Gold Solo Whistle Digital Servo Drive Installation Guide EtherCAT and CAN March 2013 (Ver. 1.403) www.elmomc.
Notice This guide is delivered subject to the following conditions and restrictions: • This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Gold Solo Whistle servo drive in its installation. • The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.
Notes • The part number of the Gold Solo Whistle (EtherCAT version) has an E, for example, GSOLWHI1/100E whereas the CAN version has an S, for example G-SOLWHI1/100S. • There are two models of the Gold Solo Whistle: connectors only (for currents of 10 A or less) and wires only (for currents of 15 A or more). On request, the wires model may be ordered for currents of 10 A or less.
Elmo Worldwide Head Office Elmo Motion Control Ltd. 60 Amal St., P.O. Box 3078, Petach Tikva 49516 Israel Tel: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com North America Elmo Motion Control Inc. 42 Technology Way, Nashua, NH 03060 USA Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com Europe Elmo Motion Control GmbH Hermann-Schwer-Strasse 3, 78048 VS-Villingen Germany Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) MAN-G-SOLWHIIG-EC (Ver. 1.403) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.1. 4.3.2. Connector Types ............................................................................................ 25 Pinouts ........................................................................................................... 27 4.3.2.1. Motor Power Connector ............................................................... 27 4.3.2.2. Main Power Connector ..............................
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Table of Contents MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.11.1. RS-232 (J21) ................................................................................................... 72 4.11.2. USB 2.0 Communication (J9) ......................................................................... 74 4.11.3. EtherCAT Communications Version............................................................... 75 4.11.3.1. EtherCAT Communication (J7, J8).....................
Gold Solo Whistle Installation Guide (EtherCAT and CAN) 8 MAN-G-SOLWHIIG-EC (Ver. 1.403) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Solo Whistle servo drive, it is imperative that you implement the safety procedures included in this installation guide. This information is provided to protect you and to keep your work area safe when operating the Gold Solo Whistle and accompanying equipment.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Safety Information MAN-G-SOLWHIIG-EC (Ver. 1.403) 1.1. Warnings • To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source is on. • Power cables can carry a high voltage, even when the motor is not in motion. Disconnect the Gold Solo Whistle from all voltage sources before it is opened for servicing.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Safety Information MAN-G-SOLWHIIG-EC (Ver. 1.403) 1.3.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) 11 MAN-G-SOLWHIIG-EC (Ver. 1.403) Chapter 2: Product Description 2.1. Functional Description The Gold Solo Whistle is an integrated solution designed to simply and efficiently connect Elmo’s Gold Whistle servo drive directly to the application. The solution consists of the Gold Whistle together with a convenient connection interface which either eliminates or reduces development time and resources when designing an application’s PCB board.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.2. Supply Input • Gold Solo Whistle Power rating is 12 to 195 VDC • Two power ratings for Gold Solo Whistle; 100V and 200V: 2.2.3. For power rating 200V Two power isolated DC power sources are required, main power 12 - 195V and Auxiliary Power 12-95V for the logic.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) • Dual Loop Operation supported by Auto Tuning • Fast, easy and efficient advanced Auto Tuning • Incremental encoder frequency of up to 75 Megacounts/sec • Motion profiler numeric range: Position up to ±2 x 109 counts Velocity up to 2 x 109 counts/sec Acceleration up to 2 x 109 counts/sec2 2.2.4.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.6. Fully Programmable • Third generation programming structure • Event capturing interrupts • Event triggered programming 2.2.7. • There are Port A and Port B feedback input ports that are flexible and configurable.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.8.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.9. Communications • Fast and efficient EtherCAT and CAN networking • EtherCAT Slave: CoE (CAN over EtherCAT) EoE (Ethernet over EtherCAT) FoE (File over EtherCAT) for firmware download Supports Distributed Clock EtherCAT cyclic modes supported down to a cycle time of 250 μs • CAN (DS-301, DS-305, DS-402) • Ethernet TCP/IP UDP Telnet • Mini-USB 2.0 • RS-232 2.2.10.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.12. • Differential Outputs Three differential outputs: Port C EIA-422 differential output line transmitters Response time < 1 μs Output current: ± 15 mA. 2.2.13.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.2.17. • Status Indication Output for a bi-color LED 2.2.18. Automatic Procedures • Commutation alignment • Phase sequencing • Current loop offset adjustment • Current loop gain tuning • Current gain scheduling • Velocity loop offset adjustment • Velocity gain tuning • Velocity gain scheduling • Position gain tuning 2.2.19.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.3. System Architecture Figure 1: Gold Solo Whistle System Block Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Product Description MAN-G-SOLWHIIG-EC (Ver. 1.403) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Solo Whistle servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Information MAN-G-SOLWHIIG-EC (Ver. 1.403) Chapter 3: Technical I nform ation 3.1. Physical Specification Feature Units All Types Weight g (oz) 106 g (3.74 oz) mm (in) 73.4 x 46.5 x 35.8 mm (2.89" x 1.8" x 1.4") Dimension Mounting method 3.2. PCB mount Technical Data Feature Units 2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Information MAN-G-SOLWHIIG-EC (Ver. 1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) 23 MAN-G-SOLWHIIG-EC (Ver. 1.403) Chapter 4: I nstallation The Gold Solo Whistle must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 4.1. Site Requirements You can guarantee the safe operation of the Gold Solo Whistle by ensuring that it is installed in an appropriate environment.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4. Verify that the Gold Solo Whistle type is the one that you ordered, and ensure that the voltage meets your specific requirements. The part number at the top gives the type designation as follows: Notes: • This manual is the EtherCAT version – for CAN functionality see the CAN version of this manual.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3. Connectors and Indicators The Gold Solo Whistle has 12 connectors (connectors version). 4.3.1. Connector Types Port No. Pins Type Function M1, M2, M3, PE 4 5.08 mm pitch Motor phases (Connectors version) VP+, PR, PE 3 5.08 mm pitch Power (Connectors version) Wires 7 14 AWG (M1,M2,M3,PR,VP+) Main Power and Motor Power (Wires version) 16 AWG (PE) J4 2x6 2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Port No. Pins Type Function Figure 2: Connector Locations – EtherCAT Figure 3: Connector Locations – CAN Table 2: Connector Types Note: In this chapter, a pair of diagrams of the Gold Solo Whistle is sometimes displayed. The diagram on the left is the Gold Solo Whistle with connectors, and the diagram on the right shows the product with wires.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2. Pinouts The pinouts in this section describe the function of each pin in the Gold Solo Whistle connectors that are listed in Table 2. 4.3.2.1. Motor Power Connector See Section 4.7.1 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.2. Main Power Connector See Section 4.7.2.1 for more details. Pin Signal Function Cable 1 PE Protective Earth Power 2 PR Power Return Power 3 VP+ Positive Power Input Power Pin Positions Table 4: Main Power and Motor Connections Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.3. Auxiliary Power Connector (J30) See Section 4.7.2.2 for more details. Pin (J30) Signal Function 1 PR Auxiliary Supply Return 2 VL+ Auxiliary Supply Input Pin Positions Cable Connector 2-Pin Tyco Plug This cable is included in the cable kit described in Section 2.2.19. Table 5: Auxiliary Supply Pins 4.3.2.4.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.5. STO Connector (J26) See Section 4.7.2.4 for more details. Pin (J26) Signal Function 1 STO1 STO 1 input (default 24 V) 2 STO2 STO 2 input (default 24 V) 3 STO_RET STO signal return Pin Positions Cable Connector 3-Pin Tyco Plug This cable is included in the cable kit described in Section 2.2.19. Table 6: STO Input Pin Assignments Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.6. Port A Connector (J4) See Section 4.9.1 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.7. Port B Connector (J5) See Section 4.9.2 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.8. Port C and I/O (J6) Port C: See Section 4.9.3 for more details. I/O: See Section 4.10 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Pin Positions Cable Connector 24-Pin Tyco Plug This cable is included in the cable kit described in Section 2.2.19. 4.3.2.9. RS-232 Connector (J21) See Section 4.11.1 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.2.10. USB (J9) See Section 4.11.2 for more details. Pin (J9) Signal Function 1 USB VBUS USB VBUS 5 V 2 USBD- USB _N line 3 USBD+ USB _P line 5 USB COMRET USB communication return Pin Positions Cable Connector USB Device Mini-B Plug Table 11: USB Device Mini-B - Pin Assignments Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.3. EtherCAT Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Solo Whistle supports the following EtherCAT fieldbus type industrial network protocol: Fieldbus Type Product Number EtherCAT G-SOLWHI XX/YYYEXX 4.3.3.1. EtherCAT IN/Ethernet Connector (J7) See Section 4.11.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.3.2. EtherCAT OUT Connector (J8) See Section 4.11.3 for more details.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.3.3. EtherCAT Link Indicators The Gold Solo Whistle can serve as an EtherCAT slave device. For this purpose it has two RJ-45 connectors, which are designated as EtherCAT In and EtherCAT Out. Each of these RJ-45 connectors has two status LEDs, which are shown in Figure 4. Figure 4: Ethernet Connector LEDs The green LED is the link/activity indicator.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.3.4. CAN Communications Version Fieldbus communications are industrial network protocols for real-time distributed control that allows connection of servo drives. The Gold Solo Whistle supports the following CAN fieldbus type industrial network protocol: Fieldbus Type Product Number CAN G-SOLWHI XX/YYYSXX See Section 4.11.4 for the electrical diagram.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.4. Mounting the Gold Solo Whistle The Gold Solo Whistle was designed for mounting on a surface. When integrating the Gold Solo Whistle into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the drive.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.5. Wiring the Gold Solo Whistle Once the Gold Solo Whistle is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance of the Gold Solo Whistle. Caution: Perform the following instructions to ensure safe and proper wiring. To ensure safe and proper wiring: 1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.6. The Gold Solo Whistle Connection Diagrams Figure 7: The Gold Solo Whistle Connection Diagram - EtherCAT Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 8: The Gold Solo Whistle Connection Diagram - CAN Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.7. Main, Auxiliary and Motor Power The Gold Solo Whistle receives power from main and auxiliary supplies and delivers power to the motor. 4.7.1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 9: Brushless Motor Power Connection Diagram Figure 10: DC Brushed Motor Power Connection Diagram Notes • For best immunity, it is highly recommended to use a 4-wire shielded (not twisted) cable for the motor connection. The gauge is determined by the actual current consumption of the motor. • Connect the cable shield to the closest ground connection at the motor end.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.7.2. Main and Auxiliary Power This section describes the Main and Auxiliary Power for power ratings 200V and 100V, and provides details for the optional Backup (Auxiliary) Supply. 4.7.2.1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) • Connect the PR to the closest ground connection near the power supply. • Before applying power, first verify the polarity of the connection. 4.7.2.2. Auxiliary Power Supply (J30) (Optional) Note: The source of the Auxiliary Supply must be isolated. Connect the VL+ and PR pins on the Gold Solo Whistle in the manner described in Section 4.3.2.1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) • Before applying power, first verify the polarity of the connection. A cable kit containing a cable that connects to the auxiliary supply connector (J30) is available. See Section 2.2.19. 4.7.2.3. Power Rating 200 V For Power Rating 200 V, two power isolated DC power sources are required, main power 12 - 195V and auxiliary Power 12-95V for the logic.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.7.2.4. Power Rating 100 V 4.7.2.4.a Single Power Supply For power rating 100 V , a single Power Supply is required which contains a “smart” controlsupply algorithm, enabling the Gold Solo Whistle to operate with only one power supply with no need for an auxiliary power supply for the logic. Figure 12: Main Power Supply Connection Diagram (no Auxiliary Supply) 4.7.2.4.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.7.2.4.c Shared Optional Backup Supply A Main DC Power Supply can be designed to supply power to the drive’s logic as well as to the Main Power (see Figure 12 and the upper portion of Figure 14). If backup functionality is required for continuous operation of the drive’s logic in the event of a main power-out, a backup supply can be connected by implementing “diode coupling” (see the Aux.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.8. STO (Safe Torque Off) Inputs (J26) Activation of Safe Torque Off causes the drive to stop providing power that can cause rotation (or motion in the case of a linear motor) to the motor. This function may be used to prevent unexpected motor rotation (of brushless DC motors) without disconnecting the drive from the power supply.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Pin (J26) Signal Function 1 STO1 STO 1 input (default 24 V) 2 STO2 STO 2 input (default 24 V) 3 STO_RET STO signal return Pin Positions Table 20: STO Inputs Pin Assignments A cable kit containing a cable that connects to the STO connector (J26) is available, see Section 2.2.19.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 16: STO Input Connection – PLC Option Figure 17: STO Input Connection – TTL Option Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9. Feedback and Analog Input The Gold Solo Whistle 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. Software configuration designates each input a role, e.g.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.1.1. Incremental Encoder Figure 18: Port A Incremental Encoder Input – Recommended Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.1.2. Absolute Serial Encoder Figure 19: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data/Clock (e.g., BiSS / SSI / EnDAT, etc.) Figure 20: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.) Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.1.3. Hall Sensors Figure 21: Hall Sensors Connection Diagram 4.9.2. Feedback Port B (J5) Port B supports any of the following sensors: • Incremental encoder, interpolated analog encoder or analog Hall sensors Or: • Resolver (separate hardware option) Differential PWM signal input can be connected to port B in the models that support input from an incremental encoder.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.2.1. Incremental Encoder Figure 22: Port B Incremental Encoder Input – Recommended Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.2.2. Interpolated Analog Encoder Figure 23: Port B - Interpolated Analog Encoder Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.9.2.3. Resolver Connection Figure 24: Port B – Resolver Connection Diagram 4.9.3. Port C – Emulated Encoder Output (J6) Port C provides emulated encoder output derived from port A or port B feedback inputs, or from internal variables.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 25: Emulated Encoder Differential Output – Recommended Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.10. User I/Os (J6) The Gold Solo Whistle has six programmable digital inputs, two digital outputs and one analog input. 4.10.1. Digital Inputs (J6) Each of the pins below can function as an independent input. The inputs conform to the PLC standard. TTL configuration is available upon request. For the pin table refer to Section 4.3.2.8.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 26: Digital Input PLC Mode Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 27: Digital Input TTL Mode Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.10.2. Digital Output (J6) The outputs conform to PLC standard. TTL configuration is available upon request. For the pin table refer to Section 4.3.2.8. Pin (J6) Signal Function 21 OUT2 Programmable output 2 22 OUT1 Programmable output 1 23 VDD VDD supply (5 V up to 30 V) 24 VDDRET VDD supply return Pin Positions Table 24: Connector J6 – Digital Output Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 28: Digital Output Connection Diagram – PLC Option Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 29: Digital Output Connection Diagram – TTL Option Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.10.3. Analog Input (J6) Analog user inputs can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. Pin (J6) Signal Function 9 ANALOG1- Analog input 1- 10 ANALOG1+ Analog input 1+ 11 ANARET Analog return Pin Positions Figure 30: Analog Input with Single-Ended Source Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Solo Whistle can communicate using the following options: • EtherCAT or Ethernet • USB 2.0 • RS-232 Note: When the EtherCAT is connected, and FoE in operation, the USB cable connection must be disconnected. 4.11.1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Pin (J21) Signal Function Pin Positions Table 25: RS-232 Pin Assignments Figure 31: RS-232 Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.11.2. USB 2.0 Communication (J9) The USB Network consists of Host controller and multiple devices. The Gold Solo Whistle is a USB Device. To connect the USB communication cable: 1. Connect a standard USB cable. 2. D+ and D- comprise a twisted pair in the cable. 3. The maximum cable length is 5 m. 4. The cable shield should only be connected to Ground at the host. 5.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Figure 32: USB Network Diagram 4.11.3. EtherCAT Communications Version 4.11.3.1. EtherCAT Communication (J7, J8) Notes: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual. • It is recommended to use shielded CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs. Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Pin (J7) Signal Function 1 EtherCAT_IN_TX+ EtherCAT in transmit + 2 EtherCAT_IN_TX- EtherCAT in transmit - 3 EtherCAT_IN_RX+ EtherCAT in receive + 4, 5 N/A 6 EtherCAT_IN_RX- 8 N/A EtherCAT in receive - Pin Positions Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Pin (J8) Signal Function 1 EtherCAT_OUT_TX+ EtherCAT in transmit + 2 EtherCAT_OUT_TX- EtherCAT in transmit - 3 EtherCAT_OUT_RX+ EtherCAT in receive + 4, 5 6 8 N/A EtherCAT_OUT_RX- EtherCAT in receive - N/A Pin Positions Table 27: EtherCAT - Pin Assignments Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 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. If redundancy is required, the output of the last device should be connected to the input of the EtherCAT master.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.11.3.2. Ethernet Communication (J7) Notes: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual. • It is recommended to use shielded CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.11.4. CAN Communications Version Notes for connecting the CAN communication cable: • Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should have aluminum foil and covered by copper braid with a drain wire • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 35: CAN - Connection Diagram Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.12. Powering Up After the Gold Solo Whistle is connected to its device, it is ready to be powered up. Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order. 4.13. Initializing the System After the Gold Solo Whistle has been connected and mounted, the system must be set up and initialized.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.14.2. Heat Dissipation Data Heat dissipation is shown in graphically below: Gold Solo Whistle - 60 Series Power Dissipation 50V 40V 30V 20V 10.0 Power Dissipation (Watts 9.0 8.0 7.0 External Heatsink Required 6.0 5.0 4.0 Standard 40 °C Ambient Temp. Heatsink not Required 3.0 2.0 1.0 0.0 0. 0 75 1. 5 2. 25 3 3. 75 4. 5 5. 25 6 6. 75 7. 5 8. 25 9 9.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Installation MAN-G-SOLWHIIG-EC (Ver. 1.403) 4.14.3. How to Use the Charts The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation. To determine if your application needs a heat sink: 1. Allow maximum heat sink temperature to be 80 °C or less. 2. Determine the ambient operating temperature of the Solo Whistle. 3.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) 85 MAN-G-SOLWHIIG-EC (Ver. 1.403) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold Solo Whistle. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications. Dimensions 73.4 5.1. GSWHI039D Table of Contents |www.elmomc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.2. Environmental Conditions Feature Details Operating ambient temperature 0 °C to 40 °C (32 °F to 104 °F) Storage temperature -20 °C to +85 °C ( -4 °F to +185 °F) Humidity 90% maximum non-condensing Maximum Operating Altitude “Unlimited” (above 10,000 m – 30,000 feet) Protection level N/A 5.3. Control Specifications 5.3.1.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.3.2. Velocity Loop Feature Details Controller type PI + Four advanced filters + Two advanced gain scheduling filters Velocity control • Fully digital • Programmable PI and feed forward control filters • On-the-fly gain scheduling according to either speed or position command or feedback.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.4. Feedbacks 5.4.1. Feedback Supply Voltage The Gold Solo Whistle has two feedback ports (Main and Auxiliary). The Gold Solo Whistle supplies voltage only to the main feedback device and to the auxiliary feedback device if needed. Feature Details Encoder supply voltage 5.4.2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.4.2.2. Digital Halls Feature Details Halls inputs • HA, HB, HC. • Single ended inputs • Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range: 0 V < VIn_Hall < 5 V Maximum absolute: -1 V < VIn_Hall < 15 V High level input voltage: V InHigh > 2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.4.2.4. Resolver Feature Details Resolver format • Sine/Cosine • Differential Input resistance Differential 2.49 kΩ Resolution Programmable: 10 to 15 bits Maximum electrical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.4.3. Port C Feedback Output Feature Emulated output Details • A, B, Index • Differential Interface Output current capability • RS-422 Maximum output current: IOH (max) = 2 mA High level output voltage: VOH > 3.0 V Minimum output current: IOL = 2 mA Low level output voltage: VOL < 0.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.5. I/Os The Gold Solo Whistle has: • 6 Digital Inputs • 2 Digital Outputs • 1 Analog Input 5.5.1. Digital Input Interfaces – TTL Mode 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 < Vin < 15 V, 5 V typical Low-level input voltage 0 V < Vin < 0.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.5.2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.5.3. Digital Output Interface – PLC Mode Feature Details Type of output Optically isolated source Supply output (VDD) 12 V to 30 V Maximum output current Iout (max) (Vout = Low) Iout (max) ≤ 500 mA for output 4 Iout(max) ≤ 250 mA for outputs 1 to 3 VOL at maximum output voltage (low level) Vout (on) ≤ 0.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.5.4. Digital Output Interface – TTL Mode Feature Details Type of output • Optically isolated • Source/Sink Supply output (VDD) 5 V to 15 V Max. output current Iout (max) (Vout = Low) 7 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.4 V Executable time 0< T< 250 µsec Figure 40: Digital Output Schematic 5.5.5.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.6. Safe Torque Off (STO) The Gold Solo Whistle has two STO (Safe Torque Off) inputs. 5.6.1. STO Input Interfaces – TTL Mode 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 < Vin < 15 V, 5 V typical Low-level input voltage 0 V < Vin < 0.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.7. EtherCAT Communications Version Specification Details RS-232 Signals: • RxD , TxD , COMRET • Full duplex, serial communication for setup and control • Baud Rate of 9,600 to 57,600 bit/sec EtherCAT • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • CoE, FoE, EoE Ethernet • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • UDP, Telnet USB 5.8. USB 2.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.403) 5.10. Compliance with Standards Specification Details Quality Assurance ISO 9001:2008 Quality Management Design Approved IEC/EN 61800-5-1, Safety Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.) MIL-HDBK- 217F Reliability prediction of electronic equipment (rating, de-rating, stress, etc.
Gold Solo Whistle Installation Guide (EtherCAT and CAN) Technical Specifications MAN-G-SOLWHIIG-EC (Ver. 1.
