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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.
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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 |
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6/2/1 |
Mounting method |
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Wall mount (“Bookshelf”) or DIN rail |
| Product
Catalog Number |
Feedbacks Supported |
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Feature |
Unit |
Specification |
| Servo Modes |
|
Current, Velocity, Position, Advanced Position |
| Core |
|
SimplIQ |
| Communication |
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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) |
up to 10,000 (30,000) |
| Protection level |
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| Servo Drive and Motor Package |
| Click on the image to jump to "Drive Motor Package Page" >> |
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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.
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Flat |
Fin-Type |
L-Shaped |
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| Harmonica
with pre-assembled heatsink |
HAR-XX-YYY-1 |
HAR-XX-YYY-2 |
HAR-XX-YYY-3 |
| Heatsink
only |
HAR-HEATSINK-1 |
HAR-HEATSINK-2 |
HAR-HEATSINK-3 |
| Harmonica External Dual CAN Ports |
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| Harmonica with External Dual CAN Ports |
HAR-XX-YYY-0 |
| Standard and Advanced Models |
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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 |
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