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Elmo Gold Series Hardware Manual
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Elmo Gold Series Hardware Manual

Panel mounted servo drive
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Gold Line Panel Mounted
Servo Drive Hardware
Manual
December 2019 (Ver. 1.020)
www.elmomc.com

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Summary of Contents for Elmo Gold Series

  • Page 1 Gold Line Panel Mounted Servo Drive Hardware Manual December 2019 (Ver. 1.020) www.elmomc.com...
  • Page 2 The Gold Digital Servo Drive has been developed, produced, tested and documented in • accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.
  • Page 3 Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd. EtherCAT Conformance Tested. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. CANopen compliant. CANopen® is a registered trademark and patented technology, licensed by CAN in Automation (CiA) GmbH, Kontumazgarten 3, DE-90429 Nuremberg, Germany.
  • Page 4 1.1.1. DC Products ....................9 1.1.2. AC Products ....................21 1.1.3. ExtrIQ Products ..................24 1.2. Elmo Part Number Description ................30 Chapter 2: Safety Information ..................33 2.1. Safety Referenced in this Document ................ 33 2.2. Warnings ........................34 2.3.
  • Page 5 STO Output Status (upon customer request) ............56 9.7. Diagnostics ....................... 58 9.7.1. STO Status Register..................58 9.7.2. ELMO Status Register ................59 9.7.3. Drive Status Indicator ................59 9.7.4. STO Output Status – GO[1 to 4] ..............59 9.8.
  • Page 6 Table of Contents MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.6.1. Connection from Port C to Port A.............. 90 10.6.2. Connection from Port C to Port B .............. 91 10.6.3. Selecting the Appropriate Cable Configuration ......... 92 10.6.3.1. Connection from Port C to Port A ..........92 10.6.3.2.
  • Page 7 Table of Contents MAN-G-PMDRIVEHM-EC (Ver. 1.020) 14.1. Current Loop ......................125 14.2. Velocity Loop ......................125 14.3. Position Loop ......................126 Chapter 15: Gold Line Standards ................. 127 15.1. Functional Safety ....................127 15.2. Safety ........................131 15.3. CE Declaration ......................131 15.4.
  • Page 8 D-Type, and Shrouded connector wiring details. Other Drive Hardware Manuals Available include the MAN-G-Board Level Modules Hardware Manual. This manual describes the Gold series of hardware drives for mounting on a PCB by soldering its pins directly to the PCB.
  • Page 9 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 1.1. Gold Servo Drives Power 1.1.1. DC Products The following describes the range of Gold DC Panel Mounted servo drives which subscribe to the standard Environmental Conditions (refer to section 13.1). |Gold Servo Drives Power|www.elmomc.com Table of Contents...
  • Page 10 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Whistle family G-DCWHI Connector Type Shrouded connector Current/Voltage 1/100 2.5/100 5/100 10/100 15/100 20/100 3/200 6/200 9/200 (Amps/VDC Continuous Output Current (A) ranges 1 to 20 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 11 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Whistle family G-SOLWHI Connector Type Shrouded connector Current/Voltage 1/100 2.5/100 5/100 10/100 15/100 20/100 3/200 6/200 9/200 (Amps/VDC Continuous Output Current (A) ranges 1 to 20 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 12 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Duo G-DUO Includes two Gold Whistles Connector Type Shrouded connector Current/Voltage 5/100 10/100 15/100 20/100 3/200 6/200 9/200 (Amps/VDC Continuous Output Current (A) ranges 5 to 20 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 13 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Guitars, Cello G-SOLGUT Connector Type Shrouded connector Current/Voltage 20/100 35/100 50/100 10/200 17/200 20/200 (Amps/VDC Continuous Output Current (A) ranges 10 to 50 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 14 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Guitars, Cello G-CELLO Connector Type D-Type Current/Voltage 20/100 35/100 50/100 10/200 17/200 20/200 (Amps/VDC Continuous Output Current (A) ranges 10 to 50 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R” drives Continuous 1600 2800...
  • Page 15 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold DC Bell G-DCBEL Connector Type Shrouded connector Current/Voltage 1/100 2.5/100 5/100 10/100 15/100 3/200 6/200 9/200 (Amps/VDC Continuous Output Current (A) ranges 1 to 15 A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 16 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Trombone family G-DCTRO Connector Type D-Type Current/Voltage 6/400 12/400 16/400 R17/400 R22/400 8/800 12/800 R11/800 R16/800 (Amps/VDC Continuous Output Current (A) ranges A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R” drives Continuous Output 2000 4000...
  • Page 17 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Trombone family G-SOLTRO Connector Type Shrouded connector Current/Voltage 6/400 12/400 16/400 R17/400 R22/400 8/800 12/800 R11/800 R16/800 (Amps/VDC Continuous Output Current (A) ranges A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 18 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Drum family G-DRU (D-Type) Connector Type D-Type Current/Voltage (Amps/VDC Operating Voltage Range 11 to 390 VDC Continuous Output Current (A) ranges A. The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R” drives Continuous Output Power(W)
  • Page 19 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Drum family G-DRU (RJ-45 Type) Connector Type D-Type+RJ45 11 to 390 Power Operating Voltage Range (VDC) 18 to 100 Continuous Output Current (A) The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 20 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold Drum family G-DRUHV Connector Type D-Type+RJ45 50 to 780 Power Operating Voltage Range (VDC) 35 to 100 Continuous Output Current (A) The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R”...
  • Page 21 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 1.1.2. AC Products The following describes the range of Gold AC Panel Mounted servo drives. |Gold Servo Drives Power|www.elmomc.com Table of Contents...
  • Page 22 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold AC Drives G-TUB Connector Type D-Type+RJ45 1 x 60 or 3 x 60 Power Operating Voltage Range to 3 x 480 (VAC) 30 to 40 Continuous Output Current The current is given in amplitude.
  • Page 23 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Gold AC Drives G-BAS Connector Type D-Type+RJ45 1 x 50 or 3 x 50 Power Operating Voltage Range (VAC) 1 x 270 or 3 x 270 3 to 10 Continuous Output Current The current is given in amplitude.
  • Page 24 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 1.1.3. ExtrIQ Products The following describes the range of Gold ExtrIQ Panel Mounted servo drives which subscribe to the Extreme Environmental Conditions (refer to section 13.2). |Gold Servo Drives Power|www.elmomc.com Table of Contents...
  • Page 25 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Hornet family G-SOLHOR Connector Type Micro Hi-Reliability connector 12 to 195 Power Operating Voltage Range (VDC) 1 to 20 Continuous Output Current (A) 0.08 to 1.60 Continuous Output Power Range (kW) Without STO, or TTL or PLC source...
  • Page 26 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Hawk family G-SOLHAK Connector Type Micro Hi-Reliability connector 14 to 195 Power Operating Voltage Range (VDC) 10 to 50 Continuous Output Current (A) 1.60 to 4.0 Continuous Output Power Range (kW) √...
  • Page 27 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Eagle family G-EAGHV Connector Type D-Type 50 to 680 Power Operating Voltage Range (VDC) 35 to 100 Continuous Output Current (A) 16.50 to 65.00 Continuous Output Power Range (kW) TTL, or PLC source Replacing STO Output Status...
  • Page 28 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Eagle family G-EAG Connector Type D-Type 50 to 340 Power Operating Voltage Range (VDC) 18 to 150 Continuous Output Current (A) 3.40 to 12.00 Continuous Output Power Range (kW) TTL, or PLC source Replacing STO Output Status...
  • Page 29 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Tiger G-TIG Connector Type D-Type 400 or 800 Power Operating Voltage Range (VDC) 6 to 22 Continuous Output Current (A) The current is given in amplitude. Note: In all drives, the peak current IP=2xIC, except for “R” drives 2.0 to 10.0 Continuous Output Power Range (kW) Note: For all non-“R”...
  • Page 30 MAN-G-PMDRIVEHM-EC (Ver. 1.020) 1.2. Elmo Part Number Description The Hardware configuration of the Drive is determined by the Elmo part number, consisting of a maximum of eighteen words/digits. Enclosure Type G- [AAANNN]RXXX/YYYEEHZZ Determines the type of the Package of the product in the family.
  • Page 31 For an explanation of STO refer to Chapter 9: STO (Safe Torque Off) Single option from: Blank or S PLC Source PLC Source PLC SINK PLC Source (Certified) PLC SINK (is not fully certified, and not recommended for new AP or A PLC SINK designs |Elmo Part Number Description|www.elmomc.com Table of Contents...
  • Page 32 Option applies to G-DRU where communication connections may be using RJ-45 or D-Type. Blank With RJ-45 connectors With D-Type connectors Heat-Sink ( G-DC-Trombone, DRUM) optional type heat-sinks Blank Standard L shape(no fins) L shape fins and fan L shape fins without fan |Elmo Part Number Description|www.elmomc.com Table of Contents...
  • Page 33 To avoid any potential hazards that may cause severe personal injury or damage to the product during operation, keep all covers and cabinet doors shut. The following safety symbols are used in this and all Elmo Motion Control manuals: Warning: This information is needed to avoid a safety hazard, which might cause bodily injury or death as a result of incorrect operation.
  • Page 34 All Elmo drives are warranted for a period of 12 months from the time of installation, or 12 months from time of shipment, whichever comes first. No other warranties, expressed or implied —...
  • Page 35 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 3: Product Features 3.1. System Architecture The GOLD line supports a variety of voltage levels. The following figure describes the system architecture of low voltage products (up to 200V, e.g. G-WHI family, G-GUT family). Figure 1: Gold Servo Drive System Block Diagram for Non Isolated products |System Architecture|www.elmomc.com...
  • Page 36 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) For high voltage products (e.g. Gold Trombone family, Gold Drum, etc.), the following figure describes the architecture, where the Power stage is fully isolated from the control unit. Figure 2: Gold Servo Drive System Block Diagram for Isolated from the mains products |System Architecture|www.elmomc.com Table of Contents...
  • Page 37 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 3.2. Servo Control Advanced and extremely fast vector control algorithm • (current closed loop bandwidth exceeds 4 kHz) Current/Torque sampling rate: up to 25 kHz (50 μs) • Velocity sampling rate: up to 10 kHz (default 100 μs, •...
  • Page 38 • Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current and velocity, and Pulse and Direction • Distributed Motion Control EASII (Elmo Application Studio) software: an efficient and user friendly auto tuner • 3.5. Fully Programmable • Third generation programming structure Event capturing interrupts •...
  • Page 39 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 3.7. Feedback Sensor Specifications Incremental Quadrature Encoder (with or without commutation halls) up to • 75 Megacounts per second (18 MHz PPS (Pulses Per Second)) • Incremental encoder and digital Halls Digital Hall •...
  • Page 40 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 3.8. Communications The Gold Line offers variety of communication protocols (refer to the communication options of the specific drive): • EtherCAT networking: EtherCAT Slave  CoE (CAN over EtherCAT)  EoE (Ethernet over EtherCAT) ...
  • Page 41 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Opto-isolated (TTL also isolated )  Up to 250 mA  Brake output: 500 mA  Short circuit protection  Thermal protection.  Reverse polarity protection  3.11. Differential Outputs • Three differential outputs: Port C EIA-422 differential output line transmitters ...
  • Page 42 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) • Status reporting Protection against: • Shorts between motor power outputs  Shorts between motor power outputs and power input/return  Failure of internal power supplies  Over-heating  • Continuous temperature measurement. Temperature can be read on the fly; a warning can be initiated x degrees before temperature disable is activated.
  • Page 43 4.1. How to Use this Guide In order to install and operate your Elmo Gold servo drive, you will require both this manual and the drive specific installation guide. Use this manual in conjunction with the specific installation guide, which includes mechanical structure of the product, pinouts, power connectivity, and thermal data.
  • Page 44 • The Gold Panel Mounted Servo Drive servo drive The Elmo Application Studio software and software manual • The Gold Panel Mounted Servo Drive is shipped in a cardboard box with Styrofoam protection. To unpack the Gold Panel Mounted Servo Drive: Carefully remove the servo drive from the box and the Styrofoam.
  • Page 45 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 5: W iring The wiring diagrams shown in this manual are examples and only show the signal name. They do not include pin numbers. For specific details, please refer to the specific servo drive installation guide.
  • Page 46 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Wiring Symbol Description In the D-type Connector: The cable`s braid (Shield) must be connected to the D-sub shell (metal housing) Encoder Earthing. The cable`s shield is connected to the chassis (PE) in the connector. Earthing the Encoder and connecting the Earth (PE) to the drive COMRET is mandatory to insure reliable...
  • Page 47 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 6: Com m on and R eturns In mounted products, the returns are as listed below: Return Pin Description Power Return COMRET Common return The PE (Earth connection) terminal is connected internally in the drive to the Gold Panel Mounted Servo Drive’s chassis (heat-sink + metal cover) which serves as an EMI common plane.
  • Page 48 • Ensure that the motor chassis is properly grounded. The phase connection is arbitrary as Elmo Application Studio (EASII) will establish the proper commutation automatically during setup. When tuning a number of drives, you can copy the setup file to the other drives and thus avoid tuning each drive separately. In this case the motor-phase order must be the same as on the first drive.
  • Page 49 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 3: Brushless Motor Power Connection Diagram Figure 4: DC Brushed Motor Power Connection Diagram |Wiring Legend|www.elmomc.com Table of Contents...
  • Page 50 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 5: Stepper Motor Power Connection Diagram |Wiring Legend|www.elmomc.com Table of Contents...
  • Page 51 Capable up to Safety Integrity Level (SIL)3 9.1. Motor Type for STO ELMO servo drives support a permanent-magnet synchronous brushless motor, DC brush motor, linear motor or voice coil. However the STO is not applicable to the DC Brush Motor. 9.2.
  • Page 52 According to the IEC 61800-5-2, and ISO 13849-1 category 3 requirements, it is required that the STO function is governed by two, fully redundant inputs. Thus, the ELMO STO consists of two STO inputs, namely STO1_IN and STO2_IN.
  • Page 53 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.5. STO input Interface The STO input can be configured in the following options: TTL option connection • • PLC Source option connection(default option) PLC Sink option connection – not certified for STO •...
  • Page 54 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.5.2. TTL Mode – TTL Voltage Level Feature Details Type of input Optically isolated Input current for all inputs Iin = 3.8 mA @ Vin = 5 V High-level input voltage 2.4 V <...
  • Page 55 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.5.3. STO Connection of Several Drives The following figure describes how to connect the STO input to several drives. Figure 11: STO Input Status |STO input Interface|www.elmomc.com Table of Contents...
  • Page 56 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.6. STO Output Status (upon customer request) The STO Output Status can disclose the STO status for user diagnostic propose. Table 4 describes the STO Output logic status: STO1_IN STO2_IN STO_Output Status Table 4: STO Output Status Warning: The STO Output status is not a safety function.
  • Page 57 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) guide for information on which Digital Output is the STO output Status. The following figure describes the connection: Figure 13: STO Dedicated Output Status The following table describes the electrical specification of the STO Out Status: Feature Details Type of output...
  • Page 58 9.7.1. STO Status Register The STO status register includes the STO diagnostic report. This register is reported via SDO only in the 0x2086 object. In Elmo, it is reported in the OV[62] command. The register includes the following formats: Bits Description For Elmo’s internal use only...
  • Page 59 9.7.2. ELMO Status Register The Elmo Status Register, or SR command, is a 32bit register which includes the statuses reported from the drive. The Elmo Status Register can be monitored using the DS402 protocol object 0x1002. The Object 0x1002 is mappable. The following are the STO status bits:...
  • Page 60 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.8. STO Start-Up After installing, make sure that the cables are connected correctly and the STO safety mechanism functions as required according to the following procedure: Open the EAS and its System Configuration window. Connect the drive via the USB, Ethernet, or other communication channel.
  • Page 61 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.9. Maintenance In order to maintain safety levels, the customer shall run the diagnostic of the STO periodically. To run the STO diagnostics, the STO input lines should be changed from active level (HIGH) to de-active Level (LOW) for more than 10msec.
  • Page 62 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 15: STO Out Signal Time Time Description Time The maximum time for STO Output Status on 6 msec Time from rising edge of STO to STO_OUT on The maximum time for STO Output Status off 10 msec Time from falling edge of STO to STO_OUT off The maximum width of the short pulse...
  • Page 63 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 17: STO Rise and Fall Time Time Description Time Maximum STO rise time 1.5 msec Maximum STO fall time 1.5 msec Table 8: STO Timing |STO Timing|www.elmomc.com Table of Contents...
  • Page 64 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 9.11. STO Standards Data The following table summarizes the STO standards data. Data Value EN ISO 13849-1:2008 Category MTTFd >100 Years High IEC 61508 2.2 Fit >90% per channel Lifetime 20 years Table 8: STO standards data Note: In order to maintain the safety level, the customer shall run the diagnostic of the STO...
  • Page 65 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 10: Feedback s 10.1. Introduction The Gold Panel Mounted Servo Drive has two configurable motion sensor input ports and one output port: Port A and port B are input ports, port C is the feedback output port. Motion sensors from the controlled motor and from other sources can be connected to any of the available inputs on either port A or B.
  • Page 66 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3. Feedback Port A Port A supports the following sensor inputs: Digital Hall sensors • • Incremental encoder or absolute serial encoder • Differential pulse-width modulation (PWM) signal input can be connected to port A. The PWM signal (only pulses) can be connected to one of the pins in port A (A/B or index) depending on other feedbacks.
  • Page 67 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3.1. Incremental Encoder Feature Details Encoder format • A, B and Index • Differential • Quadrature Interface RS-422 Input resistance Differential: 120 Ω Maximum incremental encoder frequency Maximum absolute: 75 Megacounts per second (18 MHz PPS (Pulses Per Second)) Minimum quadrature input period (PIN) 53 nsec...
  • Page 68 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 19: Port A Incremental Encoder Input – D-Type Connection Diagram Example Figure 20: Port A Incremental Encoder Input – Shrouded Type Connection Diagram Example |Feedback Port A|www.elmomc.com Table of Contents...
  • Page 69 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3.2. Hall Sensors Feature Details Halls inputs • • Single ended inputs • Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range: 0 V < V <...
  • Page 70 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 21: Hall Sensors D-Type Connection Diagram Example Figure 22: Hall Sensors Shrouded Type Connection Diagram Example |Feedback Port A|www.elmomc.com Table of Contents...
  • Page 71 10 kHz (each 2×TS or 100 μsec). For this reason, the Gold drive serial interfaces operate at fast clock rates, of up to 5 MHz. For some slow (low resolutions) SSI interface encoders, Elmo has also implemented serial interfaces at frequency of 625 KHz.
  • Page 72 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The following are the Absolute Serial Encoder diagram connections for EnDAT, Biss, and SSI: Figure 23: Absolute Serial Encoder – D-Type Connection Diagram Example Figure 24: Absolute Serial Encoder – Shrouded Type Connection Diagram Example |Feedback Port A|www.elmomc.com Table of Contents...
  • Page 73 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The following is the diagram connections of the Panasonic, Tamgawa, Sanyo, Nikon: Figure 25: Absolute Serial Encoder – D-Type Connection Diagram Example for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Tamagawa / Sanyo / Nikon) Figure 26: Absolute Serial Encoder –...
  • Page 74 5 MHz, 2.5 MHz, 1.25Mhz Cable length Up to 100 meters cable operation was tested successfully. Resolution Elmo supports all known resolutions, both linear (LIC 4000 series) and rotary (ECN series) single and multi-turn devices. Glitch filter Advanced (programmable) glitch filtering for better signal noise immunity.
  • Page 75 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3.3.3. Panasonic Feature Details Interface • RS-485 • Data – Differential bidirectional line (Data+, Data-,) Protocol • Half -duplex serial protocol ( NRZ) Input Resistance Differential 120 Ω Transmission Rate Only 2.5 MHz, Cable length Up to 100 meters cable operation was tested successfully.
  • Page 76 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3.3.5. Sanyo / Nikon Feature Details Interface • RS-485 • Data – Differential bidirectional line (Data+, Data-,) Protocol • Half -duplex serial protocol ( NRZ) Input Resistance Differential 120 Ω Transmission Rate 2.5 MHz or 4 MHz (sensor dependent) Cable length Up to 100 meters cable operation was tested successfully.
  • Page 77 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.3.3.7. Hiperface Stegmann (now SICK) developed the Hiperface interfaces, based on a mixed serial digital interface and analog (SIN/COS) interfaces. The serial digital interface is a UART communication protocol transferred over an RS-485 physical link, connected to the GOLD Servo Drive Port A ABS_Data+ and ABS_Data-.
  • Page 78 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 28: Absolute Serial Encoder – Shrouded Type Connection Diagram Example for Stegmann Hiperface Note: When the Hiperface protocol is used, the RS-232 connection is not available |Feedback Port A|www.elmomc.com Table of Contents...
  • Page 79 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.4. Feedback Port B Port B supports any of the following sensors: Incremental encoder, interpolated analog encoder or analog Hall sensors • • Resolver (separate hardware option) Differential Pulse & Direction signal inputs can be connected to port B in the models that support input from an incremental encoder.
  • Page 80 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.4.1. Incremental Encoder Feature Details Encoder format • A, B and Index • Differential • Quadrature Interface RS-422 Input resistance Differential: 120 Ω Maximum incremental encoder frequency Maximum absolute: 75 Megacounts per second (18 MHz PPS (Pulses Per Second)) Minimum quadrature input period (PIN) 53 nsec...
  • Page 81 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 30: Port B Incremental Encoder Input – D-Type Connection Diagram Example Figure 31: Port B Incremental Encoder Input – Shrouded Type Connection Diagram Example |Feedback Port B|www.elmomc.com Table of Contents...
  • Page 82 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.4.2. Interpolated Analog (Sine/Cosine) Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input signal level • Offset voltage: 2.2 V to 2.8 V • Differential, 1 V peak to peak Input resistance Differential: 120 Ω...
  • Page 83 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 32: Port B - Interpolated Analog Encoder D-Type Connection Diagram Example Figure 33: Port B - Interpolated Analog Encoder Shrouded Type Connection Diagram Example |Feedback Port B|www.elmomc.com Table of Contents...
  • Page 84 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.4.3. Resolver Feature Details Resolver format • Sine/Cosine • Differential Input resistance Differential 2.49 kΩ Resolution Programmable: 2 to 16 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio Reference frequency Up to 1/Ts (Ts = sample time in seconds) Reference voltage Supplied by the Gold Panel Mounted Servo Drive...
  • Page 85 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 34: Port B – Resolver D-Type Connection Diagram Example Figure 35: Port B – Resolver Shrouded Type Connection Diagram Example |Feedback Port B|www.elmomc.com Table of Contents...
  • Page 86 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.5. Port C –Encoder Output 10.5.1. Introduction Port C provides encoder output derived from port A or port B feedback inputs, or from internal variables. The output options are: • Port A/B daisy chain (1:1) for incremental encoder Encoder emulation: Emulate any input sensor, digital or analog, or use to emulate an •...
  • Page 87 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.5.3. Specification Feature Details Emulated output A, B, Index Differential Interface RS-422 Termination User is required to connect a 120 Ω termination at the end of each differential line Output current capability High level output current: I (max) = 30 mA Low level output current: I...
  • Page 88 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.5.4. Connections Figure 36: Encoder Differential Output – D-Type Connection Diagram Example Figure 37: Encoder Differential Output – Shrouded Type Connection Diagram Example |Port C –Encoder Output|www.elmomc.com Table of Contents...
  • Page 89 This section describes the hardware connection for the Gantry, and is intended to be part of the installation of the Gantry system. It does not include the software configuration. To configure the Gantry system, refer to the Elmo Application Studio (EAS) User Guide, section Special Tuning Application – Flexible Gantry System.
  • Page 90 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.6.1. Connection from Port C to Port A Figure 39 and Figure 40 describe the connection between Port C to Port A. Figure 39: Port C to Port A D-Type Connections Example Figure 40: Port C to Port A Shrouded Type Connections Example |Gantry|www.elmomc.com Table of Contents...
  • Page 91 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.6.2. Connection from Port C to Port B Figure 41 and Figure 42 describe the connection between Port C to port B. Figure 41: Port C to Port B D-Type Connections Figure 42: Port C to Port B Shrouded Type Connections It is however possible to connect the Drive 1 between Port C and Port A, and the Drive 2 between Port C and port B, and similarly vice-versa.
  • Page 92 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 10.6.3. Selecting the Appropriate Cable Configuration This chapter describes the compromises necessary when deciding which cable configuration to select. The decision will depend on which pin functions are used, and which should be unused. The gantry implementation uses the following pins for communication: •...
  • Page 93 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 11: User I / Os This chapter describes the user I/Os which may be Digital, Analog (inputs only), or Network. 11.1. Digital I/Os There are six digital inputs and four digital Outputs, which can be configured to the following options: Source mode –...
  • Page 94 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.1.2. Source mode – PLC voltage level Output Input Sourcing Output is an output that “Sources” Sourcing Input is an input that requires an external current through the load. The digital output device to “Source”...
  • Page 95 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2. Digital Input and Output Signals The following are the digital input signals: Signal Function Programmable input 1 digital Programmable input 2 digital Programmable input 3 digital Programmable input 4 digital Programmable input 5 digital...
  • Page 96 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.1. TTL Digital Input Feature Details Type of input Optically isolated Input current for all inputs Iin = 3.8 mA @ V = 5 V High-level input voltage 3.0 V < V <...
  • Page 97 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 44: Digital Input TTL Mode Connection Diagram Example |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 98 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.2. TTL Digital Output Feature Details Type of output Isolated TTL Supply output (VDD) 5 V to 15 V Maximum output current 7 mA (max) (V = Low) VOL at maximum output voltage (low level) (on) ≤...
  • Page 99 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 46: Digital Output Connection Diagram Example – TTL Option |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 100 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.3. Source PLC Voltage Level Digital Input Feature Details Standard Isolated PLC source Conforming to IEC 61131-2 TYPE 3 Input current =( Vin-7.4)/2.5 Kohm = 2 mA @ Vin = 12 V = 9 mA @ V = 30 V High-level input voltage (ON State)
  • Page 101 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The following are the connection diagram of Digital inputs: Figure 48: Digital Input Connection Diagram Example – Source PLC Option |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 102 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.4. Source PLC Voltage Level Digital Output Feature Details Type of output Optically isolated PLC source Supply output (VDD) 12 V to 30 V Max. output current (max) ≤ 500 mA per Output 1 (and/or designated (max) (V = High) Output)
  • Page 103 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 50: Digital Output Connection Diagram Example – Source PLC Option |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 104 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.5. Sink PLC Voltage Level Digital Input Feature Details Type of input Isolated PLC Sink VS (VINRET 1÷6) 20V ÷ 29V High-level input voltage (OFF State) VS-5V < V < VS Low-level input voltage (ON State) -3V <...
  • Page 105 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 52: Digital Input Sink Mode Example – PLC voltage level Connection Diagram |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 106 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.1.2.6. Sink PLC Voltage Level Digital Output Feature Details Type of output Isolated PLC Sink Supply output (VDD) 12 V to 30 V Max. output current (max) ≤ 300 mA per Output 1 (and/or designated (max) (V = Low) Output)
  • Page 107 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 54: Digital Output Example as Sink Configuration Connection Diagram |Digital I/Os|www.elmomc.com Table of Contents...
  • Page 108 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 11.2. Analog Input Analog user inputs can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. The following are the analog input signals: Signal Function ANALOG1+...
  • Page 109 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 55: Differential Analog Input for D-Type connector Figure 56: Differential Analog Input for Shrouded Type connector 11.3. Network I/O Some products, for example in the Gold Tuba, the IO capability is extended. For details, refer to the specific installation guides.
  • Page 110 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 12: Com m unications The Gold line supports different communication channels: EtherCAT • • • RS-232 • • RS-422 (Differential RS-232) 12.1. USB 2.0 Specification Details USB Type USB 2.0 Device mode Speed Up to 12 Mbit/s "Full Speed"...
  • Page 111 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 57: USB Network Diagram Example |USB 2.0|www.elmomc.com Table of Contents...
  • Page 112 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 12.2. EtherCAT/Ethernet 12.2.1. Introduction The Gold Panel Mounted Servo Drive serves as an EtherCAT slave device, therefor it includes EtherCAT_IN and EtherCAT_OUT ports. The EtherCAT_IN port can be configured to an Ethernet port using the FW command.
  • Page 113 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The following table describes an example of the pinouts of EtherCAT. Signal Function EtherCAT_OUT_TX+ EtherCAT out transmit + EtherCAT_OUT_TX- EtherCAT out transmit - EtherCAT_OUT_RX+ EtherCAT out receive + EtherCAT_OUT_RX- EtherCAT out receive - Table 16: EtherCAT OUT In the Ethernet mode only the LEDs of EtherCAT IN will be available.
  • Page 114 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The amber LED is the speed indicator (Figure 59). It shows the speed of the connection on the Ethernet line. The possible states of these LEDs are summarized in Table 17. If the drive has no RJ-45 connections, then the EtherCAT link indicators (speed LED is not mandatory) are displayed at the front panel.
  • Page 115 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Also, in the G-DRUM DTYPE version, only Link/Activity LED described in the above paragraph is displayed. The location of the LED is described in the specific Installation Guide. 12.2.5. EtherCAT Status Indicator The EtherCAT status indicator is a red/green dual LED.
  • Page 116 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 12.2.7. EtherCAT Connectivity When connecting several EtherCAT devices in a network, the EtherCAT master must always be the first device in the network. The output of each device is connected to the input of the next device. The output of the last device may remain disconnected.
  • Page 117 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 12.3. CAN Specification Details Physical layer CAN_H, CAN_L, CAN_RET • Speed Maximum Baud Rate of 1 Mbit/sec • Version: Protocols DS 301 v4.01 • Layer Setting Service and Protocol Support: DS 305 •...
  • Page 118 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 64: Gold Panel Mounted Servo Drive Connection Diagram Example – CAN |CAN|www.elmomc.com Table of Contents...
  • Page 119 Baud Rate of 4,800 to 115,200 bit/sec Protocols For setup in the Elmo Application Studio (EAS) software and control The following is the recommended for RS-232 cabling: 1. Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end.
  • Page 120 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 65: RS-232 D-Type Connection Diagram Example Figure 66: RS-232 RJ-45 Connection Diagram Example |RS-232|www.elmomc.com Table of Contents...
  • Page 121 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 12.5. RS-422 (Differential RS-232) RS-232 is supported in the Drum, Solo Hornet, Eagle, and Eagle HV, in the part number with the suffix D. Specification Details Physical layer Differential RS-232 Full duplex, serial communication Interface RS-422 Termination...
  • Page 122 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Figure 67: Differential RS-232 D-Type Communication Example Figure 68: Differential RS-232 RJ-45 Communication Example |RS-422 (Differential RS-232)|www.elmomc.com Table of Contents...
  • Page 123 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 13: Environm ental Conditions You can guarantee the safe operation of the Gold Panel Mounted Servo Drive by ensuring that it is installed in an appropriate environment. 13.1. Gold Line Feature Details Operating ambient temperature...
  • Page 124 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Feature Operation Conditions Range Mechanical Non-operating conditions ±40g; Half sine, 11 msec Shock Operating conditions ±20g; Half sine, 11 msec Atmosphere Operating area atmosphere No flammable gases or vapors permitted in area Protection level IP32...
  • Page 125 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Chapter 14: Control Specifications 14.1. Current Loop Feature Details Controller type Vector (for Brushless), digital Compensation for bus voltage variations “On-the-fly” automatic gain scheduling Motor types Linear and Rotary motors • AC brushless (sinusoidal) •...
  • Page 126 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) Feature Details Velocity sampling time 50 to 250 µsec; default is 100 µsec Velocity sampling rate Up to 20 kHz; default is 10 kHz Velocity command options Internally calculated by jogging •...
  • Page 127 The Gold Panel Mounted Servo Drive servo drive has been developed, produced, tested and documented in accordance with the relevant standards. Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation. Furthermore, Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.
  • Page 128 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) The following GOLD LINE system components are covered by: Certificate no. Z10 13 08 84596 001 and the report to the certificate, report no. EP8516 |Functional Safety|www.elmomc.com Table of Contents...
  • Page 129 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) DC Non- Isolated Products (up to 200v) Gold Bell Model Name Model Part Number Version Gold Bell G-BEL Gold DC Bell G-DCBEL Gold Solo Bell G-SOLBEL Gold GUITAR/ Gold CELLO Model Name Model Part Number Version Gold Guitar...
  • Page 130 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) DC Isolated Products Gold DRUM (up to 400V) Model Name Model Part Number Version Gold Drum G-DRU Gold Eagle G-EAG Gold TROMBONE (up to 800V) Model Name Model Part Number Version Gold Trombone G-TRO Gold DC Trombone...
  • Page 131 This manual is considered to be “original instructions” as defined in EC Directive 2006/42/EC and the contents have been verified by Elmo Motion Control. The products covered by this manual comply with the following directives. The complete EC Declaration of Conformity is available on the internet at http://www.elmomc.com/standards/files/CE-DECLARATION-OF-CONFORMITY.pdf.
  • Page 132 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 15.4. Environmental Specification Details Approved IEC60068-2-78 Environmental testing – Damp heat, steady state Approved IEC60068-2-6 Environmental testing –Vibration (sinusoidal) Approved IEC60068-2-2 Environmental testing – Dry heat Approved IEC60068-2-27 Basic environmental testing procedures - Shock 15.5.
  • Page 133 Gold Line Panel Mounted Hardware Manual MAN-G-PMDRIVEHM-EC (Ver. 1.020) 15.6. EtherCAT Conformance EtherCAT Conformance Test – certification |EtherCAT Conformance|www.elmomc.com Table of Contents...
  • Page 134 In compliance with 2002/96/EC Waste Electrical and Electronic Equipment regulations (WEEE) Note: Out-of-service Elmo drives should be sent to the nearest Elmo sales office. In compliance with 2002/95/EC Restrictions on Application of Hazardous (effective July 2006) Substances in Electric and Electronic...
  • Page 135 |Other Compliant Standards|www.elmomc.com Table of Contents...

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