Motion Control - ElmoMC

Harmonica

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.

Digital DC Servo Drive-Harmonica

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 supply voltage

VDC

10

20

40

Nominal supply voltage

VDC

 50

85

170

Maximum supply voltage

VDC

59

95

195

Maximum continuous power output

W

250

400

650

200

320

640

1100

200

320

640

1100

Efficiency at rated power (at nominal conditions)

%

> 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/DC continuous current

A

5

8

13.3

2.5

4

8

13.3

1.25

2

4

6.6

Sinusoidal continuous RMS current limit (Ic)

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 without heatsink

%

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 out/Analog in

 

6/2/1

Mounting method

 

Wall mount (“Bookshelf”) or DIN rail

Product Catalog Number
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
Servo Drive and Motor Package
Click on the image to jump to "Drive Motor Package Page" >>
Accessories
Cables
The Cable Starter Kit for the Harmonica includes the basic user cables required for installing the Harmonica digital servo drive. This do-it-yourself accessory is accompanied by documentation that provides details for grounding and attaching the required connectors, as a complement to the Harmonica User Guide.
Heatsinks
Flat
Fin-Type
L-Shaped
Heatsink only
 
Standard and Advanced Models
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