Chapter 2: introduction, Drive description, Product features – ElmoMC SimplIQ Digital Servo Drives-Harmonica Installation Guide User Manual
Page 10: Current control, Velocity control, Chapter 2, Introduction, Drive description 2.2. product features, Current control 2.2.2. velocity control
Harmonica Installation Guide
MAN-HARIG (Ver. 1.902)
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