Gold Bell Digital Servo Drive Installation Guide July 2014 (Ver. 1.004) 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 Bell 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.
Revision History Version Details Ver. 1.0 Initial release Ver. 1.001 Organized how the Gold DC Whistle features are presented in the document. Ver. 1.002 Added a caution and recommendation on the type of cleaning solution to use for the Elmo unit. Section 5.5.2 - updated the supply output (VDD) voltage range value of the Digital Output Interface - TTL mode. Updated Section 4.3.2.5: Connector J1 and Section 4.10.1: Digital Inputs Updated Figure 23 and Figure 24. Ver. 1.003 Changes to section 4.
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 Bell Installation Guide MAN-G-BELIG (Ver. 1.004) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Gold Bell Installation Guide Safety Information MAN-G-BELIG (Ver. 1.004) 4.3.2. 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. 4.10. 4.11. 4.12. 4.13. 4.14. Pinouts ........................................................................................................... 26 4.3.2.1. Motor Power................................................................................. 26 4.3.2.2. Main Power................................................................................... 27 4.3.2.3.
Gold Bell Installation Guide Safety Information MAN-G-BELIG (Ver. 1.004) 4.14.2. Heat Dissipation Data .................................................................................... 71 4.14.3. How to Use the Charts ................................................................................... 71 Chapter 5: 5.1. 5.2. 5.3. 5.4. 5.5. 5.6. 5.7. 5.8. 5.9. Technical Specifications ................................................................................ 72 Dimensions ....................
Gold Bell Installation Guide 8 MAN-G-BELIG (Ver. 1.004) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Bell 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 Bell and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Gold Bell Installation Guide Safety Information MAN-G-BELIG (Ver. 1.004) 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 Bell from all voltage sources before it is opened for servicing. • The Gold Bell servo drive contains grounding conduits for electric current protection.
Safety Information Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 1.3.
Gold Bell Installation Guide 11 MAN-G-BELIG (Ver. 1.004) Chapter 2: Product Description 2.1. Functional Description The Gold Bell is an advanced high power density servo drive. It provides top servo performance, advanced networking and built in safety, all in a small PCB mountable package. The Gold Bell has a fully featured motion controller and local intelligence. The Gold Bell operates from a DC power source.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.2.2. Supply Input • Single DC Power Supply: Power to the Gold Bell is provided by a single 12 V to 95 V isolated DC power source (not included with the Gold Bell). A “smart” control-supply algorithm enables the Gold Bell to operate with only one power supply with no need for an auxiliary power supply for the logic. • Optional Backup Supply: If backup functionality is required in case of power loss, e.g.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) • Motion profiler numeric range: 2.2.4.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 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 Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.2.10. • Safety IEC 61800-5-2, Safe Torque Off (STO) Two STO (Safe Torque Off) inputs Optically isolated TTL Level (5 V logic) Open collector and open emitter • UL 508C recognition • UL 60950 compliance • CE EMC compliance 2.2.11.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.2.13. • Six separate programmable digital inputs • TTL Level (5 V logic) Optically isolated Fast digital capture data <5 μs Optional functions: Fast event capture Inhibit/Enable motion Stop motion under control (hard stop) Motion reverse and forward limit switches Begin on input Abort motion Homing General purpose 2.2.14.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.2.16. Built-In Protection • Software error handling • Abort (hard stops and soft stops) • Extensive Status reporting • Protection against: • Shorts between motor power outputs Shorts between motor power outputs and power input/return Failure of internal power supplies Overheating Over temperature Motor current i2t motor current Continuous temperature measurement.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.3. System Architecture Figure 1: Gold Bell System Block Diagram www.elmomc.
Gold Bell Installation Guide Product Description MAN-G-BELIG (Ver. 1.004) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Bell servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Gold Bell Installation Guide 21 MAN-G-BELIG (Ver. 1.004) Chapter 3: Technical I nform ation 3.1. Technical Data Feature Units 1/100 2.
Technical Information Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 3.1.1. Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 12 V to 95 V Auxiliary supply input power ≤4 VA without external loading ≤6 VA with full external loading www.elmomc.
Gold Bell Installation Guide 23 MAN-G-BELIG (Ver. 1.004) Chapter 4: I nstallation The Gold Bell 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 Bell by ensuring that it is installed in an appropriate environment.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4. Verify that the Gold Bell 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: www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.3. Connectors The Gold Bell has nine connectors. 4.3.1. Connector Types Port Pins Type Function J2 2x24 1.27 mm pitch 0.41 mm sq Feedbacks, Digital Halls, Analog Inputs, Communications J1 2x12 M4 1x2 M3 1x2 M2 1x2 Motor power output 2 M1 1x2 Motor power output 1 PE 1x2 Protective earth PR 1x2 Power input return VP+ 1x2 Positive power input VL+ 1x1 Auxiliary power input I/O, LEDs, STO 2 mm pitch 0.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.3.2. Pinouts The pinouts in this section describe the function of each pin in the Gold Bell connectors that are listed in Table 2. 4.3.2.1. Motor Power For full details see Section 4.7.1.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.3.2.2. Main Power For full details see Section 4.7.2. Pin Function Cable VP+ Pos. Power input Power PR Power return Power PE Protective earth Power Pin Positions Connector Type: 2 mm pitch 0.51 mm sq Table 4: Connector for Main Power 4.3.2.3. Auxiliary Power Connector For full details see Section 4.7.3. Pin Function Pin Positions VL+ Auxiliary Supply Input PR Auxiliary Supply Return Connector Type: 2 mm pitch 0.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.3.2.4. Connector J2 Feedback A/B/C, Digital Halls – see Section 4.9. Analog Inputs – see Section 4.9.4. RS-232, EtherCAT, USB – see Section 4.11. Connector Type: 1.27 mm pitch 0.41 mm sq Note regarding the EtherCAT and CAN communication options: The J2 Connector exports all supported communication links.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.3.2.5. Connector J1 I/O, LEDs, STO (safety) For full details on user I/Os, see Section 4.10. For full details on STO, see Section 4.8. Connector Type: 1.27 mm pitch 0.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) Pin (J1) Signal Function 19 LED2 Bi-color indication output 2 (Cathode) 20 LED1 Bi-color indication output 1 (Anode) 21 OUT4 Programmable output 4 not isolated (3.3V TTL level) 22 OUT3 Programmable output 3 not isolated (3.3V TTL level) 23 COMRET Common return 24 Reserved Reserved Table 7: Connector J1 – I/O, LEDs www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.4. Mounting the Gold Bell The Gold Bell was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch 0.41 mm square pins and 2 mm pitch 0.51 mm square pins. When integrating the Gold Bell into a device, be sure to leave about 1 cm (0.4") outward from the heat sink to enable free air convection around the drive. We recommend that the Gold Bell be soldered directly to the board.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.5. Integrating the Gold Bell on a PCB The Gold Bell is designed to be mounted on a PCB, either by soldering its pins directly to the PCB or by using suitable socket connectors. In both cases the following rules apply: 4.5.1. Traces 1. The size of the traces on the PCB (thickness and width) is determined by the current carrying capacity required by the application.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) The returns above are all shorted within the Gold Bell in a topology that results in optimum performance. Caution: Follow these instructions to ensure safe and proper implementation. Failure to meet any of the below-mentioned requirements can result in drive, controller or host failure. 1.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.6. The Gold Bell Connection Diagram Figure 3: The Gold Bell Connection Diagram www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.7. Main Power, Auxiliary Power and Motor Power The Gold Bell receives power from main and auxiliary supplies and delivers power to the motor that it controls. 4.7.1. Motor Power Note: When connecting several drives to several similar motors, all should be wired in an identical manner. This will enable the same settings to run on all drives.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 4: Brushless Motor Power Connection Diagram Figure 5: DC Brushed Motor Power Connection Diagram Figure 6: Stepper Motor Power Connection Diagram www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.7.2. Pin Main Power Function Cable VP+ Pos. Power input Power PR Power return Power PE Protective earth Power Pin Positions Table 10: Connector for Main Power Connect the VP+, PR and PE pins on the Gold Bell in the manner described in Section 4.3.2.1. Note: The source of the Main Power Supply must be isolated. Figure 7: Main Power Supply Connection Diagram (no Auxiliary Supply) www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.7.3. Auxiliary Power Supply (Optional) Note: The source of the Auxiliary Supply must be isolated. Connect the VL+ and PR pins on the Gold Bell in the manner described in Section 4.3.2.1. Pin Function Pin Positions VL+ Auxiliary Supply Input PR Auxiliary Supply Return Table 11: Auxiliary Supply Pins Caution: Power from the Gold Bell to the motor must come from the Main Supply and not from the Auxiliary Supply. www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.7.4. Single Supply A single isolated DC power supply can provide power for both the main power and the Auxiliary (Drive Logic) Supply. The drawing below shows how a single supply is connected. Figure 8: Single Supply for both the Main Power Supply and the Auxiliary Supply 4.7.5. Separate Auxiliary (Backup) Supply Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.7.6. Shared 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 8 and the upper portion of Figure 10). 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. Backup Supply in Figure 10).
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.8. STO (Safe Torque Off) Inputs 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. The motor is active only as long as 5 V is provided to both STO1 and STO2.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 11: STO Input Functionality – Schematic Drawing The figure below is for the TTL level. Figure 12: STO Input Connection – TTL Level www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) The figure below is for PLC. Figure 13: STO Input Connection – PLC www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9. Feedback Figure 14: Feedback Ports on J2 The Gold Bell has two configurable motion sensor input ports, namely, Port A and Port B, together with the emulated buffered output Port C. Motion sensors from the motor are controlled from other sources and can be connected to any of the available inputs on Port A or Port B. The software configuration designates a role to each input, e.g.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.9.1. Port A (J2) Port A supports the following sensor inputs: • Digital Hall sensors • Incremental encoder or absolute serial encoder, depending on the specific model Differential pulse-width modulation (PWM) signal input can be connected to port A in the models that support input from an incremental encoder. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9.1.1. Incremental Encoder Figure 15: Port A Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9.1.2. Absolute Serial Encoder Figure 16: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data/Clock (e.g., Biss/SSI/EnDAT, etc.) Figure 17: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.) www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9.1.3. Hall Sensors Figure 18: Hall Sensors Connection Diagram www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.9.2. Port B (J2) 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. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9.2.1. Incremental Encoder Figure 19: Port B Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.9.2.2. Interpolated Analog Encoder Figure 20: Port B - Interpolated Analog Encoder Connection Diagram 4.9.2.3. Resolver Figure 21: Port B – Resolver Connection Diagram www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.9.3. Port C – Emulated Encoder Output (J2) Port C provides emulated 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 internal variable such as virtual profiler.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 22: Emulated Encoder Differential Output – Recommended Connection Diagram 4.9.4. Analog Input An analog user input can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. For connection diagrams refer to Section 4.10.3. www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.10. User I/Os The Gold Bell has six programmable digital inputs (J1), four digital outputs (J1) and one analog input (J2). 4.10.1. Digital Inputs (J1) Each of the pins below can function as an independent input. The inputs conform to the TTL level.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 23: Digital Input Connection Diagram – TTL Level See the figure below for the PLC connection. www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 24: Digital Input Connection Diagram – PLC www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.10.2. Digital Outputs (J1) The outputs conform to the TTL level. Pin (J1) Signal Function 16 OUT1 High speed programmable digital output 1, output compare 15 OUT2 High speed programmable digital output 2, output compare 18 OUTRET1 OUT 1 Return 17 OUTRET2 OUT 2 Return Table 18: Digital Output Pin Assignment Figure 25: Digital Output Connection Diagram – TTL Connection www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.10.3. Analog Input Pin (J2) Signal Function 22 ANALOG1+ Analog input 1+ 24 ANALOG1- Analog input 1- 20 ANARET Analog return Table 19: Analog Input Pin Assignment Figure 26: Analog Input with Single-Ended Source www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Bell can communicate using the following options: Standard EtherCAT G-BELXXX/YYYSX G-BELXXX/YYYEX CAN EtherCAT USB 2.0 USB 2.0 Ethernet RS-232 (TTL Logic Level) RS-232 (TTL Logic Level) Table 20: Gold Bell Communication Options For ease of setup and diagnostics of CAN communication, RS-232 and CAN can be used simultaneously.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 27 describes the RS-232 connection diagram: Figure 27: RS-232 Connection Diagram Note that Elmo does not recommend a specific manufacturer. The following is an example of an RS-232 Line Driver/Receiver. The RS-232 Line Driver/Receiver operates with 3.3 V to 5 V VCC Supply. Figure 28: RS-232 – Translator Block Diagram www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.11.2. CAN Communication (J2) Note that CAN functionality is not available if you have the EtherCAT version. In order to benefit from CAN communication, the user must have an understanding of the basic programming and timing issues of a CAN network. Notes for connecting the CAN communication cable: • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 29: CAN Network Diagram Caution: When installing CAN communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may “hang”. www.elmomc.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.11.3. USB 2.0 Communication (J2) The USB network consists of a Host controller and multiple devices. The Gold Bell is a USB device. Notes for connecting the USB communication cable: • Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.11.4. EtherCAT Communication (J2) To use EtherCAT and Ethernet communication with the Gold Bell, it is required to use an isolation transformer. The most common solution is to use RJ-45 connectors that include transformer isolation. This section describes how to connect the Gold Bell’s EtherCAT interface using the above mentioned connectors. For other available options, please see Section 4.11.6.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) Figure 31: EtherCAT Connection Schematic Diagram www.elmomc.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) The diagram above ignores line interface for simplicity. 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.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) Pin (J2) Signal Function 26 +3.3V 3.
Gold Bell Installation Guide Installation MAN-G-BELIG (Ver. 1.004) 4.11.6. EtherCAT/Ethernet Line Interface Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning. The Gold Bell unit does not include such isolation, therefore you must take this into consideration when designing the integration board. In Sections 4.11.4 and 4.11.5, a schematic connection with a standard RJ-45 connector that includes transformer isolation is described.
Installation Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 4.14.2. Heat Dissipation Data Heat dissipation is shown graphically below: Gold Bell 100 Series Power Dissipation Whistle Power Dissipation (W) 6.0 5.0 Heatsink Required Standard 40 °C Ambient Temp. 4.0 Heatsink not Required 3.0 2.0 1.0 5 4. 5 4 3. 5 3 2. 5 2 1. 5 1 0. 5 0 0.0 Peak Current (A) 4.14.3. 85VDC 70VDC 50VDC How to Use the Charts The charts above are based upon theoretical worst-case conditions.
Gold Bell Installation Guide 72 MAN-G-BELIG (Ver. 1.004) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold Bell. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications. 5.1. Dimensions www.elmomc.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.2. Environmental Conditions Feature Details Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F) Storage temperature -20 °C to +85 °C ( -4 °F to +185 °F) Maximum non-condensing humidity 90% Maximum Operating Altitude 2,000 m (6562 feet) Protection level IP64 5.3. Control Specifications 5.3.1.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.3.2.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.4. Feedbacks 5.4.1. Feedback Supply Voltage The Gold Bell has two feedback ports (Main and Auxiliary). The Gold Bell supplies voltage only to the main feedback device and to the auxiliary feedback device if needed. Feature Details Encoder supply voltage 5 V ± 5% @ 2 x 200 mA (maximum) 5.4.2. Feedback Options The Gold Bell can receive and process feedback input from diverse types of devices. 5.4.2.1.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.4.2.2. Digital Halls Feature Details Hall 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 > 2.5 V Low level input voltage: V InLow < 1 V Input current Sink current (when input pulled to the common): 5 mA Maximum frequency fMAX : 4 kHz 5.4.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 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.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.4.3. Port C Feedback Output Feature Emulated output Details • A, B, Index • Differential Interface RS-422 Output current capability 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.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.5. I/Os The Gold Bell 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.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.5.2. 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) 10 mA VOL at maximum output voltage (low level) Vout (on) ≤ 0.4 V RL The external resistor RL must be selected to limit the output current to no more than 10 mA.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.6. Safe Torque Off (STO) The Gold Bell 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 < 0.8 V Minimum pulse width >3 ms Figure 38: STO Input Schematic www.elmomc.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.7. Communications 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 CAN bus Signals: • CAN_H, CAN_L, CAN_RET CAN • Maximum Baud Rate of 1 Mbit/sec. Version: • DS 301 v4.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.004) 5.9. 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.
Technical Specifications Gold Bell Installation Guide MAN-G-BELIG (Ver. 1.
