Gold Solo Whistle Digital Servo Drive Installation Guide EtherCAT and CAN July 2014 (Ver. 1.500) 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.
Table of Contents MAN-G-SOLWHIIG-EC (Ver. 1.500) Chapter 1: This Installation Guide ..................................................................................... 6 Chapter 2: Safety Information .......................................................................................... 6 2.1. 2.2. 2.3. 2.4. Warnings ........................................................................................................................ 7 Cautions ..................................................
Table of Contents MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.6.1. 6.6.2. 6.6.3. 6.7. 6.8. 6.9. 6.10. 6.11. 6.12. 6.13. 6.14. 6.15. Incremental Encoder ..................................................................................... 35 Halls Sensor ................................................................................................... 35 Absolute Serial Encoder................................................................................. 36 6.6.3.1. Hiperface ..................................
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Chapter 1: 6 This I nstallation Guide This installation Guide details the technical data, pinouts, and power connectivity of the Gold Solo Whistle. For a comprehensive detailed description of the functions refer to the MAN-G-Panel Mounted Drives Hardware manual which describes Panel Mounted products.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 2.1. 7 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 servicing. • The high voltage products within the Gold Line range contain grounding conduits for electric current protection.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 8 Chapter 3: Product Description The Gold Solo Whistle is an integrated solution delivering up to 1.6 kW of continuous power or 3.2 kW of peak power in a compact package (73.4 x 46.5 x 36.22 mm or 2.89" x 1.83" x 1.425"), and designed to simply and efficiently connect Elmo’s Gold Whistle servo drive directly to the application.
Gold Solo Whistle Installation Guide 9 MAN-G-SOLWHIIG-EC (Ver. 1.500) Chapter 4: Technical I nform ation 4.1. Physical Specification Feature Units All Types Weight g (oz) 106 g (3.74 oz) mm (in) 73.4 x 46.5 x 36.22 mm (2.89" x 1.83" x 1.425") Dimension Mounting method 4.2. Panel Mounted Technical Data Feature Units 1/100 2.
Gold Solo Whistle Installation Guide 10 MAN-G-SOLWHIIG-EC (Ver. 1.
Gold Solo Whistle Installation Guide 11 MAN-G-SOLWHIIG-EC (Ver. 1.500) 4.2.2. Product Features Main Feature Details Presence and No. STO TTL, or √ PLC Source √ TTL, or 6 PLC Source 6 TTL, or 2 PLC Source 2 Analog Input Differential ±10V 1 Feedback Standard Port A, B, & C √ Communication Option USB √ EtherCAT √ CAN √ RS-232 √ Digital Input Digital Output Table of Contents |Technical Data|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 12 Chapter 5: I nstallation The Gold Solo Whistle must be installed in a suitable environment and properly connected to its voltage supplies and the motor. 5.1.
Gold Solo Whistle Installation Guide 13 MAN-G-SOLWHIIG-EC (Ver. 1.500) 5.2. Connector Types The Gold Solo Whistle has twelve connectors (connectors version). 5.2.1. 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 2.0 mm pitch Feedback port A J5 2x4 2.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Figure 1: Connector Locations – EtherCAT Figure 2: Connector Locations – CAN Table 2: Connector Types The pinouts in Chapter 6: Wiring describe the function of each pin in the Gold Solo Whistle connectors that are listed in Table 2. Table of Contents |Connector Types|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 5.3. 15 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 heat-sink to enable free air convection around the drive. If the Gold Solo Whistle is enclosed in a metal chassis, we recommend that the Gold Solo Whistle be screw-mounted to it to help with heat dissipation.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 5.4. The Gold Solo Whistle Connection Diagrams Figure 5: The Gold Solo Whistle Connection Diagram - EtherCAT Table of Contents |The Gold Solo Whistle Connection Diagrams|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Figure 6: The Gold Solo Whistle Connection Diagram – CAN Table of Contents |The Gold Solo Whistle Connection Diagrams|www.elmomc.
Gold Solo Whistle Installation Guide 18 MAN-G-SOLWHIIG-EC (Ver. 1.500) Chapter 6: W iring Once the product 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 drive. The following table legend describes the wiring symbols detailed in all installation guides. Wiring Symbol Description Earth connection (PE) Protective Earth Connection Common at the Controller Shielded cable with drain wire.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.1. 6.1.1. 19 Basic Recommendations General 1. Use shielded cables. For best results, the cable should have an aluminum foil shield covered by copper braid, and should contain a drain wire. Use 24, 26 or 28 AWG twisted-pair shielded with drain wire cables. 2. Keep the cable as short as possible. Do not mount the power cables of the motor and power bus in the proximity of the control and feedback cables. 3.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.1.2. 20 Feedback Cable Port A and Port B Connector 1. On the motor side connections, ground the shield to the motor chassis. 2. At least One COMRET (Common Return) must be connected to the PE. Implement the following steps to connect the COMRET to the PE: a. At the drive, connect the feedback drain wire to one of the COMRET terminals in the Shrouded feedback connector (Figure 8). b.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.1.3. Feedback Cable Port C Connector 1. At the controller side connections, follow the controller manufacturer’s recommendations concerning the shield. 2. The connection of the Drain wire to the Port C is not mandatory. Figure 9: Feedback Port C Cable Assemblies 6.1.4. IO Cable Connector It is recommended to use shielded cable, but is not mandatory.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.1.5. STO (Port C) Cable Connector It is recommended to use shielded cable, but is not mandatory. Figure 11: STO Cable Assemblies Table of Contents |Basic Recommendations|www.elmomc.
Gold Solo Whistle Installation Guide 23 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.2. Motor Power Connector Pinouts (J28) See Chapter 8 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Figure 12: Brushless Motor Power Connection Diagram Figure 13: Brushed Motor Power Connection Diagram Table of Contents |Motor Power Connector Pinouts (J28)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3. 25 Main and Auxiliary Power The Gold Solo Whistle receives power from main and auxiliary supplies and delivers power to the motor. 6.3.1. Description This section describes the Main and Auxiliary Power for power ratings 200V and 100V, and provides details for the optional Backup (Auxiliary) Supply.
Gold Solo Whistle Installation Guide 26 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3.2. Main Power (J29) Pin (J29) Signal Function Cable 1 PE Protective Earth DC Power 2 PR Power Return DC Power 3 VP+ Positive Power Input DC Power Pin Positions Table 4: Main Power and Motor Connections Power to the Gold Solo Whistle is provided by a 12 to 195 VDC source. Connect the DC power cable to the VP+ and PR terminals on the Main Power Connector. To connect the DC power supply: 1.
Gold Solo Whistle Installation Guide 27 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3.3. Auxiliary Power Supply (J30) 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 3.1.1. Table 5: Auxiliary Supply Pins Caution: Power from the Gold Solo Whistle to the motor must come from the Main Supply and NOT from the Auxiliary Supply.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3.3.1. 28 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. Figure 14: 200 VDC Power Source Connection Diagram Table of Contents |Main and Auxiliary Power|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3.3.2. Power Rating 100 V 6.3.3.2.a Single Power Supply For power rating 100 V , a single Power Supply is required which contains a “smart” control-supply 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 15: Main Power Supply Connection Diagram (No Auxiliary Supply) Table of Contents |Main and Auxiliary Power|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.3.3.2.b Optional Backup Supply Figure 16: Auxiliary Supply Connection Diagram Table of Contents |Main and Auxiliary Power|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.4. Drive Status Indicator Figure 17 shows the position of the red/green dual LED, which is used for immediate indication of the Initiation and Working states. For details refer to Chapter 7 Drive Status Indicator, in the MAN-G-Panel Mounted Drives Hardware manual.
Gold Solo Whistle Installation Guide 32 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.5. STO (Safe Torque Off) (J26) See Chapter 9 in the in the MAN-G-Panel Mounted Drives Hardware manual for full 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 3.1.1.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.5.1. Source Mode – PLC Voltage Level Refer to the diagrams below for the PLC Source option connection. Figure 18: STO Shrouded Type Input Connection – PLC Source Option 6.5.2. TTL Mode – TTL Voltage Level Refer to the diagrams below for TTL option connection. Figure 19: STO Input Connection – TTL Option Table of Contents |STO (Safe Torque Off) (J26)|www.elmomc.
Gold Solo Whistle Installation Guide 34 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.6. Port A Connector (J4) See Section 10.3 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.6.1. 35 Incremental Encoder Figure 20: Port A Shrouded Type Incremental Encoder Input – Recommended Connection Diagram 6.6.2. Halls Sensor Figure 21: Shrouded Type Hall Sensors Connection Diagram Table of Contents |Port A Connector (J4)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.6.3. 36 Absolute Serial Encoder The following figures describe the connections at Port A for the Absolute Serial type encoders. Figure 22: Absolute Serial Encoder – Recommended Connection Diagram for EnDAT, Biss, SSI Figure 23: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / Sanyo Danki / Tamagawa) Table of Contents |Port A Connector (J4)|www.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.6.3.1. Hiperface The following figure describes the connection diagram. Figure 24: Absolute Serial Encoder – Recommended Shrouded Type Connection Diagram for Stegmann Hiperface Note: When the Hiperface protocol is used, the RS-232 connection is not available Table of Contents |Port A Connector (J4)|www.elmomc.
Gold Solo Whistle Installation Guide 38 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.7. Port B Connector (J5) See Section 10.4 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.7.1. Incremental Encoder The following figure describes the connections at Port B for the Incremental encoder. Figure 25: Port B Incremental Encoder Input – Recommended Connection Diagram Table of Contents |Port B Connector (J5)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.7.2. Interpolated Analog Encoder The following figure describes the connections at Port B for the Interpolated Analog encoder. Figure 26: Port B - Interpolated Analog Encoder Shrouded Type Connection Diagram Table of Contents |Port B Connector (J5)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.7.3. Resolver Figure 27: Port B – Resolver Shrouded Type Connection Diagram Table of Contents |Port B Connector (J5)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.8. 42 Port C, Digital I/Os, and Analog Inputs (J6) The Port C connector includes the following functions: • Port C: Refer to Sections 10.5 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details • I/O: Refer to Chapter 11 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. • Analog input: See Section 11.2 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details.
Gold Solo Whistle Installation Guide 43 MAN-G-SOLWHIIG-EC (Ver. 1.500) Pin Positions Cable Connector 24-Pin Tyco Plug This cable is included in the cable kit described in Section 3.1.1. Table 9: Port C Feedback Out and I/O Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.8.1. 44 Port C – Emulated Encoder Output The following figure describes the connections at Port C for the Emulated Encoder Differential. Figure 28: Emulated Encoder Differential Output – Recommended Connection Diagram Note that the user is required to connect a 120 Ω termination at the end of each differential line. Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.8.2. Analog Input The following circuit describes the internal interface of the Analog input. Figure 29: Differential Analog Input Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.8.3. Digital Input and Output TTL Mode The following figure describes the connections at the I/O Port for the Digital Input and Output TTL Mode. Figure 30: Digital Input TTL Mode Connection Diagram Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Figure 31: Digital Output Connection Diagram – TTL Option Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.8.4. Digital Input and Output PLC Source Mode The following figure describes the connections at the I/O Port for the Digital Input and Output PLC Mode. Figure 32: Digital Input Connection Diagram – Source PLC Option Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Figure 33: Digital Output Connection Diagram – Source PLC Option Table of Contents |Port C, Digital I/Os, and Analog Inputs (J6)|www.elmomc.
Gold Solo Whistle Installation Guide 50 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.9. USB 2.0 (J9) See Section 12.1 in the in the MAN-G-Panel Mounted Drives Hardware manual for full 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 9: USB Device Mini-B - Pin Assignments Figure 34: USB Network Diagram Table of Contents |USB 2.0 (J9)|www.elmomc.
Gold Solo Whistle Installation Guide 51 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.10. RS-232 Connector (J21) See section 12.5 in the in the MAN-G-Panel Mounted Drives Hardware manual for full details. Pin (J21) Signal Function 1 RS232_Rx RS-232 receive 2 RS232_Tx RS-232 transmit 3 RS232_COMRET RS-232 communication return Pin Positions Cable Connector 3-Pin Tyco Plug Table 10: RS-232 Pin Assignments Figure 35: RS-232 Connection Diagram Table of Contents |RS-232 Connector (J21)|www.elmomc.
Gold Solo Whistle Installation Guide 52 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.11. 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 6.11.1. EtherCAT IN/Ethernet Connector (J7) Refer to section 12.
Gold Solo Whistle Installation Guide 53 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.11.1.1. EtherCAT OUT Connector (J8) See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.11.3. EtherCAT Status Indicator Figure 37: EtherCAT Status LED The EtherCAT status indicator is a single red/green dual bi-colored LED that combines the green RUN indicator and the red ERROR indicator of the EtherCAT state machine. For further details, see the EtherCAT Application Manual. Note: There is no Gold Solo Whistle ECAT Status indicator equivalent in the CAN version, refer to the figure below.
Gold Solo Whistle Installation Guide 55 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.12. 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 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Gold Solo Whistle Installation Guide 56 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.12.1. CAN Wiring Caution When installing the CAN communications, ensure that each servo drive is allocated a unique ID. Otherwise, the CAN network may hang. Figure 39: Gold Solo Whistle Connection Diagram – CAN Table of Contents |CAN Communications Version|www.elmomc.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) 57 6.13. 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. 6.14. 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 58 MAN-G-SOLWHIIG-EC (Ver. 1.500) 6.15. Heat Dissipation The best way to dissipate heat from the Gold Solo Whistle is to mount it so that its heat sink faces up. For best results leave approximately 10 mm of space between the Gold Solo Whistle’s heat sink and any other assembly. 6.15.1.
Gold Solo Whistle Installation Guide 59 MAN-G-SOLWHIIG-EC (Ver. 1.500) Gold Solo Whistle 100 Series Power Dissipation External Heatsink Required Power Dissipation (W) 6.0 5.0 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) 6.15.3. 85VDC 70VDC 50VDC 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.
Gold Solo Whistle Installation Guide MAN-G-SOLWHIIG-EC (Ver. 1.500) Chapter 7: Dim ensions This chapter provides detailed technical dimensions regarding the Gold Solo Whistle. Table of Contents ||Heat Dissipation|www.elmomc.
Table of Contents ||www.elmomc.
