Motion Control - ElmoMC
Products > Technology
SimplIQ Components
Elmo's SimplIQ is comprised of five main components:
  • Real-Time Communication which supports both CAN protocols (CANopen , DS301 , DS402 and DS305) as well as RS232
  • Motion Control which operates in Current, Velocity and Position modes as well as supports 1.5 master/slave and filters
  • Power Switching which uses FASST technology for fast and highly efficient switching
  • Feedbacks which include:
    • Incremental encoder
    • Resolver
    • Analog encoder
    • Analog halls
    • Digital halls
    • Potentiometer
    • Absolute encoder
  • Event Programming which support Fast I/O
  • Software Tools which include Elmo's Composer, Editor, Tuner and Recorder
SimplIQ Features

Motion Control Modes:
  • Current/Torque (up to 14 KHz sampling rate)
  • Velocity (up to 7 KHz sampling rate)
  • Position (up to 3.5 KHz sampling rate)
Advanced Positioning Motion Control Modes:
  • PTP, PT, PVT, ECAM/Follower, Pulse and Direction, Dual Loop
  • Fast event capturing Inputs
  • Fast output compare (OC)
  • Motion Commands: Analog, PWM, SW, Pulse and Direction
Advanced Filtering and Gain Scheduling
  • On the fly Gain scheduling of current and velocity
  • Velocity and position with "1-2-4" PIP controllers Automatic commutation alignment
  • Automatic commutation alignment
  • Automatic phase sequencing
Fully Programmable
  • Third generation programming structure with motion commands
  • Event capturing interrupts
  • Event triggered programming
Feedback Options
  • Incremental Encoder - up to 20 Mega-Counts (5 Mega - Pulse)
  • Digital Halls - up to 2 KHz
  • Incremental Encoder with Digital Halls for commutation - up to 20 Mega-Counts
  • Absolute Encoder- Hidenhain EnDat 2.1 and Sick-Stegmann Hiperface
  • Interpolated Analog (Sine/Cosine) Encoder up to 250 KHz
    • Internal Interpolation - up to X 4096
    • Automatic Correction of:
      • Amplitude mismatch
      • Phase mismatch
      • Signal offset
    • Encoder outputs, buffered, differential
  • Resolver
    • Programmable 10 - 16 bit resolution
    • Up to 512 revolution per second (RPS)
    • Encoder outputs, buffered, differential
  • DC Tachometer for velocity feedback
  • Analog Potentiometer for position feedback
  • Elmo drives provide supply voltage for all feedback options
Input/Output
  • Analog Inputs with up to 14-bit resolution
  • Programmable digital inputs, optically isolated
  • Inhibit / Enable motion
  • Software and analog reference stop
  • Motion limit switches
  • Begin on input
  • Abort motion
  • General-purpose
  • Homing
  • Fast event capture inputs, optically isolated
  • Programmable digital outputs
  • Brake control
  • Amplifier fault indication
  • General-purpose
  • Servo enable indication
  • Buffered output of the main Encoder
  • Buffered output of the auxiliary Encoder
  • Emulated output of the resolver or interpolated analog encoder
  • Fast output compare (OC), optically isolated
Built-in Protection
  • Software error handling
  • Abort (hard stop and soft stop)
  • Status reporting
  • Protection against:
  • Shorts between motor power outputs
  • Shorts between motor power output and power input return
  • Shorts between motor power output and power input
  • Failure of internal power supplies
  • Overheating
  • Over/Under voltage
  • Loss of velocity feedback
  • Following error
  • Current limits
Communication options
  • RS-232
  • CANopen DS 301, DSP 305, DSP 402
Auxiliary Power
  • 24 VDC external power source (HAR, BAS, COR, TUB, WHI, TWE)
  • 24 VDC external or internal from power bus (CEL)