Description
Not Recommended for New Designs
Compact and Smart Digital Servo Drive
Operating in Position, Dual Loop, Velocity and Current Mode
The Harmonica is a series of intelligent compact digital servo drives for DC brush, brushless motors and linear motors. The compact servo drive supports up to 13.3 amps continuous current.
The Harmonica is capable of delivering a peak of 2200 W of power and 1100 W of continuous power. Based on Elmo’s SimplIQ motion control technology, the Harmonica is capable of operating in position, velocity and current modes and contains a wide range of feedback and I/O options. With Elmo’s Composer software, users can easily perform drive setup, configuration, tuning, analysis and programming. The drive operates on DC power. The Harmonica’s small case enables efficient, cost saving implementation.
Feature | Units | 5/60 | 8/60 | 12/60 | 2/100 | 4/100 | 8/100 | 12/100 | 1/200 | 2/200 | 4/200 | 6/200 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Minimum | VDC | 10 | 20 | 40 | ||||||||
Nominal | VDC | 50 | 85 | 170 | ||||||||
Maximum | VDC | 59 | 95 | 195 | ||||||||
Maximum continuous | W | 250 | 400 | 650 | 200 | 320 | 640 | 1100 | 200 | 320 | 640 | 1100 |
Efficiency at rated power | % | > 97 | ||||||||||
Maximum output voltage |
| > 97% of DC bus voltage at f=22 kHz | ||||||||||
Auxiliary supply voltage | VDC | 24 ± 20% | ||||||||||
Auxiliary power supply | VA | 8 | ||||||||||
Amplitude sinusoidal/ | A | 5 | 8 | 13.3 | 2.5 | 4 | 8 | 13.3 | 1.25 | 2 | 4 | 6.6 |
Sinusoidal continuous | A | 3.5 | 5.7 | 9.4 | 1.8 | 2.8 | 5.7 | 9.4 | 0.9 | 1.4 | 2.8 | 4.7 |
Peak current limit | A | 2 x Ic | ||||||||||
RMS output power | % | 100 | 50 | 20 | 100 | 50 | 20 | 20 | 100 | 50 | 20 | 20 |
Weight | g (oz) | 150 g (5.3 ounces) | ||||||||||
Dimensions | mm (in) | 82 x 25.4 x 75 (3.2" x1.0" x 3.0") | ||||||||||
Digital in/Digital |
| 6/2/1 | ||||||||||
Mounting method |
| Wall mount (“Bookshelf”) or DIN rail | ||||||||||
Feature | Unit | Specification |
|---|---|---|
| Servo Modes | Current, Velocity, Position, Advanced Position | |
| Core | SimplIQ | |
| Communication | RS-232, CANopen: DS402, DS305 | |
| PWM switching frequency | KHz | 22 ± 5% default on the Motor |
| Switching method | Advanced Unipolar PWM | |
| Current Loop Bandwidth | KHz | <2.5 |
| Current Sampling Rate | KHz | Up to 16, default 11 |
| Velocity Loop Bandwidth | Hz | <350 |
| Velocity Sampling Rate | KHz | Up to 8, default 5.5 |
| Position Loop Bandwidth | Hz | <80 |
| Position Sampling Rate | KHz | Up to 4, default 2.75 |
| Maximum heat sink temperature | °C (°F) | 85°C - 88°C (185°F - 190°F) |
| Ambient operating temperature | °C (°F) | 0° ~ 40°C (32° ~ 104°F) models for extended environmental conditions are available |
| Storage temperature | °C (°F) | -20° ~ 85°C (-4° ~ +185°F) |
| Maximum humidity | % | 90% non-condensing |
| Maximum Operating Altitude | m (ft) | 2,000 m (6562 feet) |
| Protection level |
Feature | Standard | Advanced |
|---|---|---|
| CANopen interface (DS 301, DS 402) | Yes | Yes |
| Current mode | Yes | Yes |
| Velocity mode, follower | Yes | Yes |
| Position jog, follower, point-to-point | Yes | Yes |
| Pulse and direction input | Yes | Yes |
| Dual loop, velocity and position | No | Yes |
| PT position versus time mode | Yes | Yes |
| PVT position and velocity versus time | Yes | Yes |
| ECAM / Follower | No | Yes |
| Overall user program size | 2 KB | 32 KB |
