliary Feedback
Connector Locations
Figure 3
Figure 4
Table 1: Connector Types for the Solo Guitar

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Note: Throughout this chapter there are pairs of diagrams of the Solo Guitar. The diagram on
the left is the Solo Guitar with connectors and the diagram on the right shows the product with
wires.
3.4. Main Power and Motor Power
The Solo Guitar receives power from main and auxiliary supplies and delivers power to the
motor.
Pin Signal Function
1 VL+ Auxiliary supply input
2 PR Auxiliary supply input return
3 VP+ Pos. power input
4 PR Power return
5 PE Protective earth
AC Motor DC Motor
6 PE Protective earth Motor Motor
7 M1 Motor phase Motor N/C
8 M2 Motor phase Motor Motor
9 M3 Motor phase Motor Motor
Pin Positions
Table 2: Connector for Main Power and Motor Power

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Note: When connecting several drives to several motors, all should be wired in the same
motor phases and feedback sequences. This will enable the same SimplIQ program to run on all
drives.
3.4.1. Connecting Motor Power
Connect the M1, M2, M3 and PE pins on the Solo Guitar. The phase connection is arbitrary as
the Composer will establish the proper commutation automatically during setup. However, if
you plan to copy the setup to other drives, then the phase order on all copy drives must be the
same.
Figure 5: AC Motor Power Connection Diagram