Gold Solo Trombone Digital Servo Drive Installation Guide September 2012 (Ver. 1.3) 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 Trombone 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.
Cable Kit Catalog number: CBL-GDCWHIKIT02 (can be ordered separately) For further details, see the documentation for this cable kit (MAN-CBLKIT-GOLD.pdf). Revision History Version Date Details Ver. 1.0 Feb 2011 Initial Release Ver. 1.1 Nov 2011 Inserted references to the applicable cable kit, an addition to the site requirements in Section 4.1, changes in Sections 4.3 and 4.3.1 (Auxiliary Supply Voltage range: 18 V to 30 V), and information about LED indicators in Section 3.3.3 Ver. 1.
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 Trombone Installation Guide MAN-G-SOLTROIG (Ver. 1.3) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Gold Solo Trombone Installation Guide Table of Contents MAN-G-SOLTROIG (Ver. 1.3) 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. 4.10. 4.11. 4.12. 4.13. 4.3.2.10. EtherCAT OUT Connector ............................................................. 37 4.3.3. Indicators ....................................................................................................... 38 4.3.3.1. Drive Status Indicator ................................................................... 38 4.3.3.2. EtherCAT Link Indicators.........
Gold Solo Trombone Installation Guide Table of Contents MAN-G-SOLTROIG (Ver. 1.3) 5.1.3. Advanced Filters and Gain Scheduling........................................................... 90 5.1.4. Fully Programmable ....................................................................................... 91 5.1.5. Feedback Options .......................................................................................... 91 5.1.6. Input/Output ..................................................................
Gold Solo Trombone Installation Guide 8 MAN-G-SOLTROIG (Ver. 1.3) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold Solo Trombone 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 Trombone and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Gold Solo Trombone Installation Guide Safety Information MAN-G-SOLTROIG (Ver. 1.3) 1.1. Warnings • Cleaning after soldering. To avoid damage to the product’s acrylic coating, the Gold Solo Trombone must not be cleaned after soldering with soluble solvents or water-based cleaners. For further details, see www.elmomc.com/applications/article/Soldering-andCleaning_Application-Note.pdf. • Power cables can carry a high voltage, even when the motor is not in motion.
Gold Solo Trombone Installation Guide Safety Information MAN-G-SOLTROIG (Ver. 1.3) 1.3.
Gold Solo Trombone Installation Guide 11 MAN-G-SOLTROIG (Ver. 1.3) 1.5. CE Marking Conformance The Gold Solo Trombone servo drive is intended for incorporation in a machine or end product. The actual end product must comply with all safety aspects of the relevant requirements of the European Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent versions of standards EN 60204-1 and EN 292-2 at the least.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) Chapter 2: Product Description This installation guide describes the Gold Solo Trombone servo drive and the steps for its wiring, installation and power-up. Following these guidelines ensures optimal performance of the drive and the system to which it is connected. 2.1.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.2. Product Features Note: The features described in this chapter relate to the range of Gold Solo Trombone models. Depending on the model you have purchased, not all features are available.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.2.2. Motion Control • Motion control programming environment • Motion modes: PTP, PT, PVT, ECAM, Follower • Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE) protocols, including Cyclic Position/Velocity modes.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.2.5.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.2.7. Feedback Options There are Port A and Port B feedback input ports that are flexible and configurable.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) • Analog Halls (commutation & position) • One feedback electrical cycle = one motor's electrical cycle Supports 1 V PTP Sin/Cos Sin/Cos Frequency: up to 500 kHz Internal Interpolation: up to ×8192 Automatic correction of amplitude mismatch, phase mismatch, signal offset Absolute serial encoders: NRZ (Panasonic, Tamagawa, Mitutoyo, etc.) EnDAT 2.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.3.
Gold Solo Trombone Installation Guide Product Description MAN-G-SOLTROIG (Ver. 1.3) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Solo Trombone servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Gold Solo Trombone Installation Guide 20 MAN-G-SOLTROIG (Ver. 1.3) Chapter 3: Technical I nform ation 3.1.
Gold Solo Trombone Installation Guide Technical Information MAN-G-SOLTROIG (Ver. 1.3) Note on current ratings: The current ratings of the Gold Solo Trombone are given in units of DC amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS (sinusoidal commutation) value is the DC value divided by 1.41. 3.1.1.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Chapter 4: I nstallation Warning: The Gold Solo Trombone must be: • installed in a suitable environment and properly connected to its voltage supplies and the motor. • mounted and confined within a metal enclosure. 4.1. Site Requirements You can guarantee the safe operation of the Gold Solo Trombone by ensuring that it is installed in an appropriate environment.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4. Verify that the Gold Solo Trombone 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.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3. Connectors and Indicators The Gold Solo Trombone has 11 connectors (connectors version). 4.3.1. No. Pins Connector Types Type Function 7 8 mm Phoenix high current Main Power and Motor Connector 2 5.08 mm Phoenix high current 24 V Auxiliary Supply 12 2.54 mm Pitch Feedback port A 8 2.54 mm Pitch Feedback port B 24 2.54 mm Pitch Port C and I/O 3 2.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2. Pinouts The pinouts in this section describe the function of each pin in the Gold Solo Trombone connectors that are listed in Table 1. 4.3.2.1. Main Power and Motor Power Connector See Section 4.7.2 for full details on Main Power. See Section 4.7.1 for full details on Motor Power.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.2. Auxiliary Power Connector See Section 4.7.3 for full details. Optional Back-up Supply in S, T, or AP type drives. Pin Function Cable In S, T or AP type: VL+ +24 V Auxiliary Supply Input Positive DC Power VL- 24 V RET Auxiliary Supply Return DC Power Pin Positions Cable Connector 2-Pin Pluggable 5.08 mm Phoenix High Current Table 3: Connectors for Auxiliary Power www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.3. STO Connector – Safety For full details about connecting STO inputs, see Section 4.8. Pin Signal Function 1 STO1 STO 1 input 2 STO2 STO 2 input 3 STO_RET STO signal return Pin Positions Cable Connector 3-Pin Molex Plug This cable is included in the cable kit described in Section 5.1.11. Table 4: STO Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.4. Port A Connector For full details about connecting feedback Port A, see Section 4.9.1.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Cable Connector 12-Pin Molex Plug This cable is included in the cable kit described in Section 5.1.11. Table 5: Port A Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.5. Port B Connector For full details about connecting feedback Port B, see Section 4.9.2.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Cable Connector 8-Pin Molex Plug This cable is included in the cable kit described in Section 5.1.11. Table 6: Port B Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.6. Port C and I/O Connector For full details about connecting feedback Port C, see Section 4.9.3. For full details about connecting digital inputs, see Section 4.10.1. For full details about connecting digital outputs, see Section 4.10.2. For full details about connecting analog input, see Section 4.10.3.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin Positions Cable Connector 24-Pin Molex Plug This cable is included in the cable kit described in Section 5.1.11. Table 7: Port C and I/O Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.7. CANopen In/Out Connectors For full details about connecting CANopen communication, see Section 4.11.1. Pin Signal Function 1 PE Protective Earth 2 CAN_COMRET CAN communication return 3 CAN_L CAN_L busline (dominant low) 4 CAN_H CAN_H busline (dominant high) Pin Positions Cable Connector 4-Pin Molex Plug Table 8: CANopen In/Out Connectors www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.8. USB 2.0 Connector For full details about connecting USB 2.0 communication, see Section 4.11.2. Pin 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 Type Mini B Plug Table 9: USB 2.0 Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.9. EtherCAT IN/Ethernet Connector For full details about connecting EtherCAT communication, see Section 4.11.3.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.2.10. EtherCAT OUT Connector For full details about connecting EtherCAT communication, see Section 4.11.3. Pin Signal Function 1 EtherCAT_OUT_TX+ EtherCAT out transmit + 2 EtherCAT_OUT_TX- EtherCAT out transmit - 3 EtherCAT_OUT_RX+ EtherCAT out receive + 4/5 6 7/8 N/A EtherCAT_OUT_RX- EtherCAT out receive - N/A Cable Connector EtherCAT In / EtherCAT Out – RJ-45 Table 11: EtherCAT OUT Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.3.3. Indicators The Gold Solo Trombone is equipped with several light-emitting diode (LED) indicators. 4.3.3.1. Drive Status Indicator This red/green dual LED is used for immediate indication of the following states: • Initiation state: In this state the LED indicates whether the drive is in the boot state (blinking red) or in the operational state (steady red).
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.4. Mounting the Gold Solo Trombone The Gold Solo Trombone was designed for mounting on a surface. When integrating the Gold Solo Trombone into a device, be sure to leave about 1 cm (0.4") outward from the heatsink to enable free air convection around the drive. If the Gold Solo Trombone is enclosed in a metal chassis, we recommend that the Gold Solo Trombone be screw-mounted to it to help with heat dissipation.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) • Use shielded wires for motor connections as well. If the wires are long, ensure that the capacitance between the wires is not too high: C < 30 nF is satisfactory for most applications. • Keep all wires and cables as short as possible. • Keep the motor wires as far away as possible from the feedback, control and communication cables.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 4: Gold Solo Trombone EtherCAT Connection Diagram – with Backup Functionality (S, T, or AP Model Drive) www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 5: Gold Solo Trombone EtherCAT Connection Diagram – 400 V without Backup Functionality (0 or 1 Model Drive) www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 6: Gold Solo Trombone CAN Connection Diagram – with Backup Functionality (S, T, or AP Model Drive) www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 7: Gold Solo Trombone CAN Connection Diagram – 400 V without Backup Functionality (0 or 1 Model Drive) www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7. Main Power, Auxiliary Power and Motor Power The Gold Solo Trombone receives power from main and auxiliary supplies and delivers power to the motor. 4.7.1.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) • Ensure that the motor chassis is properly grounded. Figure 8: Brushless Motor Power Connection Diagram Figure 9: DC Brushed Motor Power Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7.2. Pin Main Power Function Cable PE Protective Earth DC Power VN- DC Negative Power input DC Power VP+ DC Positive Power input DC Power Table 14: Connectors for Main Power The DC power for the Gold Solo Trombone is delivered from a separated rectifying unit (supplied by the user). The following sections contain topology recommendations for implementing three-phase and a single-phase supply chains.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) This section relates to the configuration of the power supply and drive, which are connected directly to the mains. Notes for connecting the non-isolated DC power supply: • For best immunity, it is highly recommended to use twisted cables for the DC power supply cable. A 3-wire shielded cable should be used.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7.2.1.b Single-Phase Direct-to-Mains Connection Topology Figure 11: Non-Isolated Single-Phase Connection Topology The Power Supply is connected directly to the mains AC line. Warning: • Do not connect VN- to PE. In a direct-to-mains connection the VN- must not be connected to the PE, as this will cause irreparable damage to the system.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7.2.1.c Multiple Connections Topology In a multi-axis application it is likely that a single power supply can feed several drives in parallel. This topology is efficient and cost saving, by reducing the number of power supplies and the amount of wiring. Most importantly it utilizes an energy sharing environment among all the drives that share the same DC bus network.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.7.2.2. Battery Power Supply Figure 13: Battery Connection Topology Caution: When using batteries, it is recommended to connect the negative pole to the PE. When doing so, the charger of the battery must be isolated from the mains by an isolation transformer. 4.7.3.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 14: Auxiliary 24 VDC Backup Supply Connection Diagram Pin Function Cable In S, T, or AP type: VL+ +24 V Auxiliary Supply Input Positive DC Power VL- 24 V RET Auxiliary Supply Return DC Power Table 15: Auxiliary 24 VDC Backup Supply Pins and Polarity www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 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.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin Signal Function 1 STO1 STO 1 input 2 STO2 STO 2 input 3 STO_RET STO signal return Pin Positions Table 17: STO Inputs Pin Assignments for S, T, 0 or 1 (Non AP Version) A cable kit containing a cable that connects to the STO connector is available. See Section 5.1.11. www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 15: STO Input Connection – PLC Option for S or 0 Suffix Figure 16: STO Input Connection – TTL Option for T or 1 Suffix www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin on Port C Signal Function 1 STO1 STO 1 input return 2 STO2 STO 2 input return 3 STO_RET STO input Pin Positions Table 18: STO Input Pin Assignments for the AP Version Figure 17: STO Input Connection – AP Option www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.9. Feedback and Analog Input The Gold Solo Trombone has two configurable motion sensor input ports: Port A and Port B, and one emulated buffered output port: Port C. 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 Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin Positions Table 19: Port A Pin Assignments 4.9.1.1. Incremental Encoder Figure 18: Port A Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 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.) www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 20: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc. 4.9.1.3. Hall Sensors Figure 21: Hall Sensors Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.9.2. Feedback Port B Port B supports 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 Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.9.2.1. Incremental Encoder Figure 22: Port B Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.9.2.2. Interpolated Analog Encoder Figure 23: Port B – Interpolated Analog Encoder Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.9.2.3. Resolver Figure 24: Port B – Resolver Connection Diagram 4.9.3. Port C – Emulated Encoder Output Port C provides emulated encoder output derived from port A or port B feedback inputs, or from internal variables.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) • The Gold Solo Trombone is used as a master in follower or ECAM mode. A cable kit containing a cable that connects to port C connector is available. See Section 5.1.11.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 25: Emulated Encoder Differential Output – Recommended Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.10. User I/Os The Gold Solo Trombone has six programmable digital inputs, four digital outputs and one analog input. 4.10.1. Digital Inputs Each of the pins below can function as an independent input. A cable kit containing a cable that connects to the Port C & IO connector is available. See Sec 5.1.11.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 26: Digital Input PLC Mode Connection Diagram for S or 0 Suffix www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 27: Digital Input TTL Mode Connection Diagram for T or 1 Suffix www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 28: Digital Input AP Mode Connection Diagram www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.10.2. Digital Output Pin Signal Function 19 OUT4 Programmable output 4 20 OUT3 Programmable output 3 21 OUT2 Programmable output 2 22 OUT1 Programmable output 1 23 VDD VDD supply for output 1-4 24 VDDRET VDD supply return for output 1-4 Pin Positions Table 22: Connector Port C & I/O – Digital Output www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 29: Digital Output Connection Diagram – PLC Option for S or 0 Suffix www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 30: Digital Output Connection Diagram – TTL Option for T or 1 Suffix www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 31: Digital Output Connection Diagram – AP Option www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.10.3. Analog Input Note: The Analog Input pins are located on the Port C connector, see Section 4.9.3. Pin Signal Function 9 ANALOG1- Analog input 1- 10 ANALOG1+ Analog input 1+ 11 ANLRET Analog ground Pin Positions Figure 32: Analog Input with Single-Ended Source www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Solo Trombone can communicate using the following options: Standard EtherCAT G-SOLTROXX/YYYSXX G-SOLTROXX/YYYEXX CANopen EtherCAT or Ethernet USB 2.0 USB 2.0 Table 23: Gold Solo Trombone Communication Options NOTE: When the EtherCAT is connected, and FoE in operation, the USB cable connection must be disconnected. www.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.11.1. CANopen Communication Notes regarding EtherCAT and CAN communication options: • Note that CAN and EtherCAT are available in different hardware versions and not operational simultaneously. • Please see Section 4.2 above for P/N definitions. In order to benefit from CANopen communication, the user must have an understanding of the basic programming and timing issues of a CANopen network.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin Signal Function 1 PE Protective Earth 2 CAN_COMRET CAN communication return 3 CAN_L CAN_L busline (dominant low) 4 CAN_H CAN_H busline (dominant high) Pin Positions Table 25: Connector CAN out Connector www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 33: CANopen Network Diagram Caution: When installing CANopen communication, ensure that each servo drive is allocated a unique ID. Otherwise, the CANopen network may hang. www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.11.2. USB 2.0 Communication The USB network consists of Host controller and multiple devices. The Gold Solo Trombone is a USB Device. Notes for connecting the USB communication cable: • Connect a mini USB cable. • D+ and D- are a twisted pair in the cable. • The maximum cable length is 5 m. • The cable shield should only be connected to Ground at the host.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 34: USB Network Diagram 4.11.3. EtherCAT Communication Note regarding EtherCAT and CAN communication options: • Note that CAN and EtherCAT are available in different hardware versions and not operational simultaneously. • Please see Section 4.2 above for P/N definitions. Notes for EtherCAT communication: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin 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 6 7, 8 N/A EtherCAT_IN_RX- EtherCAT in receive - N/A Pin Positions Table 27: EtherCAT In Pin Assignments www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Pin Signal Function 1 EtherCAT_OUT_TX+ EtherCAT out transmit + 2 EtherCAT_OUT_TX- EtherCAT out transmit - 3 EtherCAT_OUT_RX+ EtherCAT out receive + 4, 5 6 7, 8 N/A EtherCAT_OUT_RX- EtherCAT out receive - N/A Pin Positions Table 28: EtherCAT Out Pin Assignments When connecting several EtherCAT devices in a network, the EtherCAT master must always be the first device in the network.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) Figure 35: EtherCAT Network with No Redundancy Figure 36: EtherCAT Network with Redundancy www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.11.4. Ethernet Communication Notes for Ethernet communication: • The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual. • It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.12. Power Up After the Gold Solo Trombone is connected to its peripheral devices, it is ready to be powered up. Caution: Before applying power, ensure that 1. The DC supply is within the specified range. 2. The proper plus-minus connections are in order. 3. The VN- is not connected to the PE, when working with a non-isolated power supply. 4.12.1.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.13.2. Heat Dissipation Data Heat Dissipation is shown graphically below: Figure 37: Dissipation versus Current Graph for 560 and 680 VDC Figure 38: Dissipation versus Current Graph for 330 VDC www.elmomc.
Gold Solo Trombone Installation Guide Installation MAN-G-SOLTROIG (Ver. 1.3) 4.13.3. How to Use the Charts The power dissipation in the chart includes the losses of the rectifying bridge. Regarding Figure 37 and Figure 38, the following should be noted: DC Bus Voltage (VDC) Rectified Voltage (VAC) 560 3X400 680 3X480 330 3X230 The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold Solo Trombone. 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.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.1.4. Fully Programmable • Third generation programming structure • Event capturing interrupts • Event triggered programming 5.1.5.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.1.6. Input/Output • One Analog Input – up to 14-bit resolution • Six separate programmable Digital Inputs, optically isolated, PLC compatible, can be configured to TTL Level, and AP mode.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.1.8. Built-In Protection • Software error handling • Abort (hard stops and soft stops) • 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.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.2. Gold Solo Trombone Dimensions www.elmomc.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.3. 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 altitude 10,000 m Maximum non-condensing humidity 90% Protection level IP32 5.4. Control Specifications 5.4.1.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.4.2. 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 Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.5. Feedbacks 5.5.1. Feedback Supply Voltage The Gold Solo Trombone has two feedback ports (Main and Auxiliary). The Gold Solo Trombone 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) 5.5.2.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.5.2.2. 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.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.5.2.4. 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 Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.5.3. 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.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.6. I/Os The Gold Solo Trombone has: • 6 Digital Inputs • 4 Digital Outputs • 1 Analog Input 5.6.1. Digital Input Interfaces – TTL Mode Feature Details Suffix applicable T or 1 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 Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.6.2.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.6.3. Digital Output Interface – PLC Mode Feature Details Suffix applicable S or 0 Type of output Optically isolated source Maximum supply output (VDD) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 500 mA for Output 1 Iout (max) ≤ 250 mA for Outputs 2 to 4 VOL at maximum output voltage (low level) Vout (on) ≤ 0.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.6.4. Digital Output Interface – TTL Mode Feature Details Suffix applicable T or 1 Type of output • Optically isolated • Source/Sink Maximum supply output (VDD) 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 44: Digital Output Schematic, for T or 1 Suffixes www.elmomc.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.6.5. Digital Output Interface – AP Mode Feature Details Suffix applicable AP Type of output Optically isolated source Maximum supply output (VDD) 30 V Max. output current Iout (max) (Vout = Low) Iout (max) ≤ 300 mA for Output 1 Iout (max) ≤ 150 mA for Outputs 2 to 4 VOL at maximum output voltage (low level) Vout (on) ≤ 0.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.7. Safe Torque Off (STO) The Gold Solo Trombone has two STO (Safe Torque Off) inputs. 5.7.1.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.7.2. STO Input Interfaces – TTL Mode Feature Details Suffix applicable T or 1 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 48: STO Input Schematic for T or 1 suffixes www.elmomc.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 5.8. Communications Specification EtherCAT Details • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • CoE, FoE, EoE Ethernet • 100base-T • Baud Rate: 100 Mbit/sec • CAT5 Cable • UDP, Telnet Mini USB 5.9. USB 2.0 Device mode Pulse-Width Modulation (PWM) Feature Details PWM resolution 12-bit PWM switching frequency on the load 1/Ts (factory default 20 kHz on the motor) www.elmomc.
Gold Solo Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.3) 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 Trombone Installation Guide Technical Specifications MAN-G-SOLTROIG (Ver. 1.
