Harmonica

Harmonica digital Servo Drive Exceptionally compact and smart digital servo drive for DC brush, DC brushless and linear motors (operates on DC power). The Harmonica series of servo drives brings higher dynamics and increased precision to a wide range of automated applications. The Harmonica incorporates a digital motion controller that features CANopen networking, a position loop, a velocity loop, a current loop and a very wide range of feedback and I/O options. The Harmonica is fully programmable using the Composer programming language (32 KB of memory is available for storing programs). Using the Composer setup tool, Harmonica users can perform drive setup, configuration, tuning, analysis and drive programming quickly and easily. Feature Unit 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 55 85 180 Maximum Supply Voltage (over voltage trip) VDC 59 95 195 Maximum Output Power from the drive W 250 410 670 210 320 660 1080 210 330 660 1110 Efficiency at Rated Power % > 97 Auxiliary Supply Voltage (ext.) VDC 24 ±20% Auxiliary Supply Power (ext.) VA 8 DC and Trapezoidal Commutation Continuous RMS Current Limit (Ic) A 5 8 13.3 2.5 4 8 13.3 1.25 2 4 6.6 Sinusoidal Commutation 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 (RMS) A 2 x Ic Output Power without Additional Heat Sink % 100 50 20 100 50 20 20 100 50 20 20 Weight gm (oz) 150 (5.3) Dimensions mm (in) 82 x 25.4 x 75 (3.2 x 1.0 x 3.0) Digital In / Digital Out / Analog In   6 / 2 / 1

Product Catalog Number:

Feature	Unit
Output Voltage	%	> 97 Vin
PWM switching frequency	KHz	22 -/+5% default on the Motor
Switching method		Advanced Unipolar PWM
Current Loop Bandwidth	KHz	> 2.5
Sampling Rate	Hz	> 16
Velocity Loop Bandwidth	Hz	> 350
Sampling Rate	KHz	> 8
Position Loop Bandwidth	Hz	> 80
Sampling Rate	KHz	> 4
Maximum heat sink temperature	°C (°F)	80°C (176°F) -/+ 4
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		IP20

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)

Advanced Filtering & Gain Scheduling

• On the fly Gain scheduling of current and velocity
• Velocity and position with "1-2-4" PIP controllers
• 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
• 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 - 15 bit resolution
  • Up to 512 revolution per second (RPS)
  • Encoder outputs, buffered, differential
• DC Tachometer for velocity feedback
• Analog Potentiometer for position feedback
• Drives provide supply voltage for all feedback options

Input/Output

• Analog Inputs with 14-bit resolution
• Programmable digital inputs, optically isolated
  • Inhibit / Enale 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 conrol
  • 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 & soft stop)
• Status reporting
• Protection against:
  • Shorts between motor power outputs
  • Shorts between motor power output and power input return
  • 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)
• 24 VDC external or internal from power bus (CEL)

Servo Drive and Motor Package

Click here for more info on drive motor packages.

Accessories

Cables

The Cable Starting 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.

Click here for more info.

Heatsinks

	Flat	Fin-Type	L-Shaped
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

Harmonica with External Dual CAN Ports	HAR-XX-YYY-0

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	No	Yes
PVT position and velocity versus time	No	Yes
ECAM / Follower	No	Yes
User program size	2 KB	32 KB

Documentation and Technicial Resources

	Installation guide
	SimplIQ Software Manual
	SimplIQ Command Reference
	Composer User Manual
	Accessories
	CANopen DS 301 Implementation Guide
	CANopen DSP 305 Implementation Guide
	CANopen DSP 402 Implementation Guide
	Specifications
	Brochure
	Software Tools
	Firmware