Our servo drives designed to enhance your competitive advantage. We offer high density in a small package so you won’t have to compromise.

1. The Solution For ANY Application
ANY Servo

2. 2
Any Servo, Any Load
Elmo Servo Drives incorporate the most advanced Control &
Power Conversion Technologies, that in conjunction to Elmo’s
Smart & EASy Supporting TOOLs can optimally move any
mechanical load scenario.
Elmo’s servo drives meet the machine builder’s continuous
expectations for enhanced performance, speed, accuracy,
competitiveness, within their budgets.

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Advanced and extremely fast Vector Control
Results smooth, linear and fast response torque/force.
Electrical frequency (Commutation)> 3kHz
…powerful algorithm enables reaching high electrical speed ,
yet with no torque degradation at any speed.
Phase Advancing,
Smart control of the Lag- Lead between the BEMF to the
current ( Torque/ Speed) for optimum Speed- Torque
performance.
Results high speed with constant and stable torque/ Force .
Allows exceeding the speed limits due to Voltage Bus
“shortage”.
Strength And Capabilities:
Servo Drives for Any Load

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High Current bandwidth such as >4.5kHz (Real cases),
Meets toughest servo performance needs…..
Higher Current BW allows higher velocity BW….
Higher velocity BW allow higher position BW…..
Higher current & Velocity & Position BWs allows optimum DUAL
Loop performance.
Compensates for loads non linearity and drawbacks.
Very High Current dynamic range of >2000:1
for high resolution Torque/ Force operation allowing very high
ratio between lowest to highest torque/ Force.
A 100A Servo Drive still has the full performance at 50 ma.
Strength And Capabilities:
Servo Drives for Any Load

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Current Loop Gain Scheduling,
Updates “on the fly” the current loop scheme according to the
actual voltage bus.
Results very high gain of the current loop
Very stable Current performance even at extreme bus voltage
variations.
In a typical Bus variations the bandwidth is higher by 30% -100%
Significantly Wider bandwidth is accomplished.
Strength And Capabilities:
Servo Drives for Any Load

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Automatic Position and Velocity Gain Scheduling
Automatically changing PID parameters and high order
filters according to various scenarios .
Results very smooth, stable and fast velocity at different
operation scenario and different feedback frequencies.
Adapts velocity control scheme according to load’s and
application’s actual instant needs.
Ideal for extreme operation requirements such as very
Powerful fast movements with very stable standstill and
attenuating External mechanical disturbances.
Strength And Capabilities:
Servo Drives for Any Load

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Dual loop.
supports any 2 Feedbacks combination.
Up to 2000:1 resolution ratio between the 2 feedbacks.
Results very high accuracy with moderate cost mechanics
motion control.
The Dual Loop high Servo performance results very precise
and wide bandwidth operation.
Dual Loop Auto Tuning, “Fast & Easy” optimizing tool.
Simplifies and Reduces the cost of mechanical stage and the
cost of motion control components.
Strength And Capabilities:
Servo Drives for Any Load

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High Level motors synchronizations:
Gantry,
Follower,
ECAM,
PWM Follower,
... and many more
Strength And Capabilities:
Servo Drives for Any Load

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Sampling Time Optimizations
Controllers sampling rate can be modified to compensate between
servo performance, and background tasks performance
Current Loop sampling time down to 50us – 120us (20kHz – 8KHz)
Velocity Loop sampling time down to 50us – 120us (20kHz – 8KHz)
Position Loop Sampling time down to 50us – 120us (20kHz – 8KHz)
A Rule of Thumb: Faster sampling time allows higher control
performance.
The sampling time is a mandatory factor for servo performance, but
not sufficient. Control algorithms, Power conversion and the TOOLs
are even more critical factors.
Strength And Capabilities:
Servo Drives for Any Load

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Servo Drives for Any Load
High order filters
Advanced high order filters for overcoming “defects” in the
mechanical system, such as mechanical resonances and anti-
resonances, non linear characteristic, etc...
Low Pass and High Pass filters
Notch and Anti-Notch filters
Lead lag filters.
2nd order general bi quad filters

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Servo Drives for Any Load
Almost Unlimited Optional Filters
More than 10 high orders filters can be used to fine tune the
controller:
Low-Pass Filters, Notch / Unti-Notch, Lead-Lag, Double Lead-Lag,
or any general Biquad filters can be assigned to the controller.
Scheduled filters - Up to 3 “Scheduled filters” can be used –
filters characteristics will change “on the fly” to optimize the
performance to a varying conditions.
Fixed filters – Up to 8 filters can be added wherever is needed:
on the Position Controller, Velocity Controller, on the feedback…
Additional filters and pre-filters such as FIR, Glitch, and
LPF are available for use in all segments of the control
loops.

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Simplified Schematics
Servo Drives for Any Load

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The EAS, Supporting Tools
Elmo Application Studio – EAS
EAS is a user-friendly, Windows-based environment
EAS “walks you through” the implementation of any
application quickly and simply
EAS brings high-quality results

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The EAS, Supporting Tools
Configures
Updates
Sets-up
Programs
Tunes
Tests
Records
Optimizes
Networks
Controls multi-axes
EAS is a multi-functional tool that:

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High-Performance Tuning tool
Fast, easy, efficient and advanced tuning tool
EAS, The Tuning

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Inject fast, wide spectrum, signal into the
plant input (open loop) or the controller
command (closed loop)
Analyze plant analytic model or frequency
response (gain and phase).
Design controller by QFT, resulting a robust
controller for all plants in all frequencies,
Show step response in time domain and
ability to show verification in frequency
domain as well.
Show in frequency domain (Bode and
Nichols) the plants, controller, open and
closed loop.
Current Identification and Design

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Analog sensors are calibrated (for Analog sine/cosine and
resolver)
Analog Sensor calibration

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Different methods for Plant identifications
Fast wide spectrum signal. Output a model.
Sine sweep identification, check each frequency
for gain and phase. This method can be used in
open or close velocity/position loops.
Multiple plants can be identified, in different
locations or having different loads.
Velocity/Position
Identification and Design

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Automatic Controller design method by QFT, resulting in a robust
controller for all plants in all frequencies. Few Design Methods Available:
Advanced – Design the PI controller with best LPF and notch filters for
the specified Stability margins.
PI Only– Design only the PI controller gains.
PI + LPF – Design the PI controller gains with single LPF @800Hz (for
most common systems)
Refine Tuning – Refine the PI controller gains design for any pre
defined advanced filters.
Manual design for the advanced control engineer is also possible as an
option.
Velocity/Position
Identification and Design

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Velocity/Position
Identification and Design

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Tuning: High Order Filters
Using advanced filtering for widening the operation bandwidth:
Low-pass, Notch, General B-Quad
Plant identification

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Plant Design without relating to the resonance frequency,
result in Velocity BW of 141 Hz
Tuning: High Order Filters

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Plant Design with Notch Filter at the resonance frequency
result in Velocity BW of 165Hz
Results after increasing the velocity loop BW by 15%
Tuning: High Order Filters

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Tuning, Friction Compensation
Different friction compensation methods
Non-linear compensation method to overcome friction by
adding an offset command to the integral filter of the velocity
loop
Using the velocity Gain Scheduling table with high gains in the
low speeds
In this case, the speed command is used as the index to the
scheduled velocity table entry gains

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System before applying friction compensation algorithm
Tuning, Friction Compensation

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The same system after applying the friction compensation algorithm
Tuning, Friction Compensation

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For High - precision direct drive application
200,000,000 counts/revolution

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Very Low position error
Low Position error < 50 counts (< 0.00025%)
Velocity from 1G count/sec down to stable ‘stand still’
Zero velocity
Acceleration up 17M counts/sec2
Extremely high Current Loop resolution of 2000:1
(0.005%)
200,000,000 counts/revolution

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High & Low Speed Requirements
Coping with High/Low speed requirements:
Very Common requirement is very smooth, very precise,
“gentle,” low speed and low Torque/Force operation
combined with “sharp,” very fast, high acceleration, high
deceleration movements. Since Elmo’s servo drives exhibit
very high current (Torque/Force) resolution and wide current
dynamic range loop, they provide an ideal solution to match
perfectly these tough requirements.
200,000,000 count/rev

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Coping with High/Low Speed requirements:
Low Speed Current is “around” ≈50mA while at acceleration
and deceleration the drive is delivering 100A (Torque
Dynamic range >2000:1).
200,000,000 count/rev

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1 Dimension Position Error Correction
Application Example: 1Dimension Error correction for high system
accuracy
Using a 23-sided polygon, of which the face angle better than
0,2arc sec (0,00005deg). Without mapping the error is 60arc sec
peak-peak
After mapping the position error became an error
of +/-1arc sec (0.0003deg)
200,000,000 count/rev

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Elmo Gantry Solution
In the Gantry, the client’s motion controller identifies only one
Gold Servo Drive running a single regular motor
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
Gantry Complex Algorithm is fully handled
within the 2 Gold Servo Drives
Fast, “in-between” Gantry MIMO update
rate of 50 us
PWM synchronization to eliminate Jitters and
latency delays

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High Demanding Servo Requirements
Application Example: Gantry Stage
Demanding servo control performance using MIMO (Multi Input
Multi Output) algorithm implementation
High Resolution 4.88nm resolution, (typically 1.22 ~ 4.88nm ,
4096~16384 x interpolation for 20um pitch analog encoder).
Low Jittering in “Stand Still”:
In Gantry axis less than 40nm jitter.
In Cross Axis less than 20nm jitter.
Low Velocity ripple: +- 0.05% at 50mm/sec with 1Khz sample rate.
Fast Settling time : Same result for various moving distance
Elmo Gantry Solution

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Jitter in “Stand Still”:
Gantry Controller PE: +-5 [Cnt] (+-24nm)
Gantry Differential PE (Yaw): +-7 [cnt] (about +-34nm)
“Stand Still” Jitter - Gantry
Elmo Gantry Solution

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Velocity ripple:
Velocity Ripple 0.022% RMS (50mm/sec (10,000,000 [cnt/sec]) with 1Khz
sample rate
Velocity Ripple - Gantry
Elmo Gantry Solution

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Application Example Planar Stage: 1.3mSec PTP axis motion , vector
velocity 1.65m/sec, 85Vdc bus voltage, could be chieved using phase
advance
High & Low Speed - Planar
Elmo Gantry Solution

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1.3mSec PTP motion , encoder resolution 0.5um,
Theta Max PE<100um
High & Low Speed - Planar
Elmo Gantry Solution

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Dynamic Braking
Application Example: By shortening the Lower FET
during Braking time
Mo=0 during motion without Dynamic Brake test results

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Dynamic Braking
Mo=0 during motion With Dynamic Brake implementation