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    Any Feedback Any Feedback Presentation Transcript

    • Any Feedback One Solution, Any Application
    • Any FeedbackGold Servo Drives exhibit Elmo’s all-in-one capabilities.The Gold Servo Drives support any feedback in one core,easy and fast set-up, for best performance.
    • Any FeedbackAll Gold Servo Drives contain three feedback ports: Port A, Input Port for: incremental encoder digital halls absolute serial encoder Port B, Input Port for: incremental encoder analog encoder analog hall resolver other analog feedback: potentiometer, tacho, etc. Port C, Output Port for: Emulated Encoder P&D signals Up/Down signals PWM Hall signals
    • Any FeedbackGold Servo Drives support Port A and Port B manipulations.This also applies to Dual Loop applications, dual sensormotors, etc. Port A Incremental Incremental Commutation Absolute Serial Absolute Serial Encoder Encoder Digital Halls Encoder Encoder with without (Absolute) & Commutation Commutation Digital Halls Digital Halls Digital Halls Incremental Encoder Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Port B Analog Encoder Analog Halls Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Resolver
    • Any FeedbackElmo’s “Socket Technology” embedded in Gold Drives andsupported by the EAS, enables the quick and simple set-upof any type or configuration of encoders.
    • Any FeedbackElmo saves clients money by making the Absolute Encodersa standard feature at no extra charge.An easy choice of 2Feedback options: E - any feedback (except the Resolver) R - for Resolver on Port B Port A - identical to E & R
    • Absolute Serial Sensors, Port AGold Drive Absolute Position Sensors support:  Serial Absolute - EnDat 2.1/2.2  Serial Absolute – BiSS  Serial Absolute – Panasonic  Serial Absolute – Tamagawa  Serial Absolute – Mitutoyo  Serial Absolute – SSI  Virtual Absolute – Gurley links  Feedbacks in details
    • Absolute Serial Sensors, Port ASame technical specifications for all serial Absolute EncodersOne Firmware, One Hardware, One Part Number, No extra Cost! Feature Details Encoder format NRZ (Panasonic, Tamagawa, Mitutoyo, etc.) EnDAT 2.2 BiSS/SSI Interface RS-485 Clock – Differential output line Data – Differential bidirectional line Input Resistance Differential 120 Transmission Rate Up to 2.5 MHz links  Feedbacks in details
    • Absolute Position Sensors, Port AMain Features:  Gold can reach up to 32 bits per revolution. Commutation supports up to 30 bits  Supports both up 2.5 MHz clock frequencies  Gold drives support automatic propagation delay compensation (tested up to 100 meters)  Total position resolution up to 32 bits (max) (single -/+ multi- turn)  For operating higher-resolution encoders, the user can mask both upper and lower bits via the EAS without any performance degradation  Advanced (programmable) glitch filtering for better noise immunity
    • Digital Halls, Port ATechnical Specifications Feature Details Hall inputs HA, HB, HC Single ended inputs Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range: 0 V < VIn_Hall < 5 V Maximum absolute: -1 V < VIn_Hall < 15 V High level input voltage: V InHigh > 2.5 V Low level input voltage: V InLow < 1 V Maximum frequency fMAX : 4 kHz Feedback resolution Pole pair x 6
    • Digital Halls, Port AFunctionality  The “Incremental Encoder + Halls” combination is used only for commutation position on “power on.”  The “Halls Only” feedback application is used to control the commutation, current loop, velocity loop and position loop.  For “smoother” operation and improved noise immunity, the FIR (Finite Impulse Response) filter and “Glitch” filters can be used. links  Glitch Filters  FIR Filter
    • Incremental Encoder Quad for Port A or BTechnical Specifications Feature Details Encoder format A, B and Index Differential Quadrature Interface RS-422 Input resistance Differential: 120 Maximum incremental encoder frequency Maximum absolute: 18 MHz PPR (Pulses Per Second) Maximum encoder input voltage range Common mode: 7 V Differential mode: 7 V Quadrature Edge Separation > XX ns Links  Interpolators  Glitch Filters  FIR Filter
    • Analog Encoder Sin/Cos, Port BTechnical SpecificationsFeature DetailsAnalog encoder format Sine and Cosine signalsAnalog input signal Offset voltage: 2.2 V to 2.8 Vlevel Differential, 1 V peak to peakInput resistance Differential: 120Maximum analog signal fMAX : 500 kHzfrequencyInterpolation Programmable: x4 to x8192multipliers Max internal resolution: XXXMaximum “counts” Internal after interpolationfrequency multiplier 2 x 109 counts/secAutomatic errors Signal amplitudes mismatchcorrection Signal phase shift Signal offsetsEncoder Emulated Via Port Coutputs See Port C Encoder Outputs Specifications Links  Interpolators  Glitch Filters  FIR Filter  Commutation “Encoder Only”
    • Analog HallsTechnical Specifications Similar to the “Analog Encoder,” except for the following differences:  One Sin-Cos cycle for each Motor’s Electrical cycle  Absolute Commutation position Data  Lower resolution than Analog Encoder (only one cycle) Feature Details Analog encoder format Sine and Cosine signals Analog input signal level Offset voltage: 2.2 V to 2.8 V Differential, 1 V peak to peak Input resistance Differential: 120 Maximum analog signal fMAX : 500 kHz frequency Interpolation multipliers Programmable: x4 to x8192 Maximum “counts” frequency Internal after interpolation multiplier 2 x 109 counts/sec Automatic errors correction Signal amplitudes mismatch Signal phase shift Signal offsets Encoder outputs See Port C Encoder Outputs Specifications Links
    • Resolver, Port BTechnical Specifications Feature Details Resolver format Modulated Sine/Cosine Differential Input resistance Differential 2.49 k Resolution Programmable: 2 to 16 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.1 - 0.8 Resolver Poles/ Motor’s Poles Ratio 1- 20 Reference frequency Programmable: 1/(2*TS*N), N=1/2,1, 2, 4 (Ts = sample time in micro seconds) Reference voltage Supplied by the drive Reference current up to ±50 mA RMS Encoder outputs See Port C Encoder Output Specifications Links
    • Emulation , Port CFunctionality Feature Details Emulated output A, B, Index Differential Interface RS422 Output current capability Maximum output current: IOH (max) = 2 mA High level output voltage: VOH > 3.0 V Minimum output current: IOL = 2 mA Low level output voltage: VOL < 0.4 V Available as options Emulated encoder output of any sensor on Port A or Port B Daisy chain Port A or Port B Emulated encoder output of internal variables Emulated encoder outputs of the tachometer Emulated encoder outputs of the potentiometer Maximum frequency fMAX: 8 MHz pulses/output (32MHz Counts/ sec) Edge separation between A & B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index (marker) Length of pulse is one quadrature (one quarter of an encoder cycle) and synchronized to A&B Links
    • Emulation , Port CFeedback Emulation (socket) into one of the following signals:  A & B quadrature format  Pulse & direction format  Up & down format  Hall signals format Links
    • GantryElmo Gantry SolutionIn the Gantry, the client’s motion controller identifies only one GoldServo Drive running a single regular motor (X1+X2=X).  In the Gantry, “interactions” are conducted internally between the 2 Gold Servo Drives  No need to designate, and thus waste, an entire motion controller exclusively on Gantry Realization  The Gantry Complex Algorithm is fully handled within the 2 Gold Servo Drives  Fast, “in between” Gantry MIMO update rate of 50us
    • GantryElmo Gantry Solution PWM to eliminate jitters and latency delays Gold Drives’ powerful control enables true synchronization
    • Elmo For Better Results One Solution, Any Application