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Gold DC Trombone Digital Servo Drive Installation Guide

1. GTRODCO19B Figure 29 Digital Input TTL Mode Connection Diagram for T or 1 Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 65 Gold DC Trombone Controller Digital Inputs UO Connector iy 1 E mm 1 mm mm IN1RET 2 m mm IN2RET 7 mm mm IN3RET 8 mm mm INARET 11 mm u IN5RET 12 mm mm IN6RET GTRODCO57A Figure 30 Digital Input AP Mode Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 66 4 10 1 2 Digital Output Gold DC Trombone Digital Outputs UO Connector Controller VDD VDD VDDRET GTRODCO058A Figure 31 Digital Output Connection Diagram PLC option for S or 0 Suffix
2. Gold DC Trombone Port A Encoder lt 4 PortA ENG A 1200 _ PortA ENG A e 4 lt PortA ENG B 1200 _ PortA_ENC_B e 4 lt 4 PortA_ENC_ INDEX INDEX 1200 _ Port ENG INDEX INDEX e lt 5V Encoder 5V Supply COMMON SUPRET PE GTRODCO41B Figure 20 Port A Incremental Encoder Input Recommended Connection Diagram 4 9 1 2 Absolute Serial Encoder Gold DC Trombone Port A Absolute Encoder s ABS CLK T 1200 E ABS CLK ABS Data gt e lt 1209 ABS_Data 5V Encoder 5V Supply 3 9 11 13 A COMMON 9 SUPRET PE GTRODCO039B Figure 21 Absolute Serial Encoder Recommended Connection Diagram for Sensors Supporting Data Clock e g Biss SSI EnDAT etc www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 56 Gold DC Trombone Pont A c8 Absolute Encoder e Di ABS Data we s A Lhe UI E d EM ABS Data pit MI DI e um 124 z d 45V Cem mm Encoder 5V Supply 3 9 11 13 UI COMMON SUPRET mmm ZEE i Drain Wire GTRODCO40B Figure 22
3. STO RET GTRODCO21B Figure 17 STO Input Connection TTL Option for T or 1 Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 52 PinonPortC Signal Function ECH STO1 STO 1 input return o onu STO2 STO 2 input return STO RET STO input default 24 V Pin Positions PORTB PORTA O oooo O ooooooo O ooooo oooooooo GTRODCO050C Table 19 STO Input Pin Assignments for the AP Version Gold DC Trombone Controller Port C Connector 6 2V N STO_RET bd V GTRODCO56A Figure 18 STO Input Connection AP Option www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 53 4 9 Feedback The Gold DC 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 the incremental encoder on port B is the controlled motor position feedback the Hall sensors on port A are commutation feedback and the incremental
4. CAN Controller Feedback In PortA Incremental or Absolute encoder Hall Sensors Incremental encoder Feedback In Port B z o o 22 98 E O g D e bai E lt Analog Hall sensors Feedback Out Port C Encoder Emulation Isolation Boundary Power Connector o 2 D o os oo Tr N GO lt lt lt PE Heat sink GTRODCO68A lity lona 400 V without Backup Funct iagram D Ion Gold DC Trombone CAN Connecti Figure 8 for Model Drives with O or 1 Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 41 4 7 Main Power Auxiliary Power and Motor Power The Gold DC Trombone receives power from main and auxiliary supplies and delivers power to the motor 4 7 1 Motor Power Pin Function Cable eene me Vr VL M3 M2 Mi PE f PE VN VP GTRODC004B Table 14 Connector for Main Power and Motor Connect the M1 M2 M3 and PE pins on the Gold DC Trombone The phase connection is arbitrary as Elmo Application Studio EAS will establish the proper commutation automatically during setup When tuning a number of drives you can copy the setup file to the other drives and thus avoid tuning each drive separately In this case the motor phase order must be the same as on the first drive e For best
5. GTRODCO34C Figure 27 Emulated Encoder Differential Output Recommended Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 4 10 User I Os The Gold DC Trombone has six programmable digital inputs four digital outputs and one analog input a I O Connector Port C amp STO amp Analog Digital Input Digital Output Analog Input www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 62 4 10 1 1 0 Connector Pinout Each of the pins below can function as an independent input PinonI O Signal Function High speed programmable input 1 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input High speed programmable input 2 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input High speed programmable input 3 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input High speed programmable input 4 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input High speed programmable input 5 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input High speed programmable input 6 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp d
6. 4 7 2 1 b Single Phase Direct to Mains Connection Topology DC Gold Trombone SE EE i Non Isolated DC Power Supply erch D D VP VP Pi IW Puw A a F EG eo bos og 1 one C M C l Mains AC network cet AC 324VDC Leom e o ol e Q5 162VDC i 230VAC nf 2 oo NV A VN VN NS eom e o H Neutral re PE mm o e 1 Heat Sink PE e GTRODCOO8B Figure 12 Non Isolated Single Phase Connection Topology The Power Supply is connected directly to the mains AC line Warnings e 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 e Take care and note that in a direct to mains connection the Neutral point is not the most negative voltage level It is the mid point level of the rectified DC bus www elmomc com MAN G DCTROIG EC Ver 1 6 4 7 2 1 c Multiple Connections Topology Gold DC Trombone Installation Guide EtherCAT and CAN Installation 46 In a multi axis application it is likely that a single power supply can feed several drives in parallel The power supply is connected directly to the mains AC line and it feeds more than one drive This topology is efficient and cost saving by reducing the number of power supplies and the amount of wiring Most importantly it util
7. GTRODC064A Table 13 CAN In Out Connectors Pin Assignments 4 3 4 Drive Status Indicator The Gold DC Trombone is equipped with several light emitting diode LED indicators The red green dual LED is used for immediate indication of the following states e 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 e Working state In this state the LED indicates whether the drive is in an amplifier failure state red or is ready to enable the motor green www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 35 4 4 Mounting the Gold DC Trombone The Gold DC Trombone has been designed for two standard mounting options e Wall Mount along the back can also be mounted horizontally on a metal surface e Book Shelf along the side M4 round head screws one through each opening in the heat sink are used to mount the Gold DC Trombone see the diagram below GTRODCOS0C Figure 4 Mounting the Gold DC Trombone 4 5 Wiring the Gold DC Trombone Once the Gold DC Trombone 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 Gold DC Trombone K Caution Perform the following instructions to ensure safe and proper wiring 1 Use twisted pair shielded cables fo
8. ER Heat Sink PE GTRODCO10B Figure 15 Auxiliary 24 VDC Backup Supply Connection Diagram 4 7 3 1 Optional Backup Supply For S T or AP suffix drives Pin Function Cable In S T or AP suffix types 24 V RET Auxiliary Supply Input Return Vit Vi GTRODC004B Table 16 Auxiliary 24 VDC Backup Supply Pins and Polarity www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 49 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 24 VDC or 5 V for the TTL option is provided to both STO1 and STO2 Whenever any input voltage is no longer present power is not provided to the motor and the motor shaft continues to rotate to an uncontrolled stop In circumstances where external influences for example falling of suspended loads are present additional measures such as mechanical brakes are necessary to prevent any hazard This function corresponds to an uncontrolled stop in accordance with Stop Category O of IEC 60204 1 This function does not protect against electrical shock and additional measures to turn the power off
9. Gold Gold DC Trombone Digital Servo Drive Installation Guide EtherCAT and CAN We It WT September 2012 Ver 1 6 p 4 Elmo Motion Control www elmomc com Notice This guide is delivered subject to the following conditions and restrictions e 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 DC Trombone servo drive in its installation e 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 e Information in this document is subject to change without notice p 4 Elmo Motion Control and the Elmo Motion Control logo are Elmo registered trademarks of Elmo Motion Control Ltd Motion Control EtherCAT EtherCAT Conformance Tested EtherCAT6 is a registered Technology Grop trademark and patented technology licensed by Beckhoff Automation GmbH Germany Document no MAN G DCTROIG EC Ver 1 6 Copyright O 2012 Elmo Motion Control Ltd All rights reserved Catalog Number pee RXX YYY EAS Gold w Output Current Profile Blank Standard R No peak current Continuous Current Amps Maximum DC Operating Voltage Network Communications S7 24V Aux Supply S Standard e 24 V I O High side logic Source CANopen e Applicable for 400 and 8
10. Incremental Encoder SIN Sine A Sine PortB ENC A SIN Channel A Sine PortB_ENC_B Cos Channel B Cosine PortB ENC B Cos Channel B Cosine PortB_ENC_INDEX RESOLVER_OUT Vref f 1 TS 50 mA Max PortB ENC INDEX Index RESOLVER OUT Vref complement f 1 TS 50 mA Maximum Pin Positions PORTC oooooQ O ooooo O O O OO 6 Op QJ O lagen S5 GTRODCO48C Table 21 Port B Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 58 4 9 2 1 Incremental Encoder Gold DC Trombone Port B Encoder PortB ENG A 1200 PortB ENG A PortB ENG Di PortB ENG B Pop ENG INDEX INDEX 1200 PortB ENG INDEX INDEX e 45V Encoder 5V Supply COMMON SUPRET L PE GTRODC037B Figure 24 Port B Incremental Encoder Input Recommended Connection Diagram 4 9 2 2 Interpolated Analog Encoder Gold DC Trombone 1 Sine Cosi Port B 1 H ine Cosine SE y Encoder lt 1 E PortB SINA mm oe Se E n 1200 6 Pod MA bod Pomp SIN EN NN a 2 m r3 e
11. 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 Gold DC Trombone Hall Sensors Port A 4 KP 2 EN Ha SE e z HB Cm RG Hal B mr ie Hc LR m CR Hall c 12 14 i 5v Supply Cm Hall 5v Supply 3 9 11 13 UI l SUPRET i Supply Return E R a Lo Drain ET d Wire i GTRODC038B Figure 23 Hall Sensors Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation 4 9 2 Feedback Port B Port B supports any of the following sensors e Incremental encoder interpolated analog encoder or analog Hall sensors Or e 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 Differential pulse and direction signal inputs can be connected to port B in the models that support input from an incremental encoder The signals can be connected to the applicable pair of matching and encoder channels and are configurable by software Incremental or Interpolated Analog Resolver Encoder GDCTRO 4 G DCTROXX R iN SUPRET Supply return SUPRET Supply return 1
12. After shutting off the power and removing the power source from your equipment wait at least 1 minute before touching or disconnecting parts of the equipment that are normally loaded with electrical charges such as capacitors or contacts Measuring the electrical contact points with a meter before touching the equipment is recommended 1 2 Cautions The Gold DC Trombone servo drive contains hot surfaces and electrically charged components during operation The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Gold DC Trombone to an approved isolated 18 30 VDC auxiliary power supply connect it through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved safety standards Before switching on the Gold DC Trombone verify that all safety precautions have been observed and that the installation procedures in this manual have been followed www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Safety Information MAN G DCTROIG EC Ver 1 6 1 3 Directives and Standards The Gold DC Trombone conforms to the following industry safety standards Safety Standard Item Approved IEC EN 61800 5 1 Safety Adjustable speed electrical power drive systems Recognized UL 508C Power Conversion Eguipment In compliance with UL 840 Insulation Coordination Including Clearan
13. Eoi bod Backup Supply T i CH TT Return au G 6 mum mi 1 Ll 4 o o 2 um GC e lt Isolated Transformer 8 a sees See Sg o SE geg um lt 11 rt x Incremental or Absolute Ld Feedback In 12 encoder Hall Sensors i i PortA j um a 3 um gt 4 desse um gt Incremental encoder D 5 Analog encoder i Feedback In Resolver WA Port B 13 Analog Hall sensors um gt 10 15 kel lt 6s 9 14 II Feedback Out m Encoder Emulation Port C a H d 7 PortC 15 9 A i ANALOG E e ANALIN1 Isolation Boundary i PortC 44 ME M3 _ Power ANALOGI ER 4 ANALIN1 Connector M2 M1 i i EON i i Circuit PE ANBRET um Common e DC Power AC1 o 4 Supply AC2 o MN AC3 O I 2 D GTRODCO01C PE Heat sink NE Figure 5 Gold DC Trombone EtherCAT Connection Diagram with Backup Functionality S T or AP Model Drive www elmomc com 38 Installation Gold DC Trombone 8 2 E a 5 toos 28 S Zz z 8E d d 88 a z lt lt I ali YR Ms sedd es E NES ET NEEN J NEE uu t r ED ie SR df 4 i oY Y sy A A A es Bs um mx 0 17 LU Dh T P el ek a ef EN D dn oi ON ON ES Lo R Oa og O or E OR B FTT CEDERE D OO EI EIDEN ERR BEI gd a d a a a a USB_GND STO_RET INRET1 6 VDDRET ANALOG1 ANALOG1 ANLRET EtherCa
14. Technical Information MAN G DCTROIG EC Ver 1 6 3 1 1 Auxiliary Supply Feature Details Auxiliary power supply Isolated DC source only Auxiliary supply input voltage 18 VDC to 30 VDC Auxiliary supply input power 4 VA this includes the 5 V 200 mA load for the main encoder only lt 5 5 VA this includes the 5 V 400 mA load on the main encoder and feedback B www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 2i Chapter 4 Installation The Gold DC Trombone 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 DC Trombone by ensuring that it is installed in an appropriate environment Feature Value Ambient operating temperature 0 C to 40 C 32 F to 104 F Maximum non condensing humidity 90 Maximum Altitude 10 000 m Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available Caution The Gold DC Trombone dissipates its heat by convection The maximum ambient operating temperature of 40 C 104 F must not be exceeded 4 2 Unpacking the Drive Components Before you begin working with the Gold DC Trombone verify that you have all of its components as follows e The Gold DC Trombone servo drive e The Elmo Application Studio
15. 10 kHz default 10 kHz Internally calculated by either jogging or step Note All software calculated profiles support on the fly changes Details 1 2 2 PIP three advanced filters one advanced gain scheduling filter e Software e Pulse and Direction lt 200 Hz 80 to 240 usec 2x current loop sample time Up to 10 kHz default 10 kHz www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 5 Feedbacks 5 5 1 Feedback Supply Voltage The Gold DC Trombone has two feedback ports Main and Auxiliary The Gold DC Trombone supplies voltage only to the main feedback device and to the auxiliary feedback device if needed Feature Details Encoder supply voltage 5 V x 596 2 x 200 mA maximum 5 5 2 Feedback Options The Gold DC Trombone can receive and process feedback input from diverse types of devices 5 5 2 1 Incremental Encoder Input Feature Details Encoder format e A Band Index e Differential e Quadrature Interface Input resistance Differential 120 Q Maximum incremental encoder frequency Maximum absolute 75 Megacounts per second 18 MHz on A B Minimum quadrature input period PIN 53 nsec Minimum quadrature input high low period 26 nsec PHL Minimum quadrature phase period PPH 13 nsec Maximum encoder input voltage range Common mode 7 V Differential mode 7 V Peru P
16. 3 1 7 U OConnector aaeain 29 43 18 EE 30 4 3 2 EtherCAT Communications Version 31 4 3 2 1 _ EtherCAT In Ethernet eene nnne NN 31 Gold DC Trombone Installation Guide EtherCAT and CAN Table of Contents MAN G DCTROIG EC Ver 1 6 4 3 2 2 EtherCAT Qut asse estet etd rene TN DDARN EDR EE raa iode 32 4 3 2 3 EtherCAT Link Indicators esee 32 4 3 2 4 EtherCAT Status Indicator eese 33 4 3 3 CAN Communications Version 34 4 3 4 Drive Status Indicator ssessssessssesesesee ener enne nnns 34 4 4 Mounting the Gold DC Trombone 35 4 5 Wiring the Gold DC Trombone 35 46 Connection Di gramS ue oit redet tot dest EE voee GGDS San UL FUR Sege 36 4 6 1 Connection Diagrams for EtherCAT Version 37 4 6 2 Connection Diagrams for CAN Version 39 4 7 Main Power Auxiliary Power and Motor Power 41 4 7 1 Motor POWGL cernere eren er eee dert ore erae poner epo era epe HEN YN oe Y eua candies 41 4 2 Malt POWE M 43 4 7 2 1 _ Direct to Mains Power Source Non Isolated Rectifier 44 4 7 2 2 Battery Power Supply YY LIII LY LIII I Y nenne 47 4 7 3 Control and Backup Supp 47 4 7 3 1 Optional Backup Supp 48 4 8 STO Safe Torque Off Input 49 49 IT rre cm Yd 53 4 9 1 Feedback Bert neess deed ta ctetu cen wih coeno CAA na ege e 54 4 9 1 1 Incremental Encoder enne
17. 4 E Do lt vn dE PortB COS mm mm T 1 1 1 1200 7 UU 4 PortB_COS A od IL je 5 mm mm d od lt e lt 3 PortB ANA INDEX III INDEX PortB ANA INDEX EE INDEX 4 Z 4 13 m 45V II Encoder 5V Supply 5 9 od i24 TH E COMMON SUPRET gi P i q Drain Wire PE GTRODC035B Figure 25 Port B Interpolated Analog Encoder Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 59 4 9 2 3 Resolver Gold DC Trombone 4 Port B ES EN Resolver lt o e 4 1 rop an em Cam m 470PF 2 49KQ 6 UI 1 PortB_SIN A MU 7 UE ES p E bw e lt pod pod 1 o e 4 ENN PotB COS mm 470PF 2 49KQ 7 KY Pop COS A S e er tg lt Lol EE e e 3 a PortB_RES_OUT mm Cem t 4TOPF 2 49KQ 8 JU 1 PortB_RES_OUT 1 NT Jr a ROI ESO OH Kn a e lt Fog l9 E e Drain Ne Wire y PE The shield is not connected to the ground or motor chassis GTRODCO036C Figure 26 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
18. 55 4 9 1 2 Absolute Serial Encoder 55 4 9 1 3 HalliSerisols init ete gedeien ven 56 49 2 Feedback Port B ie ete deett era dera NEEN EE ee Re dees 57 4 9 2 1 Incremental Encoder esses enne 58 4 9 2 2 Interpolated Analog Encoder esses 58 D EC DR TE 59 4 9 3 Port C Emulated Encoder Output 59 MILES SN V E 61 4 10 1 I O Connector Pimnout n eeeenenennnmnrereeenenennennr Y FFF eu 62 4 10 11 Digital WA Put ettet eraat de tere eate dene tees ndee 63 4 10 1 2 Digital ei TE 66 4102 Analog Input rc edet eae det eee eade ter he ea eam DN eaten 69 4 11 geilen UU de CEET 70 4 11 1 USB 2 0 Communication 70 4 11 2 EtherCAT Communication Version 71 4 11 2 1 EtherCAT Communication 71 4 11 2 2 Ethernet COMMUNICATION enne 73 4 11 3 CANopen Communication Version 74 4 12 Powering D e EE 76 4 12 1 Initializing the System 76 Chapter5 Technical Specifications eeeree e cootra terrore eere neas eo eau pasos a aya rose enssins 77 5 1 dp rsem c 77 5 1 1 Motion Control Modes eemenennnnnnnnnen nnns nn ne Hu 77 a E Gold DC Trombone Installation Guide EtherCAT and CAN Table of Contents MAN G DCTROIG EC Ver 1 6 5 1 2 Advanced Positioning Control Modes enne 77 5 1 3 Advanced Filters and Gain Schedulmg ur eYY FL ILL Fi seeo 77 5 1 4 Fully Programma
19. EAS software and software manual The Gold DC Trombone is shipped in a cardboard box with Styrofoam protection To unpack the Gold DC Trombone 1 Carefully remove the servo drive from the box and the Styrofoam 2 Check the drive to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your drive www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Installation 22 3 Toensure that the Gold DC Trombone you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Gold DC Trombone It looks like this Motion Control pa P N G DCTRO12 400EES Elmo SIT VIII TU G D9370001 GTRODCO43B Figure 2 Gold DC Trombone Part Number Sticker 4 Verify that the Gold DC 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 G DCTROR XX YYY EAS Gold Line Output Current Profile Blank Standard R No peak current Continuous Current Amps Maximum DC Operating Voltage Network Communications S Standard e CANopen USB ieee Feedback E EtherCAT E e EtherCAT or Ethernet t USB Port A Absolute Serial Encoder e Incremental Encoder Digital Hall Port B e Incremental Encoder e Analog
20. Encoder Analog Hall Re Port A e Absolute Serial Encoder e Incremental Encoder e Digital Hall Port B Resolver 24 V Aux Supply 24 V VO High side logic Source Applicable for 400 and 800 V models 24 V Aux Supply 5V0 Applicable for 400 and 800 V models 24 V Aux Supply 24 V I O Low side logic Sink Applicable for 400 and 800 V models Control power supply operates from the Main Power 24 V IO High side logic Source Applicable for 400 V model Control power supply operates from the Main Power 5V0 Applicable for 400 V model www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 4 3 Connector Types The Gold DC Trombone has 10 connectors of the following types Pins Type Function Bottom Connectors GTRODC004B 5 08 mm Phoenix high current 24V 7 62 mm Phoenix high current Motor Connector Front Connectors GTRODCOS1C Front Connectors EtherCAT GTRODCO064A Front Connectors CAN s pmmewe mm Tasen Jee DR C omen www elmomc com 5 a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 24 CAN Version I8 RJ 45 CAN out Table 1 Connector Types 4 3 1 Pinouts The pinouts in this section describe the function of each pin i
21. Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 71 Gold DC Trombone USB Device USB HOST USB VBUS USBD USBD USB_COMRET GTRODC045B Figure 35 USB Network Diagram 4 11 2 EtherCAT Communication Version 4 11 2 1 EtherCAT Communication e The EtherCAT IN port can be configured as an Ethernet port for TCP IP see the EtherCAT Manual e It is recommended to use CAT5e or higher cable Category 5e cable is a high signal integrity cable with four twisted pairs Pin Signal Function 1 Ethernet transmit Ethernet transmit Ethernet receive Ethernet receive Pin Positions PORTO 00000 O ooooo ooooo GTRODC051C Table 26 EtherCAT In Connector www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 72 Pin Signal Function EtherCAT OUT TX EtherCAT out transmit EtherCAT OUT TX EtherCAT out transmit ES EtherCAT OUT RX EtherCAT out receive EtherCAT OUT RX EtherCAT out receive Pin Positions GTRODC051C Table 27 EtherCAT Out Connector 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 t
22. Installation MAN G DCTROIG EC Ver 1 6 76 4 12 Powering Up After the Gold DC 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 or to the Neutral when working with a non isolated power supply 4 12 1 Initializing the System After the Gold DC Trombone has been connected and mounted the system must be set up and initialized This is accomplished using the Elmo Application Studio Elmo s Windows based software application Install the application and then perform setup and initialization according to the directions in the Elmo Application Studio User s Manual www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 77 Chapter 5 Technical Specifications This chapter provides detailed technical information regarding the Gold DC 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 Features The Gold DC Trombone s features determine how it controls motion as well as how it processes host commands feedback and other input 5 1 1 Motion Control Modes e Current Torque up to 20 kHz sampling rate 50 ps e Velocity up to 10 kHz samplin
23. T el ef Y ooooo NO HAROOBSA SEA Eo STEE TA 1 Ei Standard CAT5e Ethernet Cable GTRODC051C Table 10 EtherCAT In Connector Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 32 4 3 2 2 EtherCAT Out See Section 4 11 2 for the electrical diagram Function EtherCAT OUT TX EtherCAT out transmit K s ene eene Pele Pin Positions 0000000000 Pin Positions PORTC 00000 Do e Oo 00200 N HAROO85A PORT B PORTA VOD ft Standard CAT5e Ethernet Cable GTRODCO51C Table 11 EtherCAT Out Connector Pin Assignments 4 3 2 3 EtherCAT Link Indicators This section is only relevant for EtherCAT P N G DCTRO XX YYYEXX products only The Gold DC Trombone can serve as an EtherCAT slave device For this purpose it has two RJ 45 connectors which are designated as EtherCAT In and EtherCAT Out Each of these RJ 45 connectors has two status LEDs which are shown in Figure 3 r IN EtherCAT OUT4 Figure 3 Ethernet Connector LEDs The green LED is the link activity indicator It shows the state of the applicable physical link and the activity on that link The amber LED is the speed indicator It shows the speed of the connection on the Ethernet line www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC V
24. encoder v Ia Resolver Analog Hall sensors Return Feedback In Port A Feedback In Port B Encoder Emulation DC Power Y AC1 o Supply AC2 o AC3 0 I 2 Feedback Out Port C ANALOG1 Isolation Boundary M3 _Power ANALOG1 Connector M2 M1 ANLRET PE V USB Host c em wm Ee Ste EN Controller m9 Port C 11 mo x PotC 7 m 9 A S od x EE 1 od 2 CA E 7 Fod m 8 iom ME M mm 12 1 um 3 ER um oo 4 DA um gt 5 LL 13 31 0 um 1015 m 9 14 3 PotC 5 e e m ANALIN1 PortC 14 IW mi 4 ANALIN1 Portis i Circuit mm t i Common PE Heat sink GTRODCO067A Figure 7 Gold DC Trombone CAN Connection Diagram with Backup Functionality S T or AP Model Drive www elmomc com 40 Installation a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Gold DC Trombone USB Host Controller Port C 6 STO RET Wn Port C 15 ANALIN1 ANALOG1 ANALIN1 ANALOG1 Circuit Common ANLRET CAN GND
25. encoder on port A is follower input For more information about sensors and their use refer to the Gold Line Software Manual The Gold DC Trombone features easy to use D Sub type connections for all Control and Feedback cables Instructions and diagrams describing how to assemble those cables are presented below 1 Use 24 26 or 28 AWG twisted pair shielded cables 24 AWG cable is recommended For best results the shield should have aluminum foil covered by copper braid 2 Useonly a D Sub connector with a metal housing 3 Ideally solder the drain wire to the connector body as shown in Figure 19 However the shield may also be attached without soldering as long as the braid shield is in tight contact with the metal housing of the D type connector 4 Onthe motor side connections ground the shield to the motor chassis 5 Oncontroller side connections follow the controller manufacturer s recommendations concerning the shield Connector body PSI Wit Make sure that the ds braid shield is in tight Mix metal contact with the metal housing 7 housing EAG0033A TRODCO048A Figure 19 Feedback and Control Cable Assemblies All D Sub type connectors used with the Gold DC Trombone should be assembled in this way www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 54 4 9 1 Feedback Port A Port A supports the following sensor inpu
26. internal variables The output options are e Port A B daisy chain 1 1 for incremental encoder e Encoder emulation Emulate any input sensor digital or analog or use to emulate an internal variable such as virtual profiler e PWM output Any pair of outputs that is used as an encoder channel e g channel A and channel A can be configured by software to become PWM output e Pulse amp Direction output The output pins that are assigned as channel A and channel B when used as encoder out can be configured by software to become pulse and direction outputs respectively This port is used when e The Gold DC Trombone is used as a current amplifier to provide position data to the position controller e The Gold DC Trombone is used in velocity mode to provide position data to the position controller e The Gold DC Trombone is used as a master in follower or ECAM mode www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 60 Pin on PortC Signal Function PORT B PORT A 0000 O O ooooooo O ooooo oooooooo GTRODCO50C Table 22 Port C Pin Assignments Gold DC Trombone Port C Controller gt a e 4 PortC ENG A3 a or Elmo Gold Drive CHAT PortC_ENC_A 7 BER PortC ENC Bi n 3 PortC ENG B nm PortC_ENC_ Index Aa INDEX Port ENC Index la INDEX COMMON
27. operate your Elmo Gold DC Trombone servo drive you will use this manual in conjunction with a set of Elmo documentation Installation is your first step after carefully reading the safety instructions in the first chapter the following chapters provide you with installation instructions as follows e Chapter 3 Installation provides step by step instructions for unpacking mounting connecting and powering up the Gold DC Trombone e Chapter 4 Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Gold DC Trombone servo drive should be successfully mounted and installed From this stage you need to consult higher level Elmo documentation in order to set up and fine tune the system for optimal operation e The Gold Product Line Software Manual which describes the comprehensive software used with the Gold DC Trombone e The Gold Product Line Command Reference Manual which describes in detail each software command used to manipulate the Gold DC Trombone motion controller e The Elmo Application Studio Software Manual which includes explanations of all the software tools that are part of the Elmo Application Studio software environment www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 19 Chapter 3 Technical Information 3 1 Technical Data Feature Units 12 400 16 400 R17 400 R22 400 8 800 12
28. the encoder emulation outputs of Port A or Port B or internal variables Analog input 10 V ptp support Velocity feedback tachometer Position feedback potentiometer 2 2 8 Feedback Sensor Specifications e Incremental Quadrature Encoder with or without commutation Halls up to 75 Megacounts per second 18 MHz PPS Pulses per Second e Digital Hall Up to 4 kHz commutation frequency 5Vlogic Input voltage up to 15 VDC e Incremental encoder and digital Halls e Analog encoders Supports 1 V PTP Sin Cos Sin Cos Frequency up to 500 kHz Internal Interpolation up to x8192 Automatic correction of amplitude mismatch phase mismatch signal offset www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 16 e Analog Halls commutation amp 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 x8192 Automatic correction of amplitude mismatch phase mismatch signal offset e Absolute serial encoders NRZ Panasonic Tamagawa Mitutoyo etc EnDAT2 2 m BiSS SSI e Resolver up to 512 rps with 14 bit resolution e Tachometer available on request e Potentiometer available on request e The Gold DC Trombone provides 5 V supply voltage 5 V 400 mA max for the encoders supplies 2 2 9 Protection Bu
29. 00 V models USB EE T Feedback e 24 V Aux Supply E EtherCAT e 5VI O e EtherCAT or Ethernet E Port A Applicable for 400 and 800 V models USB p APT 24 V Aux Suppl e Absolute Serial Encoder Ux Supply e Jlocementei Encoder e 24V I O Low side logic Sink e Digital Hall Applicable for 400 and 800 V models Port B 0 7 Control power supply operates from the Main Power e Incremental Encoder e Analog Encoder e 24 V IO High side logic Source e Applicable for 400 V model e Analog Hall Rs 17 e Control power supply operates from the Port A j Main Power uey e 5V0 e Absolute Serial Encoder e Incremental Encoder e Digital Hall Port B Resolver Applicable for 400 V model Revision History Version Details Initial release rame Several updates throughout the manual Updated catalog number and various updates throughout the manual FC 4 3 and 4 3 1 Auxiliary Supply Voltage range 18 V to 30 V 13 Changes throughout document to allow mini USB and general changes throughout Changes throughout document to allow mini USB and general changes to allow mini USB and general changes a4 Updated to change P N details on Feedbacks Absolute included as standard Change the overvoltage in 800 V mode Pin layout UL recognition and further optional versions added 16 EtherCAT and CAN merged into one document and CAN EtherCAT and CAN mergedintoonedocum
30. 60 7 IEC 68 Recognized UL 508C In compliance with UL 840 In compliance with UL 60950 Approved IEC EN 61800 5 1 Safety In compliance with EN 60204 1 Details Quality Management Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc Reliability prediction of electronic equipment rating de rating stress etc Printed wiring for electronic equipment clearance creepage spacing conductors sizing etc Type testing Power Conversion Equipment Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment Safety of Information Technology Equipment Including Electrical Business Equipment Adjustable speed electrical power drive systems Low Voltage Directive 73 23 EEC www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 Specification EMC Approved IEC EN 61800 3 EMC In compliance with EN 55011 Class A with EN 61000 6 2 Immunity for industrial environment according to IEC 61000 4 2 criteria B IEC 61000 4 3 criteria A IEC 61000 4 4 criteria B IEC 61000 4 5 criteria B IEC 61000 4 6 criteria A IEC 61000 4 8 criteria A IEC 61000 4 11 criteria B C Workmanship In compliance with IPC A 610 level 3 PCB In compliance with IPC A 600 level 2 Packing In compliance with EN 100015 Details Adjustable speed electrical power dri
31. 800 R11 800 R16 800 Minimum supply VDC S T or AP suffix in P N 50 S T or AP suffix in P N 95 voltage O or 1 suffix in P N 100 MR Nominal supply VDC 325 560 for 400 VAC Maximum supply 400 voltage Maximum continuous power output Up to 10 kW of continuous qualitative power Efficiency at rated power at nominal conditions l VDC 18 V to 30 V Only for Control Supply S suffix Model lt 5 VA without external loading Auxiliary supply voltage option Auxiliary power supply lt 8 VA with full external loading Continuous current limit Ic Amplitude sinusoidal DC trapezoidal commutation Sinusoidal continuous RMS current limit Ic lt lt Peak current limit Weight oa o N gt 650 g 22 9 oz Dimensions 3 3 5 105 x 140 x 47 4 13 x 5 51 x 1 85 Panel Wall Mounted Digital in Digital out Analog in Mounting method See page 22 for details on the part number The S T or AP suffix appears in models where there is a 24 V control supply If there is a O or 1 suffix the control power supply operates from the main power INote on current rating s The current ratings of the Gold DC 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 www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN
32. DC Trombone to operate with only the main power supply VP and VN with no need for a 24 VDC auxiliary power supply for the logic The Gold DC Trombone is a stand alone version of the Gold Trombone module PCB mounted Another pluggable version the Gold Solo Trombone is also available www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 12 2 2 Product Features The features described in this chapter relate to the range of Gold DC Trombone models Depending on the model you have purchased not all features are available To see the features for your model look at the product label on the Gold DC Trombone and use the product catalog number schematic that appears at the beginning of this manual and on page 22 to determine which specific features are available to you 2 2 1 Servo Control e Advanced and extremely fast vector control algorithm current loop bandwidth 4 kHz e Current Torque sampling rate up to 20 kHz 50 us e Velocity sampling rate up to 10 kHz 100 us e Position sampling rate up to 10 kHz 100 ps e Electrical commutation frequency up to 4 kHz e Current closed loop bandwidth exceeds 4 kHz e Position Velocity Acceleration command range full 32 bit e Position over velocity with full dual loop support e Current gain scheduling to compensate for the motor s non linear characteristics e Advanced filtering Low pass Notch Gene
33. DCOO3B 15 Pin D Type Male 15 Pin D Type Female Connector Connector Table 5 Port A Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 7 4 3 1 5 Port B Connector See Section 4 9 2 or full details Incremental or Resolver Interpolated Analog Encoder GDCTRO 4 Pin on Function Function NON B fv EneoderssVsupply 5V Encoder 5V supply PortB_ENC_A SIN Incremental Encoder A Sine Porte ENC PortB ENC_B COS Channel B Channel B Cosine os Cosine MN PortB_ENC_INDEX RESOLVER_OUT f EE 50 mA PortB ENC INDEX RESOLVER OUT Vref complement f 1 TS 50 mA Pin Positions PORTC r IN EfherCAT CH ECAT ooooo O ooooo ooo0ooo Th ESA uS Lu 00000000 9 Pin D Type Female Connector Drive E Status gA E DRUO034A 9 Pin D Type Male GTRODCO48C Connector Table 6 Port B Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 28 4 3 1 6 Port C Connector The Port C connector includes the following functions e Port C For full details see Section 4 9 3 e STO For full details see Section 4 8 e Analog input For full details see Section 4 10 2 Pin on RR Function Port C REEL 3 eene meecht eener Meses i Bu emgeet Ee TI STO RET STO signal return Lem em COMRET Common return E
34. LC Mode Feature Details Optically isolated 2250 usec for inputs 1 6 gt 3 msec for STO Execution time all inputs O lt T lt 250 usec the time from application of voltage on input until execution is complete High speed inputs 1 to 6 T gt 5 usec if the input functionality is set to minimum pulse width in high latch capture index strobe speed mode e Home mode is high speed mode and can be used for fast capture and precise homing e Highest speed is achieved when turning on optocouplers Rin 2 43K 6 2V o Input i 44 34 pa a V lt q GTRODC053A o INRET 1 6 Figure 42 Digital Input Schematic for S or 0 Suffix Rin 2 49K 6 2V E o INRET 1 6 GDRUHV041A 2 Input i Figure 43 Digital Input Schematic for AP Capture with differential input T 0 1 usec if the differential input functionality is set Port A Port B Index to touch probe capture index strobe www elmomc com MAN G DCTROIG EC Ver 1 6 E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications 90 5 6 3 Digital Output Interface PLC Mode Feature Details Suffix applicable Sor0 Type of output Optically isolated source Max output current lout max 500 mA for Output 1 lout max Vout Low Maximum supply output VDD 30V lout max lt 250 mA for Outputs 2 to 4 VOL
35. OG 1 gt ANALOG1 GTRODC024C Figure 34 Analog Input with Single Ended Source www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 4 11 Communications The communication interface may differ according to the user s hardware The Gold DC Trombone can communicate using the following options Standard EtherCAT G DCTRO ZS G DCTRO ZE CANopen EtherCAT or Ethernet USB 2 0 USB 2 0 Table 24 Gold DC Trombone Communication Options INOTE When the EtherCAT is connected and FoE in operation the USB cable connection must be disconnected 4 11 1 USB 2 0 Communication The USB network consists of Host controller and multiple devices The Gold DC Trombone is a USB Device To connect the USB communication cable 1 Connect a mini USB cable D and D comprise 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 Gi e c NE The shield of the cable is connected to the shield of the connector used for communication Pin on USB Signal Function USB VBUS USB VBUS 5V USBD USB Nline USBD USB _P line USB COMRET USB communication return IN EmercAT OUF ECAT E a O oooo O ooooooo O ooooo oooooooo GTRODC051C Table 25 USB 2 0 Pin Assignments www elmomc com a E Gold DC Trombone Installation
36. S PortC ENCO _ Index Buffered Channel INDEX output on myn rna RR M NNNM 11 PORTC Sch 6 4 E wA Jo o o o og Ve a GE E 1 Aa 5 EA EN EA EN 15 Pin High GTRODC050C Density D Type a Mal 15 Socket High Density D Type Connector are connectar Table 7 Port C Feedback Out and STO Analog In www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation 29 MAN G DCTROIG EC Ver 1 6 4 3 1 7 1 O Connector See Section 4 10 for full details on I O PinonI O Signal Function IN1 High speed programmable input 1 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input High speed programmable input 2 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input High speed programmable input 3 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input High speed programmable input 4 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input High speed programmable input 5 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input N High speed programmable input 6 event capture home general purpose RLS FLS INH PWM amp direction input pulse amp direction input INRET1 6 Programmable inputs 1 6 return for stan
37. a NNODA OE EE sse e NODD 11 2 1 Drive DescriptlOE uu etcetera dee LD Va oe oen ax 11 2 2 E tee le 12 2 2 1 Sermo Contool E 12 2 2 2 Motion ee E 13 2 2 3 Communications EE 13 2 2 4 Safe Torque Input STONN AIII AII LIII I FF 13 VES EEG VOV cR EE 14 VES EE le E EE 14 2 27 Feedback Options reete enira rrr oben e Ra at reae raa Rd eu pua 15 2 2 8 Feedback Sensor Spechfications esses eene 15 2 29 Hee die DE 16 E GEELEN e 17 2 4 M Howto Use this Guide 18 Chapters TechnicallnformatiOl 1 oio eorr oor ore Error TD YNN YNYR o er eye EE eee exeo EE La ErEES 19 3 1 Technical Data iiie aede iai oett erat Dee Resa guo ARAN NC ER iiiar 19 3 1 1 Auxiliary Supply ssseessesseeeeeee eene enne nnns nnne nnns 20 Chapter4 Installation ettet tton en ee eoo en aeuo en eaa o no eS suus aoa e apos nna eoa EEN 21 4 1 Site Requiremiehts eec gees eet dl e genre eeler tone 21 4 2 Unpacking the Drive Components esses ener nenne 21 43 E eene ege E 23 ALS Mies JPIDOUtSu YR FO NR eR redeo a engen Rega EN sabe VE RERRE Re ede Ress gene aae E ye ucts FWYN 24 4 3 1 1 Motor Power Connector tenens 24 4 3 1 2 Main Power Connector enne nnne 25 4 3 1 3 Auxiliary Power Connector enne enne 25 4 3 1 4 Port A Connectol eie tenet ynde tede eo Pas ge e ndd dd aaaea 26 43 1 5 PortBConnect0l eec eerte er EE tede eo raa ge e rade edo Pang ers 27 4 3 1 6 Port Connector ge sente aac eee Rede eer Tu dd Fa 28 4
38. are necessary The following table defines the behavior of the motor as a function of the state of the STO inputs Signal STO1 Signal STO2 Function Not Active Not Active Motor is disabled Not Active Active Motor is disabled Active Not Active Motor is disabled Active Active Motor can be enabled Table 17 Motor Behavior according to Safety Inputs e Inthe Gold DC Trombone STO1 also latches a software disable condition e The STO pins are located on the Port C connector see Section 4 9 3 www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 50 PinonPortC Signal Function ECH STO1 STO 1 input default 24 V o onu STO2 STO 2 input default 24 V STO RET STO signal return Pin Positions ooooooo oooooooo GTRODCO050C Table 18 STO Input Pin Assignments for S T O or 1 Suffix Models non AP Versions See the diagrams below for the PLC option connection and the TTL option connection DC Gold Trombone Controller Port C Connector STO RET GTRODCO20B Figure 16 STO Input Connection PLC Option for S or 0 Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 51 DC Gold Trombone Port C Connector Controller
39. at e Sine Cosine e Differential Resolver transfer ratio 0 5 Encoder outputs See Port C Encoder Output Specifications Section 5 5 3 5 5 2 5 Absolute Serial Encoder Feature Details Encoder format e NRZ Panasonic Tamagawa Mitutoyo etc e EnDAT 2 2 e BiSS SSI Interface RS 485 Clock Differential output line Data Differential bidirectional line Input Resistance Differential 120 Q Transmission Rate Up to 2 5 MHz www elmomc com MAN G DCTROIG EC Ver 1 6 5 5 3 Port C Feedback Output Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications Feature Details Emulated output e A B Index e Differential Interface Output current capability Maximum output current Lou max 2 mA High level output voltage Voy gt 3 0 V Minimum output current lo 2 mA Low level output voltage Vo 0 4 V Available as options Emulated encoder output of any sensor on Port A or Port B Daisy chain Port A or Port B Emulated encoder output of internal variables Emulated encoder outputs of the tachometer Emulated encoder outputs of the potentiometer Maximum frequency fmax 8 MHz pulses output Edge separation between A amp B Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B www e
40. at maximum output voltage Vout on lt 0 3 V low level Rt The external R must be selected to limit output current to no more than 500 mA Output 1 or 250 mA Outputs 2 to 4 _ VDD VOL g Geet max Executable time O T 250 usec V GDRUHV042A VDDRET Figure 44 Digital Output Schematic for S or 0 Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 6 4 Digital Output Interface TTL Mode Feature Details Suffix applicable Type of output e Optically isolated e Source Sink Maximum supply output VDD 15V Max output current 7 mA lout max Vou Low VOL at maximum output voltage Vout on lt 0 4 V low level Executable time 0 lt T lt 250 usec VDD v E e siii R 20K i VDD RET Figure 45 Digital Output Schematic for T or 1 Suffixes V GDRUO34A www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 6 5 Digital Output Interface AP Mode Feature Details s Optically isolated source Max output current lout max lt 300 mA for Output 1 lout max Vout Low lout max 150 mA for Outputs 2 to 4 VOL at maximum output voltage Vout on 0 3 V low level Rt The external R must be s
41. ble ihn oot eaa eot ee radi DR 78 5 1 5 Feedback Options teeth tardo y Cudd ddd cud dee Du eee ded 78 5 1 6 Input Output sssssssseseeeeeenenen nnne enne en ALL II IL A sens 79 5 1 7 STO Safe Torque Off Inputs eene 79 5 1 8 Built ln PrOtecCt OD eiecit retro phar Co oda e Rage LEER FUR ER pana ER serie 80 5 1 9 Status Indication cese a doanh eae advena ua ene UTER Rn au aaa 80 5 1 10 Automatic Procedures eene enne nennen nennen nennen nnns 80 5 2 Gold DC Trombone Dimensions nennen enne nennen nennen nns 81 5 3 Environmental Conditions 82 5 4 Control SpecifiCabions 5 e morte t erede te ter eite trade buste ie O 82 5 4 1 Current LO0pD ieu ddu seca ce Conde Ces barca EENEG 82 5442 Velocity Loop eter AEN EEe 83 5 4 3 Position LOOP BE 83 5 5 Feedbacks iste coa fiac Fd D NAD GORED cR o dead aD esu ee 84 5 5 1 Feedback Supply voltage ennemi nnns 84 5 5 2 Feedback Options sess enne nnne nn nnns I I I Rrini REES 84 5 5 2 1 Incremental Encoder Input 84 5 5 2 2 Digital Halls uii tecto ege eege eege 85 5 5 2 3 Interpolated Analog Sine Cosine Encoder cccccccssceesseeeeees 85 5 5 2 4 ReSsolVei erorii Gi ege nM dynu A rees Eege ett 86 5 5 2 5 Absolute Serial Encoder Y YYH A AYAH Y HAY YH Y FFAN 86 5 5 3 Port C Feedback Output 87 BO e rm 88 5 6 1 Digital Input Interfaces TTL Mode rW LI I Hin 88 5 6 2 Digital Input Interfaces PLC Mode 89 5 6 3 Digi
42. ces and Creepage Distances for Electrical Eguipment In compliance with UL 60950 1 Safety of Information Technology Eguipment formerly UL 1950 Including Electrical Business Eguipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Gold DC Trombone servo drive has been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation Furthermore Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met 1 4 CE Marking Conformance The Gold DC 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 According to Annex III of Article 13 of Council Directive 93 68 EEC amending Council Directive 73 23 EEC concerning electrical equipment designed for use within certain voltage limits the Gold DC Trombone meets the provisions outlined in Council Directive 73 23 EEC The party responsible for ensuring that the equipment meets the limits required by EMC regulations is the manufacturer of the end product 1 5 Warranty Information The products covered in th
43. dard version Programmable positive inputs 1 6 for AP version Pin Positions 1 15 Pin High Density D GTRODC049C Type Female Connector 15 Pin High Density D Type Male Connector Table 8 I O Connector Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 30 4 3 1 8 USB See Section 4 11 1 for the electrical diagram Pin on USB Function USBD USB _P line EE USB COMRET USB communication return Pin Positions PORTC 00000 O ooooo ooooo PORTB PORTA Kell B T SIS STE USB Device Mini B Plug GTRODCO51C Table 9 USB 2 0 Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 3 1 4 3 2 EtherCAT Communications Version Fieldbus communications are industrial network protocols for real time distributed control that allows connection of servo drives The Gold DC Trombone supports the following EtherCAT fieldbus type industrial network protocol Fieldbus Type Product Number EtherCAT G DCTRO XX YYYEXX 4 3 2 1 EtherCAT In Ethernet See Section 4 11 2 for the electrical diagram Pin Signal Function EtherCAT IN Ti EtherCAT in transmit EtherCAT IN TX EtherCAT in transmit EN EtherCAT IN RX EtherCAT in receive EtherCAT IN RX EtherCAT in receive EE PORTO
44. e the drain wire to facilitate connection e The male RJ plug must have a shield cover e Ensure that the shield of the cable is connected to the shield of the RJ plug The drain wire can be used to facilitate the connection e Connect a termination 120 Ohms resistor at each of the two ends of the network cable ooooo O ooooo ooooo C C o EA EER ooooo oooooooo GTRODCO64A Table 29 CANopen Connectors Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 Gold DC Trombone 1 CAN Interface 5 CAN Controller S Gold DC Trombone 2 CAN Interface Gold DC Trombone n pUcp e CAN Interface i 6 t Drain 9 Wire 4 4 pais 4 i gt e 1 1 can_H Fd um Fr Tipe CAN L Le mum e CAN_GND m Shield of RJ connector Drain 7 e W go 1 a m 2 Lo q200 m 3 GTRODCO069A Vad FE Caution When installing the CANopen communications ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang Figure 38 CANopen Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN
45. elected to limit output current to no more than 300 mA Output 1 or 150 mA Outputs 2 to 4 _ VDD VOL PU Lw mas Executable time O T 250 usec V GDRUHV043A VDDRET VDDRET Figure 46 Digital Output Schematic for AP 5 6 6 Analog Input Feature Details Maximum operating differential voltage Maximum absolute differential input voltage Differential input resistance 3 74 kQ Analog input command resolution 14 bit www elmomc com Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 7 Safe Torque Off STO The Gold DC Trombone has two STO Safe Torque Off inputs 5 7 1 STO Input Interfaces PLC and AP Modes Feature Details Optically isolated Rin 243K 62V E o Input STO1 STO2 a Gs PONI GTRODCO054A 9 STO_RET Figure 47 STO Input Schematic for S or 0 Suffix Rin 2 49K 6 2V gt STORET GDRUHV044A Figure 48 STO Input AP Schematic www elmomc com Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 7 2 STO Input Interfaces TTL Mode Feature Details Suffix applicable Tor1 Type of input Optically isolated Input current for all inputs lin 3 8 mA Vin 5V High le
46. en into one document Elmo Worldwide Head Office Elmo Motion Control Ltd 60 Amal St POB 3078 Petach Tikva 49516 Israel Tel 972 3 929 2300 e Fax 972 3 929 2322 e info il gelmomc com North America Elmo Motion Control Inc 42 Technology Way Nashua NH 03060 USA Tel 1 603 821 9979 e Fax 1 603 821 9943 e info us elmomc com Europe Elmo Motion Control GmbH Hermann Schwer Strasse 3 78048 VS Villingen Germany Tel 49 0 7721 944 7120 e Fax 49 0 7721 944 7130 e info de elmomc com China Elmo Motion Control Technology Shanghai Co Ltd Room 1414 Huawen Plaza No 999 Zhongshan West Road Shanghai 200051 China Tel 86 21 32516651 e Fax r86 21 32516652 e info asia elmomc com Asia Pacific Elmo Motion Control 807 Kofomo Tower 16 3 Sunae dong Bundang gu Seongnam si Gyeonggi do South Korea Tel 82 31 698 2010 e Fax 82 31 698 2013 e info asia elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Table of Contents Chapter1 Safety Informatloli eee deed 8 IESU I IBcm n T 9 E EN e e E 9 1 3 Directives and Standards redet deret oce teo d e de ea 188 10 14 CE Marking Conformiance ec techo pO ten NF y tee fite 10 1 5 Warranty Information oct e te pigro e he d ere diese tet 10 Chapter2 Product Description ooi eoo oer kin to eee si aso eoa osa eo
47. er 1 6 3 3 The possible states of these LEDs are summarized in Table 13 State Meaning Link Activity No link is established pon A link is established Blinking There is data transmission activity Speed The connection speed is 100 Mbps The speed of the EtherCAT line must be 100 Mbps Otherwise there is no EtherCAT data transmission The connection speed is 10 Mbps Table 12 LED States 4 3 2 4 EtherCAT Status Indicator The EtherCAT status indicator is a red green dual LED It combines run indication when it is green and error indication when it is red of the EtherCAT device www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 34 4 3 3 CAN Communications Version Fieldbus communications are industrial network protocols for real time distributed control that allows connection of servo drives The Gold DC Trombone supports the following CAN fieldbus type industrial network protocol Fieldbus Type Product Number CAN G DCTRO XX YYYSXX See Section 4 11 4 for the electrical diagram Pin Signal Function CAN H CAN H bus line dominant high CAN L CAN L bus line dominant low CAN_RET CAN Return CAN_SHLD Shield connected to the RJ plug cover 7 a CAN_RET CAN Return mA ER Pin Positions PORTC N KE EN anno e 00000 00000 90000 KH It pi 4 Standard CAT5e Ethernet Cable CN CAL SERERE ooooooo ooooo TEA
48. es www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 67 DC Gold Trombone Digital Outputs Controller UO Connector 0 15V VDDRET GTRODC023A Figure 32 Digital Output Connection Diagram TTL Option for T or 1 Suffixes www elmomc com Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Gold DC Trombone Digital Outputs UO Connector VDD VDDRET RET VDDRET VDDRET VDDRET VDDRET Installation 68 Controller mm 7 mm y um mm 0 30V GTRODCO59A Figure 33 Digital Output Connection Diagram AP Option www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 69 4 10 2 Analog Input The Analog Input pins are located on the Port C connector see Section 4 9 3 PinonPortC Signal Function ANALOG1 Analog input 1 15 ANALOG1 Analog input 1 ANLRET Analog ground ff ooooo A A oS J GTRODCOS50C DC Gold Trombone Analog Inputs Port C Connector Single Ended Source ANAL
49. eu Ben Ben PhaseA input Phase B input Figure 40 Main Feedback Encoder Phase Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 5 2 2 Digital Halls Feature Details Hall inputs Ha Hp Hc e Single ended inputs e Built in hysteresis of 1 V for noise immunity Input voltage Nominal operating range O V lt Vin nan lt 5 V Maximum absolute 1 V lt Vi uan lt 15 V High level input voltage V innigh gt 2 5 V Low level input voltage V 44 lt 1 V Input current Sink current when input pulled to the common 5 mA Maximum frequency fmax 4 kHz 5 5 2 3 Interpolated Analog Sine Cosine Encoder Feature Details Analog encoder format Sine and Cosine signals Analog input signal level e Offset voltage 2 2 V to 2 8V e Differential 1 V peak to peak Input resistance Differential 120 Q Maximum analog signal frequency fmax 500 kHz Interpolation multipliers Programmable x4 to x8192 Maximum counts frequency 2 x 10 counts sec Automatic errors correction Signal amplitudes mismatch Signal phase shift Signal offsets Encoder outputs See Port C Encoder Outputs Specifications Section 5 5 3 www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 5 2 4 Resolver Feature Details Resolver form
50. fficient and user friendly auto tuner 2 2 3 Communications e Fast and efficient EtherCAT and CANopen networking e EtherCAT Slave CoE CANopen over EtherCAT oE Ethernet over EtherCAT FoE File over EtherCAT for firmware download Supports Distributed Clock EtherCAT cyclic modes supported down to a cycle time of 250 us e CANopen DS 301 DS 305 DS 402 e Ethernet TCP IP UDP Telnet e USB 2 0 2 2 4 Safe Torque Input STO e IEC 61800 5 2 Safe Torque Off STO Two STO inputs PLC level which can be configured to 5 V logic e UL 508C recognition e UL 60950 compliance e CE EMC compliance www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 14 2 2 5 Outputs e Four high voltage outputs related to VDD and VDDRET Conforms to IEC 61131 2 Upto 30 VDC High side logic Source low side logic Sink AP Opto isolated For S O suffix Digital Outputs 2 3 4 up to 250 mA For AP suffix Digital Outputs 2 3 4 up to 150 mA ForT 1 suffix Digital Outputs 2 3 4 up to 7 mA ForS O suffix Digital Output 1 brake output 500 mA For AP suffix Digital Output 1 brake output 300 mA ForT 1 suffix Digital Output 1 7 mA Shortcircuit protection Thermal protection Reverse polarity protection e Three additional differential outputs can be configured through Port C EJA 422 differential outpu
51. g rate 100 us e Position up to 10 kHz sampling rate 100 ps 5 1 2 Advanced Positioning Control Modes e PTP PT PVT ECAM Follower Dual Loop Current Follower Fast event capturing inputs e Fast output compare OC e Motion Commands Analog current and velocity pulse width modulation PWM current and velocity digital SW and Pulse and Direction 5 1 3 Advanced Filters and Gain Scheduling e On the Fly gain scheduling of current and velocity e Velocity and position with 1 2 2 PIP controllers e Automatic commutation alignment e Automatic motor phase sequencing e Current gain scheduling to compensate for the motor s non linear characteristics e Advanced filtering Low pass Notch General Biquad e Current loop gain scheduling to compensate for bus voltage variations e Velocity gain scheduling for reliable velocity loop performance e Gains amp filter scheduling vs position for mechanical coupling optimization speed and position tracking errors e High order filters gain scheduling vs speed and position www elmomc com MAN G DCTROIG EC Ver 1 6 a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications 5 1 4 Fully Programmable e Third generation programming structure e Event capturing interrupts e Event triggered programming 5 1 5 Feedback Options e Incremental Encoder up to 75 Megacounts per second 18 MHz PPS Pulses Per Second e Digital Halls U
52. he input of the EtherCAT master Ethernet port 1 EtherCAT Master Ethernet port 2 GTRODCO046A Figure 36 EtherCAT Network with No Redundancy Ethernet port 2 EtherCAT Master Ethernet port 1 GTRODC047A Figure 37 EtherCAT Network with Redundancy www elmomc com E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 73 4 11 2 2 Ethernet Communication To connect the Ethernet communication cable 1 The EtherCAT IN port can be configured as an Ethernet port for TCP IP see the EtherCAT Manual 2 It is recommended to use CAT5e or higher cable Category 5e cable is a high signal integrity cable with four twisted pairs Pin Signal Function 2 Ethernet_TX Ethernet transmit 3 Ethernet RX Ethernet receive Dm LL SES IT GTRODCOS1C Table 28 Ethernet EtherCAT In Connector Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 74 4 11 3 CANopen Communication Version Notes for connecting the CANopen communication cable e Use 26 or 28 AWG twisted pair shielded cables For best results the shield should have aluminum foil and covered by copper braid with a drain wire e 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 us
53. ilt in Protection amp Diagnostics e Software error handling e Abort e Extensive status reporting e Protection against Shorts between motor power outputs and power return Over temperature Over under voltage Loss of feedback Motor current Current limits Following errors i t motor current e SIO www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Product Description 17 2 3 System Architecture Isolation Boundary Digital Inputs Digital Outputs M m Feedback Port A 4 Incremental Encoder Hall Sensors Options E R Or Serial Encoder Hall Sensors Options E R User UO Interface Analog Input Incremental Encoder Or Mr Analog Encoder Option E Feedback Port B Or We Resolver Option R Encoder p Emulation PWM Feedback Out Port C Current Optional DC Feedback i Auxiliary Supply for S and T VBus Us S models Protection Isolation Boundary Main DC Power Supply Motor Figure 1 Gold DC Trombone System Block Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 18 2 4 How to Use this Guide In order to install and
54. immunity it is highly recommended to use a 4 wire shielded not twisted cable for the motor connection The gauge is determined by the actual current consumption of the motor e Connect the cable shield to the closest ground connection at the motor end e Connect the cable shield to the closest PE terminal of the Gold DC Trombone e Ensure that the motor chassis is properly grounded www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 42 Motor Connectors GENO0002A Figure 9 Brushless Motor Power Connection Diagram Motor Connectors GENO0001A Figure 10 DC Brushed Motor Power Connection Diagram www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 43 4 7 2 Main Power Pin Function Cable GTRODC004B Table 15 Connectors for Main Power The DC power for the Gold DC Trombone is delivered from a separated rectifying unit supplied by the user Elmo recommends using the Tambourine rectifier specifically designed for use with Elmo drives which offers a range of versatile options The following sections contain topology recommendations for implementing three phase and a single phase supply chains The power stage of the Gold DC Trombone is fully isolated from the other sections of the Gold DC Trombone such as the control stage and the heat sink This
55. ing and operating motors The Gold DC Trombone servo drive contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials such as plastic film and synthetic fabrics Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build up To avoid any potential hazards that may cause severe personal injury or damage to the product during operation keep all covers and cabinet doors shut The following safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily injury N Caution This information is necessary for preventing damage to the product or to other equipment www elmomc com Gold DC Trombone Installation Guide EtherCAT and CAN Safety Information MAN G DCTROIG EC Ver 1 6 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 DC Trombone from all voltage sources before it is opened for servicing The Gold DC Trombone servo drive contains grounding conduits for electric current protection Any disruption to these conduits may cause the instrument to become hot live and dangerous
56. ir input Programmable inputs 1 6 return for standard version Programmable positive inputs 1 6 for AP version SC OUTA Programmable digital output 4 10 15 Im Supply for out 1 4 VDDRET Supply return for out 1 4 Pin Positions EEEN Bee GH GTRODCO049C Table 23 Digital Input and Output Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 63 4 10 1 1 Digital Input Each of the pins below can function as an independent input DC Gold Trombone Controller Digital Inputs UO Connector GTRODCO18C Figure 28 Digital Input PLC Mode Connection Diagram for S or O Suffixes www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 64 DC Gold Trombone Digital Inputs UO Connector Controller V
57. is manual are warranted to be free of defects in material and workmanship and conform to the specifications stated either within this document or in the product catalog description All Elmo drives are warranted for a period of 12 months from the time of installation or 18 months from time of shipment whichever comes first No other warranties expressed or implied and including a warranty of merchantability and fitness for a particular purpose extend beyond this warranty www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 11 Chapter 2 Product Description This installation guide describes the two configurations available for the Gold DC Trombone servo drive It discusses the wiring installation and power up processes for both the EtherCAT and CAN configurations Following these guidelines ensures optimal performance of the drive and the system to which it is connected 2 1 Drive Description The Gold DC Trombone series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence The Gold DC Trombone delivers up to 10 kW of continuous power or 16 kW of peak power in a compact package The digital drives are part of Elmo s advanced Gold Line They operate from a DC power source in current velocity position and advanced position modes in conjunction with a permanent magnet synchronous brushless motor DC brush moto
58. isolation allows the user to connect the common of the control section to the PE a connection which significantly contributes to proper functionality safety and EMI immunity leading to better performance of the Gold DC Trombone In addition this isolation simplifies the requirements of the DC power supply that is used to power the DC bus of the Gold DC Trombone by allowing it to operate with a non isolated DC power source a direct to mains connection which eliminates the need for a bulky and expensive isolation transformer However as well as operating from a non isolated direct to mains DC power supply the Gold DC Trombone can also operate from an isolated power supply or batteries When rectifying an AC voltage source the AC voltage level must be limited to 270 VAC so as not to exceed the maximum 390 VDC in the case of a 400 VDC drive or 528 VAC so as not to exceed the maximum 747 VDC in the case of an 800 VDC drive www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 44 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 To connect the non isolated DC power supply 1 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 The gauge is determined by
59. izes an energy sharing environment among all the drives that share the same DC bus network Gold DC Trombone 2 VN PE Heat Sink PE Gold DC Trombone 1 AE Mi VN PE Heat Sink PE GTRODCO44B VP ze Non Isolated DC Power Supply Gold DC Trombone N AF Hn y vp NR m m VP pai Fog Terminal Block AE E e m E m Ud E vN PE mE Heat Sink PE amp i id VN Terminal Block PE Terminal Block Mains AC network 230VAC AC1 A47 cR 400VAC Neutral 0 AC2 Earth PE 400VAC AC3 Safety Regulations ER Figure 13 Non Isolated Three Phase Multiple Connection Topology www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 47 4 7 2 2 Battery Power Supply Isolated DC Power Supply DC Gold Trombone VP PE Heat Sink PE GTRODCO009B Figure 14 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 Control and Backup Supply In drives that ha
60. l and AP mode e Optional functions Fast event capture nhibit Enable motion Stop motion under control hard stop Motion reverse and forward limit switches Begin on input Abort motion Homing General purpose Four separate programmable Digital Outputs TTL level optically isolated sink and source PLC optically isolated source e Optional functions Fast output compare for one output only Brake control Amplifier fault indication General purpose Servo enable indication e Pulse and Direction inputs single ended e PWM current command output for torque and velocity 5 1 7 STO Safe Torque Off Inputs e Two STO inputs optically isolated PLC compliable can be configured to TTL Level and AP mode www elmomc com MAN G DCTROIG EC Ver 1 6 Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications 80 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 Temperature can be read on the fly a warning can be initiated x degrees before temperature disable is activated Over under voltage Loss of feedback Following error Current limits 5 1 9 Status Indication Two outputs f
61. lmomc com E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 6 I Os The Gold DC Trombone has e 6 Digital Inputs e 4 Digital Outputs e 1 Analog Input 5 6 1 Digital Input Interfaces TTL Mode Feature Details Suffix applicable Tor1 Type of input Optically isolated Input current lin 3 8 mA Vin 5V for all inputs High level input voltage 2 4 V Vin 15 V 5 V typical Low level input voltage OV Vin 0 8V Minimum pulse width 2250 usec for inputs 1 6 gt 3 msec for STO Execution time all inputs O T 250 usec the time from application of voltage on input until execution is complete High speed inputs 1 to 6 T gt 5 usec if the input functionality is set to minimum pulse width in high latch capture index strobe speed mode INotes e Home mode is high speed mode and can be used for fast capture and precise homing e Highest speed is achieved when turning on optocouplers KE GGUI027B o INRET 16 Figure 41 Digital Input Schematic for T or 1 suffixes Capture with differential input T 0 1 usec if the differential input functionality is set h i Port A Port B Index to touch probe capture index strobe www elmomc com E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 6 2 Digital Input Interfaces P
62. n the Gold DC Trombone connectors that are listed in Table 1 4 3 1 1 Motor Power Connector See Section 4 7 1 for full details Brushless Motor TRODCO007A GTRODC004B 4 Pin Pluggable 7 62 mm Phoenix High Current 4 Pin Phoenix Plug in Connector Table 2 Connectors for Motor www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 25 4 3 1 2 Main Power Connector See Section 4 7 2 for full details Function Protective Earth DC Negative Power input DC Power DC Positive Power input DC Power GTRODCO04B TRODCO08A 3 Pin Pluggable 7 62 mm Phoenix High Current 3 Pin Phoenix Plug in Connector Table 3 Connectors for Main Power 4 3 1 3 Auxiliary Power Connector See Section 4 7 3 for full details Optional Backup Supply in S T or AP suffix drives Pin Function Cable S T or AP suffix type Backup Supply Cable Be GTRODCO004B TRODCO15B 2 Pin Pluggable 5 08 mm Phoenix High Current 2 Pin Phoenix Plug in Connector Table 4 Auxiliary Power Connector www elmomc com E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 26 4 3 1 4 Port A Connector See Section 4 9 1 for full details Incremental Encoder Absolute Serial Encoder See S aen 12 4 5V Encoder 5V supply 5V Encoder 5V supply Pin Positions PORTC ooooo ooooo O ooooo GTRO
63. oller host failure 8 After completing the wiring carefully inspect all wires to ensure tightness good solder joints and general safety 4 6 Connection Diagrams There are two connection diagrams for EtherCAT and two for CAN that show the two different ways of connecting the power supply e 400 V and 800 V S T or AP models the catalog number has an S T or AP suffix that feature backup functionality and require an auxiliary 24 V backup supply The drive will not be operative without the external 24 VDC supply e 400 V model without backup functionality with a O or 1 suffix The drive s internal DC DC converter is fed from the VP and VN of the internal drive s bus line www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 37 4 6 1 Connection Diagrams for EtherCAT Version The following describes the connection diagrams for the EtherCAT version Gold DC Trombone EtherCat In EtherCat USB Host master or cI other EtherCat device um USB GND EtherCat master or other EtherCat i STO C ontroller device um i STO1 un STO2 D ISOLATED 24 VDC AUX BACKUP SUPPLY STO_RET f ay T S os Backup Supply EN 1 EN 2
64. or bi color LEDs 5 1 10 Automatic Procedures Commutation alignment Phase sequencing Current loop offset adjustment Current loop gain tuning Current gain scheduling Velocity loop offset adjustment Velocity gain tuning Velocity gain scheduling Position gain tuning www elmomc com MAN G DCTROIG EC Ver 1 6 a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications 5 2 Gold DC Trombone Dimensions 140 0 5mm SS B 134 0 2 3 3 PLCS es 124 70 NT E w ge L B lt r bh a a Qo N BS on TN mez 0 24 2 PLCS 105 0 50 mm Figure 39 Gold DC Trombone Dimensions www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 3 Environmental Conditions Feature Details Ambient operating temperature Storage temperature Maximum non condensing humidity 5 4 Control Specifications 5 4 1 Current Loop Feature Details Controller type Vector digital Compensation for bus voltage variations On the fly automatic gain scheduling Motor types e AC brushless sinusoidal e DC brushless trapezoidal e DC brush e Linear motor
65. p to 4 kHz commutation frequency 5Vlogic Input voltage up to 15 VDC e Incremental encoder with digital Halls for commutation up to 75 Megacounts per second for encoder e Interpolated Analog Sine Cosine Encoder Supports 1 V PTP Sin Cos Sin Cos frequency up to 500 kHz Internal interpolation up to x8192 Automatic correction of amplitude mismatch phase mismatch signal offset Emulated encoder output of the analog encoder e Analog Hall Sensor One feedback electrical cycle one electrical cycle of the motor Supports 1 V PTP Sin Cos Sin Cos Frequency up to 500 kHz Internal Interpolation up to x8192 Automatic correction of amplitude mismatch phase mismatch signal offset e Resolver 14 bit resolution Upto512revolutions per second RPS Emulated encoder outputs of the resolver e Auxiliary encoder inputs ECAM follower etc single ended unbuffered e Tachometer amp Potentiometer e Absolute serial encoders NRZ Panasonic Tamagawa Mitutoyo etc EnDAT 2 2 BiSS SSI The Gold DC Trombone can provide power 5 V 2x200 mA max for encoders resolver or Halls www elmomc com MAN G DCTROIG EC Ver 1 6 a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications 5 1 6 Input Output e One Analog Input up to 14 bit resolution e Six separate programmable Digital Inputs optically isolated PLC compatible can be configured to TTL Leve
66. r linear motor or voice coil They are designed for use with any type of sinusoidal and trapezoidal commutation with vector control The Gold DC Trombone can operate as a stand alone device or as part of a multi axis system in a distributed configuration on a real time network The drives are easily set up and tuned using Elmo Application Studio software tools This Windows based application enables users to guickly and simply configure the servo drive for optimal use with their motor The Gold DC Trombone as part of the Gold Line is fully programmable with Elmo s motion control language Power to the drives is provided by a DC power source not included with the Gold DC Trombone Since the power stage is fully isolated from the control stage the DC rectifier can be fed directly from the mains without the need for a bulky and expensive transformer If backup functionality is reguired to store control parameters in the event of a mains power outage then an S T or AP model Gold DC Trombone should be used with an external 24 VDC isolated supply connected to it The backup functionality can operate from an isolated voltage source within the range of 18 to 30 VDC Whenever backup functionality is not reguired Gold DC Trombone models with the O or 1 suffix only for 400 V models in the catalog number see page 22 can be used i e they do not have a 24 V control supply In these models a smart control supply algorithm enables the Gold
67. r control feedback and communication connections For best results the cable should have an aluminum foil shield covered by copper braid and should contain a drain wire 2 The drain wire is a non insulated wire that is in contact with parts of the cable usually the shield It is used to terminate the shield and as a grounding connection www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation 36 MAN G DCTROIG EC Ver 1 6 3 The impedance of the wire must be as low as possible The size of the wire must be thicker than actually required by the carrying current A 24 26 or 28 AWG wire for control and feedback cables is satisfactory although 24 AWG is recommended 4 Useshielded 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 5 Keep all wires and cables as short as possible 6 Keepthe motor wires as far away as possible from the feedback control and communication cables 7 Ensure that in normal operating conditions the shielded wires and drain carry no current The only time these conductors carry current is under abnormal conditions when electrical equipment has become a potential shock or fire hazard while conducting external EMI interferences directly to ground in order to prevent them from affecting the drive Failing to meet this requirement can result in drive contr
68. ral Biquad e Current loop gain scheduling to compensate for bus voltage variations e Velocity gain scheduling for ultimate velocity loop performance e Gains and filter scheduling vs position for mechanical coupling optimization speed and position tracking errors e High order filters gain scheduling vs speed and position e S curve Profile Smoothing e Cogging BEMF and xL compensation e Dual Loop Operation supported by Auto Tuning e Fast easy and efficient advanced Auto Tuning e Incremental encoder frequency of up to 75 Megacounts sec e Motion profiler numeric range Position up to 2 x 10 counts Velocity up to 2 x 10 counts sec Acceleration up to 2 x 10 counts sec www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 13 2 2 2 Motion Control e Motion control programming environment e Motion modes PTP PT PVT ECAM Follower e Full DS 402 motion mode support in both the CANopen and CANopen over EtherCAT CoE protocols including Cyclic Position Velocity modes Fast Hardware event capturing inputs supporting lt 1 us latch latency e Fast hardware Output Compare with lt 1 us latency e Output compare repetition rate Fixed Gap Unlimited Table based 4 kHz e Motion Commands Analog Pulse Width Modulation PWM Software Pulse and Direction e Distributed Motion Control e EAS Elmo Application Studio software an e
69. s e Voice coils Current control Fully digital Sinusoidal with vector control Programmable PI control filter based on a pair of PI controls of AC current signals and constant power at high speed Current loop bandwidth 4 kHz closed loop Current sampling time Programmable 40 to 120 psec Current sampling rate Up to 20 kHz default 20 kHz www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 4 2 Velocity Loop Feature Controller type Velocity control Velocity and position feedback options Velocity loop bandwidth Velocity sampling time Velocity sampling rate Velocity command options 5 4 3 Position Loop Feature Controller type Position command options Position loop bandwidth Position sampling time Position sampling rate Details PI Four advanced filters Two advanced gain scheduling filters Fully digital Programmable PI and feed forward control filters On the fly gain scheduling according to either speed or position command or feedback Automatic quick advanced or expert tuning Incremental Encoder Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional e Absolute serial encoder Note e With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative lt 500 Hz 80 to 240 usec 2x current loop sample time Up to
70. t In EtherCat Out Feedback In PortA Feedback In Port B Feedback Out Port C Isolation Boundary Power Connector M3 PE Heat sink GTRODCO42C 400 V without Backup iagram Functionality for Model Drives with O or 1 Suffixes D ion Gold DC Trombone EtherCAT Connect www elmomc com 5 o E lI lI 2 Bo bal bal amp aad EK GER E 88 Je O Oz ui oo ros eos red By EES E S Sow So S E d UI E o UE oO o cC c o E AN co Ed S S 8 o O O ira ai Figure 6 a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Incremental or Absolute encoder Hall Sensors Incremental encoder Analog encoder Analog Hall sensors MAN G DCTROIG EC Ver 1 6 4 6 2 Gold DC Trombone Installation Guide EtherCAT and CAN Connection Diagrams for CAN Version Installati nstallation 39 The following describes the connection diagrams for the CAN version Gold DC Trombone CAN Controller CANopen USB CAN H USB VBUS USBD CAN L ISOLATED 24 VDC AUX BACKUP SUPPLY CAN_GND USBD V USB_GND PE STO STO1 STO2 STO RET Backup Supply Backup Supply Isolated Transformer Incremental or Absolute encoder Hall Sensors Incremental encoder Analog
71. t line transmitters Response time lt 1us Output current 15 mA 2 2 6 Inputs e Six Digital Inputs optically isolated sharing a single common INRET e SixDigital Inputs optically isolated sharing a single common positive supply AP e The six digital inputs can be configured to PLC or TTL depending on the part number definition e Al six inputs are fast capture data lt 5 us e One Analog Input 10 V e Six additional fast differential event capture inputs 5 V logic cab be configured through Ports A and B Via Port A or B three on each port depending on model EIA 422 Differential input line receiver Response time lt 1 us www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Product Description MAN G DCTROIG EC Ver 1 6 15 2 2 7 Feedback Options There are Port A and Port B feedback input ports that are flexible and configurable Each port can be programmed to serve as Commutation feedback and or Velocity feedback and or Position feedback Port A supports the following sensors depending on the specific model ncremental encoder Incremental encoder and digital Hall Absolute serial encoder Absolute serial encoder and digital Hall for dual loop Port B supports the following sensors depending on the specific model Incremental encoder Analog encoder Analog Hall Resolver Port Cis a flexible and configurable feedback output port It supports
72. tal Output Interface PLC Mode 90 5 6 4 Digital Output Interface TTL Mode 91 5 6 5 Digital Output Interface AP Mode sss ennemis 92 5 6 6 Analog Input cs er rerit mede eegnen dees Reden 92 54 Sate Torque Ott TO EE 93 5 7 1 STO Input Interfaces PLC and AP Modes sr i LLL i ssseno 93 5 7 2 STO Input Interfaces TTL Mode ennemi nnns 94 5 8 EtherCAT Communications Version sesenta 95 5 9 CAN Communications Version 95 5 10 Pulse Width Modulation DWMI CALL LLALL LAI LLI LL I LLun 95 5 11 Compliance with Standards 96 a E Gold DC Trombone Installation Guide EtherCAT and CAN MAN G DCTROIG EC Ver 1 6 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Gold DC 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 DC Trombone and accompanying equipment Please read this chapter carefully before you begin the installation process Before you start ensure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth connection Only qualified personnel may install adjust maintain and repair the servo drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commission
73. the actual current consumption of the motor 2 Connect both ends of the cable shield to the closest PE connections 3 Tie one end to the power supply s PE terminal and tie the other end either to the PE pins of the module PE terminal of the integration board or attach it to one of the four mounting screws of the drive s heat sink 4 7 2 1 Three Phase Direct to Mains Connection Topology DC Gold Trombone Non Isolated DC Power Supply VP E AAA z Yr Pee o vo l o pow SC d Mains AC network 230VAC m 1 o Act y 3 280VDC 1 H TN i je Neutral 0 i E A A Earth PE C2 Safety Regulations s ssovoc e e e cz b A N d Le 280VDC i ae E a de vl VL el NE Kc VN VN See PE 98 Heat Sink PE Ny GTRODCOSZA Figure 11 Non Isolated Three Phase Connection Topology Caution e 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 e Take care and note that in a direct to mains connection the Neutral point is not the most negative voltage level It is the mid point level of the rectified DC bus www elmomc com E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 45
74. ts e Digital Hall sensors e 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 pair of matching and encoder channels and is configurable by software Differential Pulse amp Direction signal inputs can be connected to port A in the models that support input from an incremental encoder The signals can be connected to the pair of matching and encoder channels and are configurable by software Incremental Encoder Absolute Serial Encoder Pin on Signal Function Signal Function PortA 4 12 5V Encoder 5V 5V Encoder 5V supply supply 3 9 11 13 SUPRET Common return SUPRET Supply return e PortA_ENC_A Channel A ABS_CLK Abs encoder clock e PortA_ENC_A Channel A ABS_CLK Abs encoder clock PortA_ENC_B Channel B ABS_DATA Abs encoder data 14 PortA_ENC_B Channel B ABS_DATA Abs encoder data PortA_ENC_INDEX Index Reserved Reserved eme m IN EtherCAT CH Pin Positions ooooo Ex O ooooo il ooooo J ooooo Wesson Y Fo E we ee GTRODC003B Table 20 Port A Pin Assignments www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 55 4 9 1 1 Incremental Encoder
75. ve systems Electromagnetic compatibility EMC Acceptability of electronic assemblies Acceptability of printed circuit boards Protection of electrostatic sensitive devices Environmental In compliance with 2002 96 EC In compliance with 2002 95 EC effective July 2006 Waste Electrical and Electronic Equipment regulations WEEE Out of service Elmo drives should be sent to the nearest Elmo sales office Restrictions on Application of Hazardous Substances in Electric and Electronic Equipment RoHS www elmomc com
76. ve a O or 1 suffix only for 400 V model in the catalog number a smart control supply algorithm enables the Gold DC Trombone to operate with the main power supply only with no need for an auxiliary supply voltage to supply the drive s logic section Note that in such a model there is no backup ability at all If backup functionality is required to store control parameters in the event of a mains power outage then an S T or AP model Gold DC Trombone should be used with an external 24 VDC isolated supply connected to it Note that the S T or AP model Gold DC Trombone always requires an external 24 VDC power supply regardless of whether or not backup functionality is required Connect the auxiliary 24 VDC power supply as described below To connect the 24 VDC backup supply 1 Use a 24 AWG twisted pair shielded cable The shield should have copper braid 2 The source of the 24VDC backup supply must be isolated with an isolation transformer 3 For safety and EMI reasons connect the return of the 24VDC backup supply to the closest ground PE 4 Connect the cable shield to the closest ground PE near the power source 5 Before applying power first verify that the polarity of the connection is correct www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Installation MAN G DCTROIG EC Ver 1 6 48 DC Gold Trombone S T Model Isolated 24VDC Backup Supply VL VL
77. vel input voltage 2 4 V Vin 15 V 5 V typical Low level input voltage OV lt Vin 0 8V Minimum pulse width gt 3 ms Rin 1K o Input STO1 STO2 al NEY a GGUI054B o STO_RET Figure 49 STO Input Schematic for T or 1 Suffix www elmomc com a E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 8 EtherCAT Communications Version Specification Details EtherCAT 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 e USB 2 0 Device mode 5 9 CAN Communications Version Specification Details CANopen CAN bus Signals e CAN H CAN L CAN RET e Maximum Baud Rate of 1 Mbit sec Version e DS301 v4 01 Layer Setting Service and Protocol Support e DS305 Device Profile drive and motion control e DS 402 Mini USB e USB 2 0 Device mode 5 10 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 com E Gold DC Trombone Installation Guide EtherCAT and CAN Technical Specifications MAN G DCTROIG EC Ver 1 6 5 11 Compliance with Standards Specification Quality Assurance ISO 9001 2008 Design Approved IEC EN 61800 5 1 Safety MIL HDBK 217F UL 60950 IPC D 275 IPC SM 782 IPC CM 770 UL 508C UL 840 In compliance with VDEO1

Gold DC Trombone Digital Servo Drive Installation Guide

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