User guide

Gold Trombone Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-TROIG-EC (Ver. 1.604)
6
4.3.2.3. Auxiliary Power Connector (J3)..................................................... 27
4.3.2.4. Connector J2 ................................................................................. 28
4.3.2.5. Connector J1 ................................................................................. 31
4.4. Mounting the Gold Trombone ..................................................................................... 33
4.5. Integrating the Gold Trombone on a PCB .................................................................... 34
4.5.1. Traces ............................................................................................................. 34
4.5.2. Grounds and Returns ..................................................................................... 35
4.6. Connection Diagrams ................................................................................................... 36
4.7. Main Power, Motor Power and Auxiliary Power .......................................................... 41
4.7.1. Motor Power.................................................................................................. 41
4.7.2. Main Power.................................................................................................... 42
4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 43
4.7.2.2. Battery Power Supply ................................................................... 47
4.7.3. +24 V Auxiliary Supply (J3) ............................................................................. 47
4.8. STO (Safe Torque Off) Inputs (J1) ................................................................................. 49
4.9. Feedback ....................................................................................................................... 51
4.9.1. Port A (J2, J1) ................................................................................................. 51
4.9.1.1. Incremental Encoder Connection Diagram .................................. 53
4.9.1.2. Absolute Serial Encoder Connection Diagram .............................. 54
4.9.1.3. Hall Sensor Connection Diagram .................................................. 55
4.9.2. Port B (J2, J1) ................................................................................................. 56
4.9.2.1. Incremental Encoder Connection Diagram .................................. 57
4.9.2.2. Interpolated Analog Encoder Connection Diagram ...................... 58
4.9.2.3. Resolver Connection Diagram ...................................................... 59
4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 59
4.10. User I/Os ....................................................................................................................... 61
4.10.1. Digital Inputs (J1) ........................................................................................... 61
4.10.2. Digital Outputs (J1) ........................................................................................ 64
4.10.3. Input (J2) ........................................................................................................ 67
4.11. Communications ........................................................................................................... 68
4.11.1. CAN Communication (J2) ............................................................................... 68
4.11.2. USB 2.0 Communication (J2) ......................................................................... 70
4.11.3. EtherCAT Communication (J2) ....................................................................... 71
4.11.4. Ethernet Communication (J2) ........................................................................ 73
4.11.5. EtherCAT/Ethernet Line Interface ................................................................. 75
4.12. Powering Up ................................................................................................................. 75
4.12.1. Initializing the System .................................................................................... 75
4.13. Heat Dissipation............................................................................................................ 76
4.13.1. Gold Trombone Thermal Data .......................................................................
76
4.13.2. Heat Dissipation Data .................................................................................... 76
4.13.3. How to Use the Charts ................................................................................... 77
Chapter 5: Technical Specifications ................................................................................ 78
5.1. Gold Trombone Dimensions ......................................................................................... 78
5.2. Environmental Conditions ............................................................................................ 79