Elmo Motion Control: SimpIQ Line Mol GuitarDigital ServoDrive MOL-GUIR30/200M

The Mol 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 timeand resources when designing an application’s PCB board. This installation guide describes the Mol Guitarservo drive and the stepsfor its wiring, installation and power-up. Following these guidelines ensures maximum functionality of thedrive and the system to which it is connected.

The Mol Guitar series of digital servo drivesis designed to deliver “the highest density of power and intelligence”. The Mol Guitar delivers up to 4.8 kW of continuous power or 5.4kW 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 Mol Guitar is designed for OEMs. It operatesfrom a DC powersource 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 designedfor use with any type of sinusoidal and trapezoidal commutation, with vector control. The Mol Guitar can operate as a stand-alone device or as part of a multi-axis systemin a distributed configuration on a real-time network. The Mol Guitar drive is easily set up and tuned, using Elmo’s Composersoftware tools. This Windows-based application enables users to quickly and simply configure the servo drive for optimal use with their motor. The Mol Guitar , as part of the SimplIQproduct line, isfully programmable with the Elmo Composer motion control language. Power to the Mol Guitar is provided by a 12 to 195 VDC isolated DC powersource (not included with the Mol Guitar ). A “smart” control-supply algorithm enables the Mol Guitar to operate with only one powersupply, with no need for an auxiliary powersupply for the logic. If backup functionality isrequired forstoring control parameters in case of power-loss, an external 12 to 195 VDC isolated supply should be connected (via the +VL terminal on the Mol Guitar ) providing maximum flexibility and backup functionality when needed. This backup powersupply can operate from any voltage source within the 12 to 195 VDC range. This is much more flexible than a standard 24 VDC powersupply 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 Mol Guitar is a PCB mounted device, which enables efficient and economic implementation.
The Mol Guitar is available in two models:
• The Standard Mol Guitar is a basic servo drive, which operatesin current, velocity andposition modes including Follower and PT & PVT. It operates simultaneously via RS-232 andCAN DS 301, DS 305, DS 402 communications and features a third-generation programming environment.
• The Advanced Mol 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.

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 powersupply
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 andphase 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 axisrelative to a master axis, via an auxiliary encoder input • Pulse-and-direction inputs • Sample time: four timesthat of the current loop • Fast event capturing inputs • PT and PVT motion modes • Fast output compare (OC)
2.2.4.Advanced Position Control This relatesto 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, Mol 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 Hallsfor 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 persecond (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 Mol 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