Gold Whistle Digital Servo Drive Installation Guide July 2014 (Ver. 1.208) 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 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.
Revision History Version Date Details Ver. 1.0 September 2010 Initial release Ver. 1.1 January 2010 Ver. 1.2 September 2012 Several corrections and updates to manual Several updates throughout the manual Ver. 1.201 Several corrections and updates to manual Ver. 1.202 Several corrections and updates to manual Ver. 1.203 July 2012 Several corrections and updates to manual Ver. 1.204 January 2013 Several corrections and updates to manual 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) Table of Contents Chapter 1: 1.1. 1.2. 1.3. 1.4. 1.5. Warnings......................................................................................................................... 9 Cautions .......................................................................................................................... 9 Directives and Standards ..............................................................................................
Gold Whistle Installation Guide Table of Contents MAN-G-WHIIG (Ver. 1.208) 4.4. 4.5. 4.6. 4.7. 4.8. 4.9. 4.10. 4.11. 4.12. 4.13. 4.14. 4.3.2.3. Auxiliary Power Connector ........................................................... 25 4.3.2.4. Connector J2 ................................................................................. 26 4.3.2.5. Connector J1 ................................................................................. 29 Mounting the Gold Whistle ...............................
Gold Whistle Installation Guide Table of Contents MAN-G-WHIIG (Ver. 1.208) 5.1. 5.2. 5.3. 5.4. 5.5. 5.6. 5.7. 5.8. 5.9. Dimensions ................................................................................................................... 71 Environmental Conditions ............................................................................................ 72 Control Specifications ................................................................................................... 72 5.3.1.
Gold Whistle Installation Guide 8 MAN-G-WHIIG (Ver. 1.208) Chapter 1: Safety I nform ation In order to achieve the optimum, safe operation of the Gold 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 Whistle and accompanying equipment. Please read this chapter carefully before you begin the installation process.
Gold Whistle Installation Guide Safety Information MAN-G-WHIIG (Ver. 1.208) 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 Whistle from all voltage sources before it is opened for servicing. • The Gold Whistle servo drive contains grounding conduits for electric current protection.
Safety Information Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 1.3.
Gold Whistle Installation Guide 11 MAN-G-WHIIG (Ver. 1.208) Chapter 2: Product Description 2.1. Functional Description The Gold Whistle 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 Whistle has a fully featured motion controller and local intelligence. The Gold Whistle operates from a DC power source.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) supply algorithm enables the Gold Whistle to operate with only one power supply with no need for an auxiliary power supply for the logic. Optional Backup (Auxiliary) Supply If backup functionality is required in case of power loss, e.g., to keep the original position, a 12–95 VDC external isolated supply should be connected (via the Gold Whistle’s VL+ terminal). This is more flexible than the requirement for 24 VDC supply.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 2.2.4.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 2.2.7. • There are Port A and Port B feedback input ports that are flexible and configurable.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) • Absolute serial encoders: • 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 NRZ (Panasonic, Tamagawa, Mitutoyo, etc.) EnDAT 2.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 2.2.13. 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 Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 2.3. System Architecture Figure 1: Gold Whistle System Block Diagram www.elmomc.
Gold Whistle Installation Guide Product Description MAN-G-WHIIG (Ver. 1.208) 2.4. How to Use this Guide In order to install and operate your Elmo Gold Whistle servo drive, you will use this manual in conjunction with a set of Elmo documentation.
Gold Whistle Installation Guide 20 MAN-G-WHIIG (Ver. 1.208) Chapter 3: Technical I nform ation 3.1. Physical Specifications Feature Units Weight Dimension All Types g (oz) 55 g (1.94 oz) mm (in) 55 x 46 x 15 mm (2.2" x 1.8" x 0.6") Mounting method 3.2. PCB mount Technical Data Feature Units 1/100 2.
Technical Information Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.
Gold Whistle Installation Guide 22 MAN-G-WHIIG (Ver. 1.208) Chapter 4: I nstallation The Gold 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 Whistle by ensuring that it is installed in an appropriate environment.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 3. To ensure that the Gold Whistle you have unpacked is the appropriate type for your requirements, locate the part number sticker on the side of the Gold Whistle. It looks like this: 4. Verify that the Gold 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: www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.3. Connectors The Gold Whistle has nine connectors. 4.3.1. Connector Types Port Pins Type Function Connector Location J2 2x24 1.27 mm pitch 0.41 mm sq Feedbacks, Digital Halls, Analog Inputs, Communications J1 2x12 M3 1x2 M2 1x2 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 4.7.2.2.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.4. Mounting the Gold Whistle The Gold Whistle 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 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. We recommend that the Gold Whistle be soldered directly to the board.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) When the Gold Whistle is not connected to a metal chassis, the application’s thermal profile may require a solution for heat dissipation due to insufficient air convection. In this case, we recommend that you connect an external heat sink. Elmo has an external heat sink (Catalog number: WHI-HEATSINK-2) that can be ordered for this purpose, see Figure 3 below. Figure 3: Gold Whistle External Heat Sink 4.5.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration Board may cause performance degradation (ground loops, etc). 2. Digital Inputs: The six digital inputs are optically isolated from the other parts of the Gold Whistle. All six inputs share one return line, INRET. To retain isolation, the Input Return pin and all other conductors on the input circuit must be laid out separately. 3.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.6. The Gold Whistle Connection Diagram Figure 4: The Gold Whistle Connection Diagram www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.7. Main Power, Auxiliary Power and Motor Power The Gold Whistle receives power from main and auxiliary supplies and delivers power to the motor. 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.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) Figure 6: DC Brushed Motor Power Connection Diagram 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. Pin Main Power Function Cable VP+ Pos.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.7.2.2. Auxiliary Power Supply (Optional) Note: The source of the Auxiliary Supply must be isolated. Connect the VL+ and PR pins on the Gold Whistle 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 Whistle to the motor must come from the Main Supply and not from the Auxiliary Supply.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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. Figure 7: 200 VDC Power Source Connection Diagram www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle to operate with only one power supply with no need for an auxiliary power supply for the logic. Figure 8: Main Power Supply Connection Diagram (no Auxiliary Supply) 4.7.2.4.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) The figure below is for PLC. Figure 13: STO Input Connection – PLC www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.9. Feedback Port B Port A Port C Figure 14: Feedback Ports on J2 The Gold Whistle 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.9.1.1. Incremental Encoder Figure 15: Port A Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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.) www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) Figure 17: 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 18: Hall Sensors Connection Diagram www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.9.2.1. Incremental Encoder Figure 19: Port B Incremental Encoder Input – Recommended Connection Diagram www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.9.2.2. Interpolated Analog Encoder Figure 20: Port B - Interpolated Analog Encoder Connection Diagram www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.9.2.3. Resolver Figure 21: Port B – Resolver Connection Diagram 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.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 4.10. User I/Os The Gold Whistle 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) Figure 23: Digital Input Connection Diagram – TTL Level See the figure below for the PLC connection. www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) Figure 24: Digital Input Connection Diagram – PLC www.elmomc.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.11. Communications The communication interface may differ according to the user’s hardware. The Gold Whistle can communicate using the following options: Standard EtherCAT G-WHIXXX/YYYSX G-WHIXXX/YYYEX CAN EtherCAT USB 2.0 USB 2.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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 Notes for connecting the RS-232 communication cable: • Connect the shield to the ground of the host (PC).
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.11.3. USB 2.0 Communication (J2) The USB network consists of a Host controller and multiple devices. The Gold Whistle 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.11.4. EtherCAT Communication (J2) To use EtherCAT and Ethernet communication with the Gold Whistle, 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 Whistle’s EtherCAT interface using the above mentioned connectors. For other available options, please see Section 4.11.6.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) Figure 31: EtherCAT Connection Schematic Diagram www.elmomc.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) Pin (J2) Signal Function 26 +3.3V 3.
Installation Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.11.6. EtherCAT/Ethernet Line Interface Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning. The Gold Whistle 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 4.14.2. Heat Dissipation Data Heat Dissipation is shown in graphically below: Gold 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 Standard 40 °C Ambient Temp. 4.0 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.
Gold Whistle Installation Guide Installation MAN-G-WHIIG (Ver. 1.208) 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 heatsink: 1. Allow maximum heatsink temperature to be 80 °C or less. 2. Determine the ambient operating temperature of the Gold Whistle. 3.
Gold Whistle Installation Guide 71 MAN-G-WHIIG (Ver. 1.208) Chapter 5: Technical Specifications This chapter provides detailed technical information regarding the Gold 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. 5.1. Dimensions www.elmomc.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.3.2.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.4. Feedbacks 5.4.1. Feedback Supply Voltage The Gold Whistle has two feedback ports (Main and Auxiliary). The Gold Whistle 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 Whistle can receive and process feedback input from diverse types of devices. 5.4.2.1.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.5. I/Os The Gold 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.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.5.2. Digital Output Interface – TTL Mode There are 2 types of outputs: • OUT1 and OUT2 are optically isolated outputs • OUT3 and OUT4 are TTL 3.3V non isolated outputs 5.5.2.1. OUT1 and OUT2 The following table describes the electrical specification of theOUT1 and OUT2 outputs: Feature Details Type of output • Optically isolated • Source/Sink Supply output (VCC) 5 V to 30 V Max.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.5.2.2. OUT3 and OUT4 These outputs are 3.3V TTL outputs. The following table describes the electrical specification of the outputs: Feature Details Type of output 3.3V TTL VOL max (low level) Vout (on) ≤ 0.4 V VOH min (High level) 2.5V Max. output current IoutH (max) 8 mA 5.5.3.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.6. Safe Torque Off (STO) The Gold 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 < 0.8 V Minimum pulse width >3 ms Figure 38: STO Input Schematic www.elmomc.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.7. Communications Specification Details RS-232 Signals: • RS232_Rx, RS232_Tx COMRET • Full duplex, serial communication for setup and control • Baud Rate of 9,600 to 57,600 bit/sec Electrical Characteristic Min CAN VIH High-level input voltage VIL Low-level input voltage VOH High-level output voltage VOL Low-level output voltage Type 2 Max Unit 3.3 V 0.8 V 2.4 V 0.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 5.8. Pulse-Width Modulation (PWM) Feature Details PWM resolution Minimum 10-bit Default 12-bit Maximum 14-bit PWM switching frequency on the load 2/Ts (factory default 40 kHz on the motor) www.elmomc.
Technical Specifications Gold Whistle Installation Guide MAN-G-WHIIG (Ver. 1.208) 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 Whistle Installation Guide MAN-G-WHIIG (Ver. 1.
