Home

Gold Trombone Digital Servo Drive Installation Guide

1. 14 2 2 6 IN PUES s erre eter sre estera e eelere 14 2 2 7 Feedback Option 15 2 2 8 Feedback Sensor Spechfications sees eene enne 15 Pn EMI Hee de RETE EET S LLL 16 2 3 System Architecture ue eet seet reed aaee dta st dede aaae Ea D GR RETE d Nri ded 17 2 4 How to Use this Guide esses esee eene iai 18 Chapter3 Technical Information oro corri orto o Eun are r sa NEE ER ee ye Pepe ER Eo EDS 19 3 1 Technical Data ed eter iter se eot reote Dee Resa iuro e eae ER daski ania 19 3 1 1 Auxiliary Supply seessesseesesee eene eene enne enne nnne 20 Chapter4 Installation rrr ttt tono en ee toro en eios no eet po no aS turo eoa S apos EES ao nae 21 4 1 Site Requiremiehts erste pee oeste esterni EEE E E Seele ees 21 4 2 Unpacking the Drive Components nennen ennemi nnns 21 e SE eelere 23 4 3 1 Connector TYPES ood ci tee acie ua e tao eo deu aud Beek ev ue gut ducted eo nea ud prr uv 23 DC MEME Oc 24 4 3 2 1 Motor POWE EE 24 GE e DE Min Re dE 24 4 3 2 3 Auxiliary Power Connector J3 essere 25 43 2 4 Connector 2 iiie oeste temer tare ees tace e Phasen e rae aie 26 4 3 2 5 Coninector 1 ertet iinet io Tas ee er nein Ea EY e anne 29 4 4 Mounting the Gold Trombone eene enne enne nnne nnne 31 4 5 Integrating the Gold Trombone on a PCB nennen nnne nnne 32 ADile gt WACO I ME 32 4 5 2 Grounds and Refus eege rere tee roter NEE oto een wee oe
2. Fon ENCO INDEX PWM Controller or Imo Gold Drive CHA CHA INDEX INDEX COMMON GTROO37C Figure 24 Emulated Encoder Differential Output Recommended Connection Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 10 User I Os The Gold Trombone has six programmable digital inputs J1 four digital outputs J1 and one analog input J2 4 10 1 Digital Inputs J1 Each of the pins below can function as an independent input Pin J1 Signal Function High speed programmable input 1 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input 7 IN2 High speed programmable input 2 event capture home general purpose RLS FLS INH PWM amp dir input pulse amp dir input IN3 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 dir input 5 INRET1 6 Programmable inputs 1 6
3. MAN G TROIG EC Ver 1 6 Approved IEC EN 61800 3 EMC Adjustable speed electrical power drive systems In compliance with EN 55011 Class A with Electromagnetic compatibility EMC 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 Acceptability of electronic assemblies In compliance with IPC A 600 level 2 Acceptability of printed circuit boards In compliance with EN 100015 Protection of electrostatic sensitive devices In compliance with 2002 96 EC Waste Electrical and Electronic Equipment regulations WEEE Note Out of service Elmo drives should be sent to the nearest Elmo sales office In compliance with 2002 95 EC Restrictions on Application of Hazardous effective July 2006 Substances in Electric and Electronic Equipment RoHS www elmomc com
4. STO2 STO RET Incremental or Absolute i Feedback In encoder Hall Sensors i Port A Connector OUT3 OUT4 VDD ue DI PN INRET1 6 M lt x J1 6 Pod IN1 Le Incremental encoder p BEES Jun i Analog encoder Feedback In IN2 Em m Resolver i Port B J1 8 i Analog Hall sensors l IN3 m i J1 9 d IN4 m 4 A D J1 10 r i Encoder Emulation Feedback Out ms l Port C J1 14 l 1 ine m lt ee J1 22 bd our La gt J1 21 bd Isolation Boundary OUT2 m Power J1 24 i H VDDRET AC1 o AC2 o AC3 0 1 PE Heat sink LED_ET_ERR LED_ET_RUN 3 3V RET COMRET ANALOG1 ANALIN1 ANALOG1 ANALIN1 Circuit ANLRET Common V GTROO02D Figure 4 Gold Trombone Connection Diagram for EtherCAT 400 V without Backup Functions 0 or 1 suffix www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 37 Gold Trombone CANopen USB USB Host J2 44 USB VBUS CAN J2 42 Controller USBD we J2 4
5. i Integration Board i sspe 3 L AS EI Gold Trombone n CAN Interface lt gt i VACCA CANH Soy CANL CAN COMRET Note If cable is long gt 5M itis recommended to ground at both ends GTROO009B Figure 30 CANopen Network Diagram Caution When installing CANopen communication ensure that each servo drive is allocated a unique ID Otherwise the CANopen network may hang www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 11 2 USB 2 0 Communication J2 The USB network consists of a Host controller and multiple devices The Gold Trombone is a USB device To connect the USB communication cable 1 Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection 2 Ensure that the shield of the cable is connected to the shield of the connector used for communications The drain wire can be used to facilitate the connection Pin J2 i Function USB Host GTROO08B Integration Board Gold Trombone USB J2 Connector USB VBUS USBD d hs URU ic E E y c N A USBD N amp a USB COMRET Figure 31 USB Network Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Install
6. Gold Gold Trombone Digital Servo Drive I nstallation Guide EtherCAT and CANopen September 2012 Ver 1 6 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 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 a Elmo Motion Control EtherCAT Technology Group Automation GmbH Germany Catalog Number G TRO E XX YYY EAS Gold Line Ji Output Current Profile Blank Standard R No peak current Continuous Current Amps Maximum DC Operating Voltage Network Communications S Standard e CANopen USB E EtherCAT Feedback e EtherCAT or Ethernet E s USB Port A e Absolute Serial Encoder e Incremental Encoder Digital Hall Port B e Incremental Encoder Analog Encoder e Analog Hall Ra Port A Absolute Serial Encoder Incremental Encoder e Digital Hall Port B e Resolver Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd EtherCAT
7. Gold Trombone Digital Outputs J1 Connector Controller VDDRET GTROO012D Figure 28 Digital Output Connection Diagram TTL option for T or 1 Suffixes www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 4 10 3 Input J2 An analog user input can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback Pin J2 Function Integration Board Gold Trombone Analog Inputs J2 Connector Single Ended Source ANALOG1 ANALOG1 ANLRET GTRO036C Figure 29 Analog Input with Single Ended Source www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 11 Communications The communication interface may differ according to the user s hardware The Gold Trombone can communicate using the following options Standard EtherCAT G TROXXX YYYSXX G TROXXX YYYEXX CANopen EtherCAT USB 2 0 USB 2 0 Table 19 Gold Trombone Communication Options For ease of setup and diagnostics of CAN communication and CANopen can be used simultaneously fey When the EtherCAT is connected and FoE in operation the USB cable connection must
8. Reserved Reserved Hall sensor A www elmomc com Installation a E Gold Trombone Installation Guide EtherCAT and CANopen MAN G TROIG EC Ver 1 6 51 Incremental Encoder Connection Diagram 4 9 1 1 GTROO042B Encoder Encoder 5V Supply COMMON H S p ph v v y wv v v n a e a 2 e e e N N N e e e oz ES CH o a gt X x a E c S lt x wi a d a B Sisi g 2 282 ges 595 DI D Di D 2 g 2 Do d g lt lt de E Ka xd Es o o o o Kal a ao a e e I I I Figure 17 Port A Incremental Encoder Input Recommended Connection Diagram www elmomc com E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 9 1 2 Absolute Serial Encoder Connection Diagram Gold Trombone Connector J2 J1 Absolute Encoder ABS CLK 1200 ABS CLK e ABS DATA Encoder 5V Supply COMMON GTROO0040B Figure 18 Absolute Serial Encoder Recommended Connection Diagram for Sensors Supporting Data Clock e g Biss SSI EnDAT etc www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation Integration Board Gold
9. For S or T type 95 voltage For 0 or 1 suffix type 100 Nominal supply VDC 325 560 for 400 VAC voltage 680 for 480 VAC Maximum supply VDC 400 780 voltage 96 VDC VA A A A g 02 mm in Maximum continuous Ww Up to 10 kW of continuous qualitative power power output Efficiency at rated 98 power at nominal conditions 18 to 30 VDC only in S or T type Auxiliary supply voltage option Auxiliary power supply Continuous current limit Ic Amplitude sinusoidal DC trapezoidal commutation lt 5 VA without external loading 8 VA with full external loading 12 15 5 5 7 8 5 7 8 11 3 300 g 10 6 oz Sinusoidal continuous RMS current limit Ic Peak current limit Digital in Digital out Analog in Mounting method See page 21 for details on the part number The S or T suffix appears in models where there is a 24 V control supply If there is an O or 1 suffix the control power supply operates from the main 111 x 76 x 34 4 37 x 3 x 1 34 6 4 1 PCB Mounted power www elmomc com E Gold Trombone Installation Guide EtherCAT and CANopen Technical I nformation MAN G TROIG EC Ver 1 6 Noes on current ratings The current ratings of the Gold Trombone are given in units of DC amperes ratings that are used for trapezoidal commutation or DC motors The RMS sinusoidal commutation value is the DC value divided by 1 41 3 1 1 Auxiliary Supply Feature Deta
10. 1 for incremental encoder Encoder emulation Emulate any input sensor digital or analog or use to emulate an internal variable such as virtual profiler 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 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 The Gold Trombone is used as a current amplifier to provide position data to the position controller The Gold Trombone is used in velocity mode to provide position data to the position controller The Gold Trombone is used as a master in follower or ECAM mode www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Pin J2 Signal Function PortC ENCO A Buffered Channel A output Pulse PWM Buffered Channel A output Pulse 8 Portc_eNcoB Buffered Channel B output Dirt 6 jPotCENCO B Buffered Channel B output Dir Buffered Channel INDEX output PortC ENCO INDEX Buffered Channel INDEX output Table 15 Port C Pin Assignment Integration Board Gold Trombone Connector J2 gt E PortC_ENCO_A PortC_ENCO_A PortC_ENCO_ B PortC_ENCO_B PortC_ENCO_INDEX
11. A Hall sensor C input Port B channel A complement Hall sensor B input Port B channel B Hall sensor A input Port B channel B complement Analog return Port B index EIL MEN Upon EIC A LL NNNM EIL MEN ELI MN NN aa NN NN ELEC NN EIL MEME LIT MEME Vref complement f 1 TS 50 mA Maximum Analog input 2 Port B index complement Vref complement f 1 TS 50 mA Maximum www elmomc com Analog input 1 complement Supply return 3 3 V supply voltage for EtherCAT LEDs EtherCAT In receive EtherCAT Out receive EtherCAT In receive complement EtherCAT Out receive complement EtherCAT In Communication return CAN Communication Return EtherCAT Out Communication CAN Communication Return EtherCAT In transmit a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Pin J2 Signal Function 34 EtherCAT PHY_OUT_TX EtherCAT Out transmit complement PHY_IN_TX EtherCAT In transmit complement EtherCAT PHY_OUT_TX EtherCAT Out transmit complement PHY_IN_LINK_ACT EtherCAT In active LED EtherCAT EtherCAT Out active LED PHY OUT LINK ACT CAN CAN L CAN L bus line dominant low PHY IN SPEED EtherCAT In LED2 EtherCAT PHY OUT SPEED EtherCAT Out LED2 CAN CAN H CAN H bus line dominant high USBD USB data complement USBD USB data USB_COMRET USB_COMRET USB VBUS 5V N A Not in use keep unconnected Commo
12. Conformance Tested EtherCAT is a registered trademark and patented technology licensed by Beckhoff Document no MAN G TROIG EC Ver 1 6 Copyright 2012 Elmo Motion Control Ltd All rights reserved 24 V Aux Supply 24 V I O High side logic Source Applicable for 400 and 800 V models 24 V Aux Supply 5VI O Applicable for 400 and 800 V models Control power supply operates from the Main Power 24 V I O High side logic Source Applicable for 400 V model Control power supply operates from the Main Power 5v I O Applicable for 400 V model Revision History Version Details Initial Release Major updates to Chapter 3 Several updates throughout the manual Sections 4 3 and 4 3 1 Auxiliary Supply Voltage range 18 V to 30 V Wide ranging changes throughout document to include new pinouts Removal of the RS232 option Added update P N details on Feedbacks Absolute included as standard Change the overvoltage in 800 V mode Neutral option removed Change the overvoltage in 800 V mode Pin layout UL recognition and further optional versions added Elmo Worldwide Head Office Elmo Motion Control Ltd 60 Amal St P O Box 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
13. EtherCAT Network with Redundancy 4 11 4 Ethernet Communication J2 To use EtherCAT and Ethernet communication with the Gold Trombone it is required to use an isolation transformer The most common solution is to use RJ 45 connectors that include transformer isolation This section describes how to connect the Gold Trombone Ethernet interface using the above mentioned connectors For other available options please see Section 04 11 5 To initiate Ethernet communication 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 www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation Pin J2 Signal Function 37 PHY_IN_LINK_ACT Indicates Ethernet LINK Table 23 Ethernet Pin Assignments Integration Board 3 3V 200R 200R G Trombone EtherCAT In J2 Connector PHY IN Rx CR LG PHY_IN_Rx PHY IN Tx oum Ps PHY IN Tx a Ethernet 7 Cable Ethernet PHY_IN_SPEED NN Switch PHY_IN_LINK_ACT m J2 26 gt o J2 31 32 PHY_IN_COMRET Mii e RJ45 magnetic not included GTROO034B Figure 35 Ethernet Network Schematic Diagram The diagram above ignores lin
14. For full details about connecting main power see Section 4 7 2 Pin Function Cable Pin Positions Protective Earth Power and Motor DC Negative Power Power input DC Positive Power Power input Connector Type 2 54 mm pitch 0 64 mm sq Table 3 Connector for Main Power www elmomc com Gold Trombone Installation Guide EtherCAT and CANopen MAN G TROIG EC Ver 1 6 Installation 4 3 2 3 Auxiliary Power Connector J3 For full details about connecting auxiliary power see Section 4 7 3 Pin J3 Function Pin Positions 24 V Auxiliary Supply Input Positive 24 V RET Auxiliary Supply Input Return Connector Type 2 mm pitch 0 51 mm sq Table 4 Auxiliary 24 VDC Backup Supply Pins and Polarity www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 3 2 4 Connector J2 Feedback Analog input communications Connector Type 1 27 mm pitch 0 41 mm sq For full details about connecting feedback port A see Section 4 9 1 For full details about connecting feedback port B see Section 4 9 2 For full details about connecting feedback port C see Section 4 9 3 For full details about connecting analog input see Section 4 10 3 For full details about connecting communication see Section 4 11 Note re the EtherCAT and CAN communication options The J2 Connector exports all supported communication links However note that CAN
15. 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 86 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 Trombone Installation Guide EtherCAT and CANopen Table of Contents MAN G TROIG EC Ver 1 6 Table of Contents Chapter i Safety Informatioli 5 3 Zeie treo ee Ec Eege Oe Co raa Ee 8 IESU IIBnc T 9 E EN E e E 9 1 3 Directives and Standards nde ederet t oce ete de t accepere ae ee dace oca de e aas 10 14 CE Marking Conformiance eci trt ecce e pO ten etes tee fite 10 1 5 Warranty InfOrmiatiOT oic oett entered Eege pra eee eere EE em eed een rae epu ge 10 Chapter2 Product Description reor eoe oe oret eeu eee so noo eo goose aao ratae aa NN 11 2 1 Drive Description BE 11 KI SE tee le 12 2 2 1 Sermo Re ur E 12 2 2 2 Motion ee cte bere tree tee Sears rosae aeree pu aaepe e AER 13 2 2 3 ee ant ue e EE 13 2 2 4 SARC EE 14 VES EEG Vd PUTS ieie siedeccecsben
16. Gold Trombone Installation Guide EtherCAT and CANopen Installation Interpolated Analog Encoder Connection Diagram Sine Cosine Encoder 1200 PortB COS PortB COS PortB ANA INDEX PortB ANA INDEX 1200 5V SUPRET Encoder 5V Supply COMMON GTROOS38B Figure 22 Port B Interpolated Analog Encoder Connection Diagram www elmomc com Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 9 2 3 Resolver Connection diagram Integration Bord I Gold Trombone I l I I Connector J2 Kee Resolver eM RI lt d d PortB_SIN T e 4TOPF 2 49kO JI A Port B SIN f LJ NE EE 1 PortB_COS mm ATOPF UU d PortB_COS PortB RES OUT m m m 4TOPF 2 49kQ UI i pop RES OUT c i E L 3 4 9 LR Drain Wire The shield is not connected to the ground or motor chassis GTROO019C Figure 23 Port B Resolver Connection Diagram 4 9 3 Port C Emulated Encoder Output 2 Port C provides emulated encoder output derived from port A or port B feedback inputs or from internal variables The output options are Port A B daisy chain 1
17. Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 5 Integrating the Gold Trombone on a PCB The Gold Trombone is designed to be mounted on a PCB either by soldering its pins directly to the PCB or by using suitable socket connectors In both cases the following rules apply 4 5 1 Traces 1 The size of the traces on the PCB thickness and width is determined by the current carrying capacity required by the application The rated continuous current limit Ic of the Gold Trombone is the current used for sizing the motor traces M1 M2 M3 and PE and power traces VP VN and PE For control feedbacks and I O conductors the actual current is very small but generous thickness and width of the conductors will contribute to better performance and lower interference 2 The traces should be as short as possible to minimize EMI and to minimize the heat generated by the conductors 3 The spacing between the high voltage conductors VP VN M1 M2 M3 must be at least 400 V Drives 800 V Drives Internal layer Surface layer 4 The spacing between the high voltage conductors VP VN M1 M2 M3 and the logic part of the drive must be at least 400 V Drives 800 V Drives Internal layer Surface layer 5 The spacing between any voltage conductors and the PE part of the drive must be at least 400 V Drives 800 V Drives
18. Installation Guide EtherCAT and CANopen Table of Contents MAN G TROIG EC Ver 1 6 5 1 9 Status Indication iste feiert cer aree GREEN EEN 80 5 1 10 Automatic ProCedUres e cessere ceo retra eai eee reae en aad cea hada e n RE ica aigiee 80 5 2 Gold Trombone DIMENSIONS cssccccesssececsenececsecaeeecseuececseaaeeecseaaeeeeseaaeeeeseaeeeeseaaes 81 5 3 Environmental Conditions 81 5 4 Control Specfications eene nennen enne nnn nnns esent ain ns sss sese ne agnis 82 541 Current EOOD eiie ert ires tidie eere e Eeer 82 5 42 Velocity LOOD WEE 83 54 3 POSItIOn EOOD xc ane ecd ates eode foto voeem edente Seen eodeni 83 L5 ele Te 84 5 5 1 Feedback Supply Voltage sicret iinseesidesne taikaisi tnes iaer sen i aaien 84 552 Feedback Options i ede Reve eege de 84 5 5 2 1 Incremental Encoder Input essen enne 85 5 5 2 2 Digital Halls cte te EE hand Ta RIA CORNERS 86 5 5 2 3 Interpolated Analog Sine Cosine Encoder 86 5 5 2 4 Resolver sedie nE bro ee ken ee duas s e ades 87 5 5 2 5 Absolute Serial Encoder essere 87 5 5 3 Port C Feedback Output 88 OAM 89 5 6 1 Digital Input Interfaces TTL Mode esses 89 5 6 2 Digital Input Interfaces PLC Mode 90 5 6 3 Digital Output Interface PLC Mode 91 5 6 4 Digital Output Interface TTL Mode 92 5 6 5 Analog ln e EE 92 5 7 Sate Torque Off
19. Internal layer Complying with the rules above will help satisfy UL safety standards MIL STD 275 and the IPC D 275 standard for non coated conductors operating at voltages lower than 800 VDC and at unlimited altitudes above 10 000 meters 30 000 feet www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 4 5 2 Grounds and Returns The Returns of the Gold Trombone are structured internally in a star configuration The returns in each functional block are listed below Functional Block Return Pin CAN Communications CAN_COMRET J2 31 32 USB Communications USB_COMRET J2 43 PHY_IN communication return PHY_IN_COMRET J2 31 Table 7 Grounds and Returns The returns above are all shorted within the control section of the Gold Trombone ina topology that results in optimum performance Caution Follow these instructions to ensure safe and proper implementation Failure to meet any of the below mentioned requirements can result in drive controller host failure 1 When wiring the traces of the above functions on the Integration Board the Returns of each function must be wired separately to its designated terminal on the Gold Trombone DO NOT USE A COMMON GROUND PLANE Shorting the commons on the Integration Board may cause performance degradation ground loops etc 2 Inputs The 6 digital inputs are optically isolated from the other parts
20. Notch General 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 wxL 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 MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Product Description 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 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 e Fixed Gap Unlimited e 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 softwar
21. STO ees ege coss ber R AEAEE EE EE eso Eee ard n 93 5 7 1 STO Input Interfaces TTL Mode ccccccccccsssssssscecececessessaeseeeessessessaeeeeess 93 5 7 2 STO Input Interfaces PLC Mode sese 93 5 8 e Tuut ln td Le LEE 94 5 9 Pulse Width Modulation IDWMI 94 5 10 Compliance with Standards 95 MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Safety I nformation 8 Chapter 1 Safety Information In order to achieve the optimum safe operation of the Gold 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 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 commissioning and operating motors The Gold 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
22. TROIG EC Ver 1 6 5 5 2 4 Resolver Feature Details Resolver format e Sine Cosine e Differential Input resistance Differential 2 49 KQ Maximum electrical frequency RPS 512 revolutions sec 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 TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications 5 5 3 Port C Feedback Output 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 Vo gt 3 0 V Minimum output current lo 2 mA Low level output voltage Vo 0 4 V Available as options e 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 en
23. Trombone Connector J2 J1 Absolute Encoder ABS DATA SA DATA 1200 ABS DATA DATA 5V Encoder 5V Supply COMMON SUPRET GTRO041B Figure 19 Absolute Serial Encoder Recommended Connection Diagram for Sensors Supporting Data Line Only NRZ types e g Panasonic Mitutoyo etc 4 9 1 3 Hall Sensor Connection Diagram Gold Trombone Connector J2 J1 Hall Sensors Supply Return HA 3 W Hala HB 3 CR Haig HC UL ij nauc 3 m Hall 5v Supply GTROO23B Figure 20 Hall Sensors Connection Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 9 2 Port B J2 J1 Port B supports the following sensors e Incremental encoder interpolated analog encoder or as 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
24. 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 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 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 www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 7 2 1 a Three Phase Direct to Mains Connection Topology Gold Trombone Non Isolated DC Power Supply P D VP VP VP er f f I eeo o T qu d NE NE Mains AC network em M t og 230VAC 1 i m EE e o A e of ACC a 280VDC i u u 400VAC Neutral 0 We j Eart
25. 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 Caution AN This information is necessary for preventing damage to the product or to other equipment www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Safety Information MAN G TROIG EC Ver 1 6 9 1 1 Warnings e Cleaning after soldering To avoid damage to the product s acrylic coating the Gold Trombone must not be cleaned after soldering with soluble solvents or water based cleaners For further details see www elmomc com applications article Soldering and Cleaning Application Note pdf e To avoid electric arcing and hazards to personnel and electrical contacts never connect disconnect the servo drive while the power source is on e Power cables can carry a high voltage even when the motor is not in motion Disconnect the Gold Trombone from all voltage sources before it is opened for servicing e The Gold Trombone servo drive contains grounding conduits for electric current protection Any disruption to these conduits may cause
26. be disconnected 4 11 1 CANopen Communication J2 In order to benefit from CANopen communication the user must have an understanding of the basic programming and timing issues of a CANopen network To connect the CANopen communication cable 1 Connectthe shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection 2 Ensure that the shield of the cable is connected to the shield of the connector used for communications The drain wire can be used to facilitate the connection 3 Make sure to have a 120 Ohm resistor termination at each of the two ends of the network cable 4 The Gold Trombone s CAN port is non isolated Pin J2 Signal Function 31 32 CAN_COMRET CAN Communication Return CAN_L CAN_L bus line dominant low am CAN H CAN H bus line dominant high Table 20 CANopen Pin Assignments www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Integration Board Gold Trombone CAN Interface J2 Connector CAN Controller S Integration Board l lt TD Gold Trombone 2 i e n CAN Interface lt 3 gt 1 I i 29 kl Le
27. of the Gold Trombone All six inputs share one return line INRET1 6 To retain isolation the Input Return pin and all other conductors on the input circuit must be laid out separately 3 Outputs The 4 digital outputs are optically isolated from the other parts of the Gold Trombone Each output is related to VDDRET that is also optically isolated To retain isolation all the output circuit conductors must be laid out separately 4 Return Traces The return traces should be as large as possible but without shorting each other and with minimal cross overs 5 Main Power Supply and Motor Traces The power traces must be kept as far away as possible from the feedback control and communication traces 6 PETerminal The PE Protective Earth terminal is connected directly to the Gold Trombone s heat sink The heat sink serves as an EMI common plane The PE terminal should be connected to the system s Protective Earth Any other metallic parts such as the chassis of the assembly should be connected to the Protective Earth as well www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 7 Under normal operating conditions the PE trace carries no current The only time these traces carry current is under abnormal conditions such as when the device has become a potential shock or fire hazard while conducting external EMI interferences directly to ground When connected
28. the instrument to become hot live and dangerous e 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 e The Gold Trombone servo drive contains hot surfaces and electrically charged components during operation e The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide e When connecting the Gold Trombone to an approved isolated 18 to 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 e Before switching on the Gold Trombone verify that all safety precautions have been observed and that the installation procedures in this manual have been followed www elmomc com E Gold Trombone Installation Guide EtherCAT and CANopen Safety Information MAN G TROIG EC Ver 1 6 10 1 3 Directives and Standards The Gold 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 Equipment In compliance
29. 0 V to 780 V so you must use the correct power supply according to the maximum operating voltage of the Gold Trombone See Section Chapter 3 Technical Information 4 7 1 Motor Power Pin Function Pin Positions a NAE Brushless Motor Protective Power and Motor Table 8 Connector for Motor Connect the M1 M2 M3 and PE pins on the Gold Trombone in the manner described in Section 4 5 Integrating the Gold Trombone on a PCB 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 Motor Connectors GENO0002A Figure 7 Brushless Motor Power Connection Diagram www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 40 Motor Connectors GENO001A Figure 8 DC Brushed Motor Power Connection Diagram e For best 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 Trombone e Ensure that
30. 1 Digital Inputs JT tete heute dedu eese teo teu deduce 59 4 10 25 Digital Outputs UU ege tege ere ege 62 4 0 3 Input J2 e ect tenete teet eeu putes eese AER 65 4 11 e sielen lu Le 66 4 11 1 CANopen Communication J2 sess 66 4 11 2 USB 2 0 Communication Uli 68 4 11 3 EtherCAT Communication 2 69 4 11 4 Ethernet Communication U72 enne nnns 71 4 11 5 EtherCAT Ethernet Line Interface 73 LS PEE ais e 74 4 12 1 Initializing the System 74 DE DN E ele Ee Ee le DEE 75 4 13 1 Gold Trombone Thermal Data 75 43 2 Heat DISSIPATION Data detener netus o net uode Rea usen ea uer e RR ERE ERE Steeg 75 4 13 3 How to Use the Charts erisssssrsassrissrssnirrnssonirsassonnipanssni raas henus sni enaren issnin 76 Chapter5 Technical Specifications is cscsissscccescascocessstacessssvecescssvacousssseceeessceceusdencoesssveeoes 77 5 1 EG AGUGES sa sel E E siacsiusseaedeasswasngavetandedsteatatedtogeReasteseaGesananggrsauesaeessedeas 77 5 1 1 Motion Control Modes sessi entere ennt 77 5 1 2 Advanced Positioning Control Modes ssssssssssssssesrrrrssssrserrnsrssssrsernnsnssno 77 5 1 3 Advanced Filters and Gain Scheedung 77 5 1 4 Fully Progsrammable enirere En easi E EEEN Eia 78 5 1 5 Feedback Options cete ANESEC aa EEEN EEE 78 5 176 COEUR 79 5 1 7 STO Safe Torque Off Input 79 5 1 8 Built In Protection 79 a E Gold Trombone
31. 1 CAN GND USBD Le J2 43 USB GND i STO A4 Controller STO1 um J1 13 STO2 mm SANEENWENK 00 D BACKUP SUPPLY STO_RET 3 a 2 n Backup Supply E e d E i d Y EN Backup Supply e Lei vo DIS INRET1 6 IM J1 6 IN1 um AUT KAY IN2 um E quee J1 8 IN3 2N m 31 9 E INA Lea J1 10 INS Eu Incremental or Absolute CN i i Feedback In encoder Hall Sensors I I Port A J1 11 A E ine m t J1 22 OUT um B 8 J1 21 Incremental encoder as j OUT2 Analog encoder A A J1 24 9 pog Feedback In ours Lena Resolver Le i Port B us Analog Hall sensors f OUT4 J1 26 8 E voo Lea F 6 J1 25 e E Feedback Out Encoder Emulation met Port C VDDRET EEE Lad S J1 18 Isolation Boundary Power Connector An J1 15 LED ET ERR EE J1 16 LED_ET_RUN um C EE VP b ACT 0 Supply bd JH bg sing VN 1 3 E 3 3V RET AC20 VN COMRET E 1 bod ba Aca o BENE l j PE D PE Heat sink b J222 e P A ANALOG1 NII ANALIN1 8 J2 24 ANALOG1 Lt ANALIN1 J2 20 Circuit ANLRET COTON GTROO050A Figure 5 Gold Trombone Connection Diagram for CANopen with Backup Functionality S or T Model Drive www elmomc com E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 38 Gold Trombone CANopen USB USB Host 1 J2 44 USB VBUS CAN J2 42 Control
32. 2 36 i i PHY_OUT_Tx a d EtherCAT i J2 40 Cable CAT5 EtherCAT Master i f A or PHY_OUT_SPEED I Diario J2 38 Device A PHY OUT LINK ACT INI d J2 26 e e 100uF 1uF J2 31 32 PHY_OUT_COMRET EE e RJ45 magnetic d not included Integration Board i c e 1 e 1 N i Gold Trombone EtherCAT In J2 Connector J2 27 PHY_IN_Rx IN J2 29 PHY IN Rx lam J2 33 j PHY_IN_Tx mE J2 35 PHY IN Tx niim u EtherCAT 1 bud Cable CAT5 EtherCAT Master or i PHY IN SPEED Other EtherCAT J2 37 Device Figure 32 EtherCAT Connection Schematic Diagram www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation The diagram above ignores line interface for simplicity When connecting several EtherCAT devices in a network the EtherCAT master must always be the first device in the network The output of each device is connected to the input of the next device The output of the last device may remain disconnected If redundancy is required the output of the last device should be connected to the input of the EtherCAT master In Out EtherCAT Master Gold Gold Gold Trombone Trombone Trombone GTROO006A Figure 33 EtherCAT Network with no Redundancy In Out In Out In Out EtherCAT Master Gold Gold Gold Trombone Trombone Trombone GTROOSA Figure 34
33. DD VDD Supply 5V up to 30V Table 6 Connector J1 Communication www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 4 Mounting the Gold Trombone The Gold Trombone is designed for mounting on a printed circuit board PCB It is connected by 1 27 mm pitch 0 41 mm square pins and 2 54 mm pitch 0 64 mm square pins When integrating the Gold Trombone into a PCB be sure to leave about 1 cm 0 4 outward from the heatsink to enable free convection of the air around the Gold Trombone We recommend that the Gold Trombone be soldered directly to the board Alternatively though this is not recommended the Gold Trombone can be attached to socket connectors mounted on the PCB However if the PCB is enclosed in a metal chassis we recommend that the Gold Trombone be screw mounted to it as well to help with heat dissipation The Gold Trombone has screw mount holes on each corner of the heatsink for this purpose 111 2 110 4 50 100 50 R4 75 E E 4 PLCs B E 4 PLCS 2 54 J 61 25 PER TYP lk N e 51 75 d GE 42 25 all 32 75 9 G i E 29 87 S N 23 96 1 27 23 25 TYP 13 75 4 75 3 73 pec oQ G d on a eo GTRO047B NEN cO LO OO e CN CN N Figure 2 Gold Trombone Footprint www elmomc com E Gold Trombone Installation
34. N G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation o CH E e N CH Dissipated Power Watts CH 0 4 8 12 16 20 24 28 32 Current Amps Figure 37 Dissipation versus Current Graph for 330 VDC 4 13 3 Howto Use the Charts The power dissipation in the chart includes the losses of the rectifying bridge Regarding Figure 36 and Figure 37 the following should be noted DC Bus Voltage VDC Rectified Voltage VAC 8 680 3X480 The charts above are based upon theoretical worst case conditions Actual test results show 30 to 50 better power dissipation To determine if your application needs a heat sink 1 Allow maximum heat sink temperature to be 80 C or less shunt down is 6 C to 8 C higher 2 Determine the ambient operating temperature of the Gold Trombone as lt 40 C 3 Calculate the allowable temperature increase according to the following example For an ambient temperature of 40 C AT 80 to 40 C 40 C 4 Use the chart to find the actual dissipation power of the drive Follow the voltage curve to the desired output current and then find the dissipated power www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 Chapter 5 Technical Specifications This chapter provides detailed technical information regarding the Gold Trom
35. Return Feedback In Pot A Feedback In Port B i l Encoder Emulation i VP DC Power AC1 o Supply AC2 o MN AC3 0 li D Feedback Out Port C Isolation Boundary Ma Power Connector M2 M1 PE VN PE PE Heat sink USB USB VBUS Installation USB Host USBD USBD USB_GND V STO Controller STO1 STO2 STO RET UO INRET1 6 IN1 IN2 IN3 INA INS IN6 OUT1 OUT2 OUT3 OUT4 VDD VDDRET R 402 2 m LED_ET_ERR LH LED_ET_RUN COMRET 3 3V RET ANALOG1 ANALOG1 ANALIN1 ANLRET ANALIN1 Circuit V Common GTROO033D Figure 3 Gold Trombone Connection Diagram for EtherCAT with Backup Functionality S or T Model Drive www elmomc com 35 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 36 Gold Trombone EtherCat In PHY IN RX USB EtherCat USB Host master or other EtherCat device PHY_IN_TX PHY_IN_RX USB_VBUS USBD PHY_IN_TX USBD EtherCat Out USB_GND PHY_OUT_RX V EtherCat master or other EtherCat device PHY_OUT_TX PHY_OUT_RX Controller STO1 PHY OUT TX
36. UDP Telnet USB e USB 2 0 Device mode 5 9 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 Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 10 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 VDEO160 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 Trombone Installation Guide EtherCAT and CANopen Technical Specifications
37. VN PE e EE Heat Sink PE A 3 Trombone 1 D 3 vp LA L PE WW i Terminal Block P T um um bag VN 8 PE EN l Heat Sink PE j GTRO028A 230VAC A cR Neutral 0 e Earth PE Safety Regulations Figure 11 Non Isolated Three Phase Multiple Connection Topology www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 7 2 2 Battery Power Supply Isolated DC Power Supply Gold Trombone VP Ted GTROO27A Figure 12 Battery Connection Topology T 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 24 V Auxiliary Supply J3 Pin J3 Function Pin Positions 24 V Auxiliary Supply Input Positive 24 V RET Auxiliary Supply Input Return Table 10 Auxiliary 24 VDC Backup Supply Pins and Polarity In drives that have an 0 or 1 suffix only for 400V models a smart control supply algorithm enables the Gold Trombone to operate with the main power supply only with no need for an auxiliary supply voltage to supply the drive s logic section However it should be noted that in such model there is no backup ability at all www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Gui
38. ampling time Current sampling rate Details Vector digital On the fly automatic gain scheduling AC brushless sinusoidal DC brushless trapezoidal DC brush Linear motors Voice coils 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 4 kHz closed loop Programmable 40 to 120 psec Up to 20 kHz default 20 kHz www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 4 2 Velocity Loop Feature Details Controller type PI Four advanced filters Two advanced gain scheduling filters Velocity control Fully digital Programmable PI and feed forward control filters On the fly gain scheduling according to either speed or position command or feedback Automatic quick advanced or expert tuning Velocity and position feedback options Incremental Encoder Digital Halls Interpolated Analog sin cos Encoder optional Resolver optional Absolute serial encoder Note With all feedback options 1 T with automatic mode switching is activated gap frequency and derivative Velocity loop bandwidth Velocity sampling time 80 to 240 usec 2x current loop sample time Velocity sampling rate Up to 10 kHz default 10 kHz Velocity command options Internally calculated by either jogging or step All so
39. and EtherCAT are not available in the same version of the Gold Trombone and are thus not operational simultaneously See the part number diagram in Section 4 2 above for the different Gold Trombone configurations Pin J2 Signal PortA_ENC_A ABS_CLK PortC_ENCO_A PortA_ENC_A ABS_CLK PortC_ENCO_A PortA_ENC_B ABS_DATA PortC_ENCO_B PortA_ENC_B ABS_DATA PortCENCO_B PortA_ENC_INDEX PortC_ENCO_INDEX channel A Absolute encoder clock Port C channel A complement output Port A channel A complement Absolute encoder clock Port C channel A output Port A channel B Absolute encoder Data Port C channel B complement output Port A channel B complement Absolute encoder Data Port C channel B output index index complement output www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Pin J2 11 Signal PortA_ENC_INDEX PortC_ENCO_INDEX PortB_ENC_A SIN HC PortB_ENC_A SIN HB PortB_ENC_B COS HA PortB_ENC_B COS ANLRET PortB ENG INDEX ANALOG Lt RESOLVER_OUT ANALOG1 PortB_ENC_INDEX ANALOG L RESOLVER OUT ANALOG1 SUPRET PHY_IN_RX EtherCAT PHY_OUT_RX PHY_IN_RX EtherCAT PHY_OUT_RX PHY_IN_COMRET CAN CAN_COMRET EtherCAT PHY_OUT_COMRET CAN CAN_COMRET PHY_IN_TX Function Port A index complement Port C index output Port B channel
40. ation MAN G TROIG EC Ver 1 6 4 11 3 EtherCAT Communication J2 To use EtherCAT and Ethernet communication with the Gold Trombone it is required to use an isolation transformer The most common solution is to use RJ 45 connectors that include transformer isolation This section describes how to connect the Gold Trombone s EtherCAT interface using the above mentioned connectors Notes for EtherCAT communication 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 J2 Signal Function 31 32 PHY_IN_COMRET EtherCAT Communication Return PHY_IN_RX EtherCAT IN RX Line PHY_IN_TX EtherCAT IN TX Line os eene enen eem eer emmmer Table 22 EtherCAT Pin Assignments www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation Integration Board 3 3V 200R 200R Gold Trombone PHY IN LINK ACT I 100uF J2 31 32 PHY IN COMRET INIM RJ45 magnetic not included GTROO035B EtherCAT Out J2 Connector J2 28 PHY_OUT_Rx m a i J2 30 PHY OUT Rx Cm x J2 34 PHY_OUT_Tx m J
41. bone 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 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 us e Velocity up to 10 kHz sampling 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 sched
42. coder signals default 2 MHz Index marker Length of pulse is one quadrature one quarter of an encoder cycle and synchronized to A amp B www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 6 I Os The Gold Trombone has e 6 Digital Inputs e 4 Digital Outputs e 1 Analog Input 5 6 1 Feature Suffix applicable Type of input Input current for all inputs High level input voltage Low level input voltage Minimum pulse width Execution time all inputs the time from application of voltage on input until execution is complete High speed inputs 1 to 6 minimum pulse width in high speed mode Capture with differential input Port A Port B Index Digital Input Interfaces TTL Mode Details Tor1 Optically isolated lin 3 8 mA Vin 5V 2 4 V Vin 15 V 5 V typical OV Vin 0 8 V 2250 usec for inputs 1 6 gt 3 msec for STO O T 250 usec T 5 usec if the input functionality is set to latch capture index strobe e Home mode is high speed mode and can be used for fast capture and precise homing Highest speed is achieved when turning on optocouplers T 0 1 usec if the differential input functionality is set to touch probe capture index strobe Rin 1K GGUI027B gt INRET16 Figure 39 Digital Input Schematic www elmomc com E Gold Tr
43. de EtherCAT and CANopen Installation 46 If backup functionality is required to store control parameters in the event of a mains power outage then an S or T model Gold Trombone should be used with an external 24 VDC isolated supply connected to it Note that the S or T model Gold 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 a24 AWG twisted pair shielded cable The shield should have copper braid 2 The source of the 24 VDC backup supply must be isolated with an isolation transformer 3 For safety and EMI reasons connect the return of the 24 VDC 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 Gold Trombone Isolated 24VDC S T Model Backup Supply GTROO26B Figure 13 Auxiliary 24 VDC Backup Supply Connection Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 8 STO Safe Torque Off Inputs J 1 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 prev
44. des uoo ae kn Feier Beg apes 33 Gold Trombone Installation Guide EtherCAT and CANopen Table of Contents MAN G TROIG EC Ver 1 6 4 6 Connection Diagrams eic ccceccssccecctsccecssecceetdeceveasdeceeassecedesstecduesbsecedeasecceudebeccedeesecceds 34 4 7 Main Power Motor Power and Auxiliary Power 39 LAE neglect 39 4 72 Main POWOL iicet aeter t e ea eee ones eoe tea ee de ante en Tenes eese oeee Eed 40 4 7 2 1 Direct to Mains Power Source Non Isolated Rectifier 41 4 7 2 2 Battery Power Supply cccecsessececececessesseaeceeeesseesessaeeeseessessees 45 4 7 8 24 V Auxiliary Supply U3 enne enne 45 4 8 STO Safe Torque Off Inputs OU 47 AD TT Rre c 49 GW SET E KE EE 49 4 9 1 1 Incremental Encoder Connection Diagram esses 51 4 9 1 2 Absolute Serial Encoder Connection Diagram 52 4 9 1 3 Hall Sensor Connection Diagram sssssessssssseserenrrssssesrrerrnssssreee 53 492 PortB 2 J1 iei eee e EE E RE EO IRR a Ae 54 4 9 2 1 Incremental Encoder Connection Diagram sessss 55 4 9 2 2 Interpolated Analog Encoder Connection Diagram 56 4 9 2 3 Resolver Connection diagram 57 4 9 3 Port C Emulated Encoder Output J2 ssesssesseeeeenneenenenens 57 A10 User OS c 59 4 10
45. e an efficient and user friendly auto tuner 2 2 3 Communications e Fast and efficient EtherCAT and CANopen networking e EtherCAT Slave per part number 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 per part number Refer to the section 4 11 for further details e Ethernet TCP IP UDP Telnet e USB 2 0 www elmomc com Gold Trombone Installation Guide EtherCAT and CANopen Product Description MAN G TROIG EC Ver 1 6 2 2 4 Safety Approved IEC EN 61800 5 1 Safety Approved IEC EN 61800 3 EMC IEC 61800 5 2 Safe Torque Off STO with two STO inputs PLC level which can be configured to 5 V logic available on request UL 508C recognition UL 60950 compliance CE EMC compliance 2 2 5 Outputs Four high voltage outputs related to VDD and VDDRET Conforms to IEC 61131 2 Upto 30 VDC High side logic Source Opto isolated ForS 0 suffix Digital Outputs 2 3 4 up to 250 mA Fort 1 suffix Digital Outputs 2 3 4 up to 7 mA ForS 0 suffix Digital Output 1 brake output 500 mA Fort 1 suffix Digital Output 1 7 mA Shortcircuit protection Thermal protection Reverse polarity protection The four outputs can be configured to 5 V Logic available on request Three additional differential
46. e interface for simplicity www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 11 5 EtherCAT Ethernet Line Interface Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning The Gold Trombone unit does not include such isolation therefore you must take this into consideration when designing the integration board In Sections 4 11 3 and 4 11 4 a schematic connection with a standard RJ 45 connector that includes transformer isolation is described Other recommended connection options are e Gold Trombone to an RJ 45 connector without an integrated magnetic isolation e g M12 connectors an isolation transformer is required e Connecting two EtherCAT ports on the same board can be done using capacitive coupling or transformer coupling For more detailed explanations including layout recommendations and component selection guidelines contact Elmo s technical support www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 4 12 Powering Up After the Gold 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 nor to the Neutra
47. efully 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 MAN G TROIG EC Ver 1 6 Gold Trombone Installation Guide EtherCAT and CANopen Installation 3 To ensure that the Gold Trombone you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Gold Trombone It looks like this a Elmo Motion Control P N G TRO8 800EES SOOT TUN G GTRO9370001 GTROOOBA 4 Verify that the Gold 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 Gold Line Output Current Profile Blank Standard R No peak current Continuous Current Amps Maximum DC Operating Voltage Network Communications S Standard a CANopen USB E EtherCAT e EtherCAT or Ethernet USB Lm R XX YYY E AS Options D dh TA feedbacks EENG LBE ys Es Port A e Absolute Serial Encoder e Incremental Encoder Digital Hall Port B e Incremental Encoder e Analog Encoder e Analog Hall R Port A e Absolute Serial Encoder Incremental Encoder e Digital Hall Port B e Resolver 24 V Aux Supply 24 V W O High side logic So
48. ent 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 0 of IEC 60204 1 NIS This function does not protect against electrical shock and additional measures to turn the power off 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 Not Active Motor is disabled Active Active Motor can be enabled Table 11 Motor Behavior According to Safety Inputs Note In the Gold Trombone STO1 also latches a software disable condition Pin J1 Function Safety 1 input default 24 V STO_RET Safety signal return Table 12 Safety Inputs Pin Assignments See Figure 14 for the PLC option connection and Figure 15 for the TTL option connection www elmomc com a E Gold Trombone Installation G
49. er heating www elmomc com MAN G TROIG EC Ver 1 6 Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications 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 2 outputs for a 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 TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications 5 2 Gold Trombone Dimensions 34 0 5 4 50 4 PLCS 111 0 5 65 50 0 2 76 0 5 100 50 0 2 bes GTRO046A 5 3 Environmental Conditions Feature Details 0 C to 40 C 32 F to 104 F 20 C to 85 C 4 F to 185 F 10 000 m 90 www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 4 Control Specifications 5 4 1 Current Loop Feature Controller type Compensation for bus voltage variations Motor types Current control Current loop bandwidth Current s
50. ftware calculated profiles support on the fly changes 5 4 3 Position Loop Feature Details Controller type 1 2 2 PIP three advanced filters one advanced gain scheduling filter Position command options e Software e Pulse and Direction Position loop bandwidth lt 200 Hz Position sampling time 80 to 240 usec 2x current loop sample time Position sampling rate Up to 10 kHz default 10 kHz www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 5 Feedback 5 5 1 Feedback Supply Voltage The Gold Trombone has two feedback ports Main and Auxiliary The Gold Trombone supplies voltage only to the main feedback device and to the auxiliary feedback device if needed Feature Details Encoder supply voltage 5 V 5 2 x 200 mA maximum 5 5 2 Feedback Options The Gold Trombone can receive and process feedback input from diverse types of devices www elmomc com MAN G TROIG EC Ver 1 6 5 5 2 1 Incremental Encoder Input Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications Feature Details Encoder format e A Band Index e Differential e Quadrature Input resistance Differential 120 Q Maximum incremental encoder frequency Maximum absolute 75 Megacounts per second 18 MHz on A B Minimum quadrature input high low period 26 nsec Maximum encoder input voltage range C
51. h PE int AC2 sewvoc Le e A e Safety Regulations E e CD Jone 280VDC t ie ec o r c SL od VN t VE We e e A PE e RI 1 o Heat Sink PE on Figure 9 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 MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 4 7 2 1 b Single Phase Direct to Mains Connection Topology Heat Sink PE Gold Trombone io ee Non Isolated DC Power Supply VP rr L c M LOC qo 2 oM o UN EE EE PDS Mains AC network m DP AC mg save Le Ae L7 e o j 162VDC d ME i i 230VAC w n QD e v o ae VN INI E f 1 S Oo Neutral i i E PE PE 8 pg ELM d GTROO0029A Figure 10 Non Isolated Single Phase Connection Topology The Power Supply is connected directly to the mains AC line Warning e Do not c
52. ils 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 5 5 VA this includes the 5 V 400 mA load on the main encoder and feedback B www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Chapter 4 Installation The Gold 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 Trombone by ensuring that it is installed in an appropriate environment Feature WETICE Ambient operating temperature 0 C to 40 C 32 F to 104 F Maximum altitude 10 000 m Operating area atmosphere No flammable gases or vapors permitted in area Models for extended environmental conditions are available T Caution The Gold 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 Trombone verify that you have all of its components as follows e The Gold Trombone servo drive e The Elmo Application Studio EAS software and software manual The Gold Trombone is shipped in a cardboard box with Styrofoam protection To unpack the Gold Trombone 1 Car
53. ition feedback the Hall sensors on Port A are commutation feedback and the incremental encoder on Port A is follower input For more information about sensors and their use refer to the Gold Line Software Manual 49 1 Port A J2 J1 Port A supports the following sensor inputs e Digital Hall sensors e Incremental encoder or absolute serial encoder depending on the specific model Differential 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 applicable pair of matching and encoder channels and is configurable by software Differential pulse and 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 applicable pair of matching and encoder channels and are configurable by software www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Port A Incremental Encoder Port A Absolute Serial Encoder J1 2 5V Encoder 5V 5V Encoder 5V supply supply J2 1 PortA_ENC_A Channel A ABS_CLK Abs encoder clock J2 3 PortA_ENC_A Channel A ABS CLK 12 5 PortA_ENC_B HB J2 16 HB Hall sensor B Hall sensor B J2 14 Hall sensor C Hall sensor C Table 13 Port A Pin Assignments Abs encoder clock Abs encoder data Abs encoder data
54. l when working with a non isolated power supply 4 12 1 Initializing the System After the Gold 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 Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 13 Heat Dissipation The best way to dissipate heat from the Gold Trombone is to mount it so that its heatsink faces up For best results leave approximately 10 mm of space between the Gold Trombone s heatsink and any other assembly 4 13 1 Gold Trombone Thermal Data e Heat dissipation capability 0 approximately 5 5 C W e Thermal time constant approximately 600 seconds thermal time constant means that the Gold Trombone will reach 2 3 of its final temperature after 10 minutes e Shut off temperature 86 C to 88 C measured on the heatsink 4 13 2 Heat Dissipation Data Heat Dissipation is shown graphically below 120 680V 100 Co CH 560V o CH A e N e Dissipated Power Watts 0 2 4 6 8 10 12 14 16 18 20 22 24 Current Amps Figure 36 Dissipation versus Current Graph for 560 and 680 VDC www elmomc com MA
55. ler USBD em J2 41 CAN GND USBD Le J2 43 USB GND ia Controller STO1 um J1 13 STO2 Pei J1 12 STO RET uM Incremental or Absolute i Feedback In encoder Hall Sensors Er PortA v uo Aus INRET1 6 um E DI IN um Incremental encoder PE J1T7 Analog encoder E Feedback In IN2 VW Resolver ma Port B J1 8 Analog Hall sensors m N3 J1 9 KS Di J1 10 is INS IOl Feedback Out Encoder Emulation T Port C J1 11 EN ING E J1 22 OUT1 t J1 21 Isolation Boundary OUT2 um Ma Power J1 24 Connector OUT3 Su ea M2 DER OUT4 um um M1 J1 26 VDD M PE J1 25 VDDRET um VP DC Power ACT O Supply guts AC2 o vie 1 AC3 0 2 I e J1 17 um PE Heat sink J145 LED ET ERR i J1 16 LED ET RUN EE 3 3V RET COMRET mm J2 22 e ANALOG1 E ANALIN1 J2 24 ANALOG1 t ANALIN1 J2 20 S ANLRET ca Circuit veep GTRO049A Figure 6 Gold Trombone Connection Diagram for CANopen 400 V without Backup Functions 0 or 1 suffix www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 7 Main Power Motor Power and Auxiliary Power The Gold Trombone receives power from main and auxiliary supplies and delivers power to the motor There are multiple voltage ratings of the Gold Trombone 8
56. n return N A Not in use keep unconnected N A Not in use keep unconnected Table 5 Connector J2 Feedback and Analog Input www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 3 2 5 Connector J1 Digital Inputs Digital Outputs STO Amplifier and Communication LEDs Encoder Supply Connector Type 1 27 mm pitch 0 41 mm sq For full details about connecting digital input see Section 4 10 3 For full details about connecting digital output see Section 4 10 2 Oc 00H19 Pin J1 Signal N A INRET1 6 Programmable digital inputs 1 6 return Ww Programmable digital input 1 Im Programmable digital input 2 ins Programmable digital input 3 ING Programmable digital input 4 INS Programmable digital input 5 NN Programmable digital input 6 Safety signal return Safety 2 input default 24 V Safety 1 input default 24 V Communication error LED output Cathode Communication OK LED output Cathode www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 Pin J1 Signal Function LED2 Bi color amplifier OK LED output Cathode as LED1 Bi color amplifier error LED output Cathode e COMRET Common return oo Programmable output 2 a j om oo Programmable output 1 o om Programmable output 4 24 OUT3 Programmable output 3 26 V
57. nd VN with no need for a 24 VDC auxiliary power supply for the logic The Gold Trombone is a PCB mounted device which enables efficient and cost effective implementation However stand alone integrated products the Gold DC Trombone and Gold Solo Trombone are also available using pluggable connections www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Product Description 2 2 Product Features The features described in this chapter relate to the range of Gold 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 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 us 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
58. o etc EnDAT 2 2 BiSS SSI The Gold Trombone can provide power 5 V 2x200 mA max for encoders resolver or Halls www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen 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 Level e Optional functions Fast event capture Inhibit 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 5 1 8 Built In Protection e Software error handling e Abort hard stops and soft stops e Status reporting e Protection against Shorts between motor power outputs Shorts between motor power outputs and power input return Failure of internal power supplies Ov
59. old Trombone has two STO Safe Torque Off inputs 5 7 1 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 level input voltage 2 4 V Vin 15 V 5 V typical Low level input voltage OV Vin 0 8V Minimum pulse width gt 3 ms Rin 1K o Input STO1 STO2 V o STO_RET GGUI054B Figure 43 STO Input Schematic 5 7 2 STO Input Interfaces PLC Mode Feature Details Suffix applicable SorO Type of input Optically isolated Input current for all inputs lin z 2 mA Vin 12 V High level input voltage 12V Vin lt 30V Low level input voltage OV Vin 7V Minimum pulse width gt 3 ms Rin 243K 62V KS o Input STO1 STO2 V o STO_RET GTRO045A Figure 44 STO Input Schematic www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 8 Communications Specification Details CANopen CAN bus Signals e CAN H CAN L CAN COMRET e Maximum Baud Rate of 1 Mbit sec Version e DS301 v4 01 Layer Setting Service and Protocol Support e DS 305 Device Profile drive and motion control e DS402 EtherCAT e 100base T e Baud Rate 100 Mbit sec e CAT5 Cable e CoE FoE EoE Ethernet e 100base T e Baud Rate 100 Mbit sec e CAT Cable e
60. ombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 6 2 Feature Suffix applicable Type of input Input current for all inputs High level input voltage Low level input voltage Minimum pulse width Execution time all inputs the time from application of voltage on input until execution is complete High speed inputs 1 to 6 minimum pulse width in high speed mode Capture with differential input Port A Port B Index Digital Input Interfaces PLC Mode Details SorO Optically isolated lin z 2 mA Vin 12V 12V Vin lt 30 V OV lt Vin lt 7V gt 250 usec O lt T lt 250 usec T gt 5 usec if the input functionality is set to latch capture index strobe e Home mode is high speed mode and can be used for fast capture and precise homing Highest speed is achieved when turning on optocouplers T 0 1 usec if the differential input functionality is set to touch probe capture index strobe Rin 2 43K 6 2V GTRO044A L Input i o INRET 1_6 Figure 40 Digital Input Schematic www elmomc com MAN G TROIG EC Ver 1 6 E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications 5 6 3 Digital Output Interface PLC Mode Feature Details Suffix applicable Soro Type of output Optically isolated source Maximum output current lout max lt 500 mA for outpu
61. ommon mode 7 V Differential mode 7 V Peo Peu Peu Phase A input Phase B input Put Figure 38 Main Feedback Encoder Phase Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 5 2 2 Digital Halls Feature Hall inputs Input voltage Input current Maximum frequency Details s Ha He Hc e Single ended inputs e Built in hysteresis of 1 V for noise immunity Nominal operating range 0 V lt petz 5 V Maximum absolute 1 V lt Vin yan lt 15 V High level input voltage V wen gt 2 5 V Low level input voltage V uq lt 1 V Sink current when input pulled to the common 5 mA fmax 4 kHz 5 5 2 3 Interpolated Analog Sine Cosine Encoder Feature Analog encoder format Analog input signal level Input resistance Maximum analog signal frequency Interpolation multipliers Maximum counts frequency Automatic error correction Encoder outputs Details Sine and Cosine signals e Offset voltage 2 2 V to 2 8 V e Differential 1 V peak to peak Differential 120 Q fMAX 500 kHz Programmable x4 to x8192 2 x 10 counts sec e Signal amplitudes mismatch e Signal phase shift e Signal offsets See Port C Encoder Outputs Specifications Section 5 5 3 www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G
62. onjunction 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 Trombone e Chapter 4 Technical Specifications lists all the drive ratings and specifications Upon completing the instructions in this guide your Gold 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 Trombone e The Gold Product Line Command Reference Manual which describes in detail each software command used to manipulate the Gold 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 Trombone Installation Guide EtherCAT and CANopen Technical Information MAN G TROIG EC Ver 1 6 Chapter 3 Technical Information 3 1 Technical Data Feature Units 12 400 16 400 R17 400 R22 400 8 800 12 800 11 800 R16 800 Minimum supply VDC For S or T type 50
63. onnect 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 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 7 2 1 c Multiple Connections Topology In a multi axis application it is likely that a single power supply can feed several drives in parallel This topology is efficient and cost saving by reducing the number of power supplies and the amount of wiring Most importantly it utilizes an energy sharing environment among all the drives that share the same DC bus network The power supply is connected directly to the mains AC line and it feeds more than one drive Non Isolated DC Power Supply Mains AC network AC 400VAC AC2 400VAC AC3 Trombone N bd LA VP H H 1 ot E E ER i3 Terminal Block i s Li i Fo d H i f i i LJ E VN m PE e EE 1 i Heat Sink PE NE d Trombone 2 L D VP E ae Terminal Block Pa um Pa tod vi
64. ostics 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 STO www elmomc com Gold Trombone Installation Guide EtherCAT and CANopen Product Description MAN G TROIG EC Ver 1 6 2 3 System Architecture Isolation Boundary Incremental Encoder Hall Sensors ge Options E R Or Digital Inputs P Digital Feedback Port A gy serial Encoder Outputs Hall Sensors Options E R User I O Interface Analog Input Incremental Encoder Or 4 Analog Encoder Option E Feedback Port B Or t Resolver Option R Encoder Feedback Out Port C T Emulation PWM Current TEIDE Feedback p Auxiliary Supply VBus for S and T models Protection Isolation Boundary Main DC Power Supply Motor Figure 1 Gold Trombone System Block Diagram www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Product Description MAN G TROIG EC Ver 1 6 2 4 How to Use this Guide In order to install and operate your Elmo Gold Trombone servo drive you will use this manual in c
65. outputs can be configured through Port C EIA 422 differential output line transmitters Response time lt 1us Output current 15 mA 2 2 6 Inputs Six Digital Inputs optically isolated sharing a single common INRET The six digital inputs can be configured to PLC or TTL depending on the part number definition All six inputs are fast capture data 5 us One Analog Input 10 V Six additional fast differential event capture inputs 5 V logic cab be configured through Ports A and B Via Port Aor B three on each port depending on model EIA 422 Differential input line receiver Response time lt 1 us www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Product Description 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 e Commutation feedback and or e Velocity feedback and or e Position feedback Port A supports the following sensors depending on the specific model e Incremental encoder e Incremental encoder and digital Hall e Absolute serial encoder e Absolute serial encoder and digital Hall for dual loop Port B supports the following sensors depending on the specific model e Incremental encoder e Analog encoder e Analog Hall e Resolver Port C is a flexible and configurable feedback output port It supports e Encoder emulation o
66. properly the PE trace prevents these hazards from affecting the drive 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 Sor T models the catalog number has an S or T 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 0 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 2 E Gold Trombone Installation Guide EtherCAT and CANopen MAN G TROIG EC Ver 1 6 Gold Trombone EtherCat In PHY_IN_RX PHY_IN_RX PHY_IN_TX PHY_IN_TX EtherCat Out PHY_OUT_RX PHY_OUT_RX PHY_OUT_TX PHY_OUT_TX Backup Supply Backup Supply R p 92 27 EtherCat E KY 92 29 master or ac RES ow other EtherCat E s J2 83 device a II J2 35 oo ks 12 28 SI yy EtherCat E KKK 32 30 master or WI u other EtherCat rg J2 34 device mm r i XY f J2 36 u ISOLATED 24 VDC AUX BACKUP SUPPLY b i I iT LN X G i herred Isolated L Transformer Incremental or Absolute encoder Hall Sensors Incremental encoder Analog encoder Resolver Analog Hall sensors 1
67. re designed for use with any type of sinusoidal and trapezoidal commutation with vector control The Gold 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 quickly and simply configure the servo drive for optimal use with their motor The Gold 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 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 required to store control parameters in the event of a mains power outage then an S or T model Gold 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 required Gold Trombone models that have O or 1 suffix only for 400V models in the catalog number see page 21 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 Trombone to operate with only the main power supply VP a
68. return Table 16 Digital Input Pin Assignments See Figure 25 for the PLC option connection and Figure 26 for the TTL option connection www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 60 MAN G TROIG EC Ver 1 6 Integration Board Controller Gold Trombone Digital Inputs J1 Connector INRET1 6 e GTROO017C Figure 25 Digital Input PLC Mode Connection Diagram for S or 0 suffixes www elmomc com 61 Installation a E Gold Trombone Installation Guide EtherCAT and CANopen MAN G TROIG EC Ver 1 6 m b E c H o 28 29 Ec E SC a5 Integration Board o c io 2 E e 2 E B o o GTROO16C Digital Input TTL Mode Connection Diagram for T or 1 Suffixes 26 Fig
69. software Port B Incremental or Port B Resolver Interpolated Analog Encoder Function Encoder 5V supply Supply return Channel A Sine Channel A Sine Channel B Cosine PortB ENC B COS Channel B Cosine PortB ENC INDEX Index RESOLVER OUT Vref f 1 TS Analog_Index Analog_Index 50 mA max PortB_ENC_INDEX Index RESOLVER_OUT Vref Analog Index Analog Index complement f 1 TS 50 mA max Table 14 Port B Pin Assignments www elmomc com Installation a E Gold Trombone Installation Guide EtherCAT and CANopen 55 GTROO39B Encoder Encoder 5V Supply COMMON iz eTe 2 D c o 9 B i Oo a im e X c Y v y wv v v D O S S E P Q i CN CN N g N g v e rj e e e Ke z iv DS O ia Od e ig g i x x u S 55 i a a oa a E S s 2 2 292 dg KREE DI D Lu m S 9 9 2 ol o 2 m Du ou E El E 5 t m em oO o o o c v i a a a e e E o EI I I l g V V V o d ESI BON n 2 z St www elmomc com Figure 21 Port B Incremental Encoder Input Recommended Connection Diagram MAN G TROIG EC Ver 1 6 4 9 2 2 Integration Board Gold Trombone Connector J2 J1 PortB_SIN PortB_SIN
70. t 1 lout max Vout Low Maximum supply output VDD 30V Iour Max 250 mA for outputs 2 to 4 VOL at maximum output voltage Vout 0n lt 0 3 V low level Rt The external resistor R must be selected to limit the output current to no more than 500 mA output 1 or 250 mA outputs 2 to 4 VDD VOL E EE Lon max Executable time O T 250 usec V GDRUHV042A VDDRET Figure 41 Digital Output Schematic www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 6 4 Digital Output Interface TTL Mode Feature Suffix applicable Type of output Maximum supply output VDD Max output current lout max Vout Low VOL at maximum output voltage low level Executable time Details Tor1 e Optically isolated e Source Sink 15V 7mA Vout on lt 0 4 V O lt T 250 psec VDD GGEN012A VDDRET Figure 42 Digital Output Schematic 5 6 5 Analog Input Feature Details Maximum operating differential voltage Maximum absolute differential input voltage Differential input resistance Analog input command resolution 3 74 KQ www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Technical Specifications MAN G TROIG EC Ver 1 6 5 7 Safe Torque Off STO The G
71. the motor chassis is properly grounded 4 7 2 Main Power Pin Function Cable Pin Positions Protective Earth Power and Motor Table 9 Connector for Main Power The DC power for the Gold 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 www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 The following sections contain topology recommendations for implementing three phase and single phase supply chains The power stage of the Gold Trombone is fully isolated from the other sections of the Gold Trombone such as the control stage and the heat sink This 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 Trombone In addition this isolation simplifies the requirements of the DC power supply that is used to power the DC bus of the Gold 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 Trombone can also operate from
72. ty I nformation The products covered in this 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 Trombone Installation Guide EtherCAT and CANopen Product Description MAN G TROIG EC Ver 1 6 11 Chapter 2 Product Description This installation guide describes the Gold Trombone servo drive and the steps for its wiring installation and power up Following these guidelines ensures optimal performance of the drive and the system to which it is connected 2 1 Drive Description The Gold Trombone series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence The Gold 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 motor linear motor or voice coil They a
73. uide EtherCAT and CANopen Installation 48 MAN G TROIG EC Ver 1 6 Integration Board Controller Gold Trombone Digital Inputs J1 Connector i 2 43K 6 2V a 1 um i a TI i Y i 2 43K m SEH i A i Gap um f 4 V7 z VY i STO_RET Et 1 i e ids i snz c 2 0pnpgh iop p d f M ee GTROO15B Integration Board Gold Trombone Digital Inputs J1 Connetor Controller V STO RET GTROO14C Figure 15 Safety Input Connection TTL Option for T or 1 Suffixes www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 9 Feedback 47 J2 1 Port B Port A DD DD DD D DD D DD PHPP HDD HDD H umgumunmuouuaguuuuuuuuuuuumnrmmustssosor DH Port C 48 2 GTRO048A Figure 16 Feedback Ports on J2 The Gold Trombone has two configurable motion sensor input ports namely Port A and Port B and the emulated buffered output Port C Motion sensors from the motor being controlled and from other sources can be connected to any of the available inputs on Port A or Port B Software configuration designates each input a role e g the incremental encoder on Port B is the controlled motor pos
74. uling vs speed and position www elmomc com MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen 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 Up to 4 kHz commutation frequency 5V logic 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 Upto 512 revolutions 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 Mitutoy
75. urce Applicable for 400 and 800 V models 24 V Aux Supply 5V0 Applicable for 400 and 800 V models Control power supply operates from the Main Power 24 V I O 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 MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Installation 4 3 Connectors The Gold Trombone has 9 connectors 4 3 1 Connector Types Port Pins Type Function Analog Input Feedback 24 VDC Auxiliary power input positive Only in Trombones with the S or T suffix 24 VDC Auxiliary supply input return Only in Trombones with the S or T suffix Positive DC power input Negative DC power input Protective earth Motor power output 1 Motor power output 2 M3 2 Motor power output 3 GTRO032C Table 1 Connector Types www elmomc com E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 3 2 Pinouts The pinouts in this section describe the function of each pin in the Gold Trombone connectors that are listed in Table 1 4 3 2 1 Motor Power For full details about connecting motor power see Section 4 7 1 Function Cable Pin Positions Brushless Brushed DC Motor Motor Protective Power and Motor Connector Type 2 54 mm pitch 0 64 mm sq Table 2 Connector for Motor 4 3 2 2 Main Power
76. ure www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation MAN G TROIG EC Ver 1 6 4 10 2 Digital Outputs J1 The outputs conform to the PLC standard TTL configuration is available upon request Pin J1 Signal Function High speed programmable digital output 1 e 500 mA for PLC models e 7mAfor TTL models Programmable digital output 2 e 250 mA for PLC models e 7mA for TTL models Programmable digital output 3 e 250 mA for PLC models e 7mA for TTL models Programmable digital output 4 e 250 mA for PLC models e 7mA for TTL models Table 17 Digital Output Pin Assignment See Figure 27 for the PLC option connection and Figure 28 for the TTL option connection www elmomc com 63 Installation a E Gold Trombone Installation Guide EtherCAT and CANopen MAN G TROIG EC Ver 1 6 GTROO13C Controller A M A M A X y M A M A MS Integration Board On 528 a20 Eso SOE Fag 3 3 o Di o2 VDDRET VDDRET VDDRET VDDRET Digital Output Connection Diagram PLC option for S or 0 Suffixes Figure 27 www elmomc com a E Gold Trombone Installation Guide EtherCAT and CANopen Installation ES MAN G TROIG EC Ver 1 6
77. utputs of Port A or Port B or internal variables Analog input 10 V ptp support e Velocity feedback tachometer e 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 Upto4kHz commutation frequency 5V logic 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 MAN G TROIG EC Ver 1 6 a E Gold Trombone Installation Guide EtherCAT and CANopen Product Description e Analog Hall 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 EnDAT 2 2 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 Trombone provides 5 V supply voltage 5 V 400 mA max for the encoders supplies 2 2 9 Protection Built in Protection amp Diagn
78. with UL 840 Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment In compliance with UL 60950 1 Safety of Information Technology Equipment formerly UL 1950 Including Electrical Business Equipment In compliance with EN 60204 1 Low Voltage Directive 73 23 EEC The Gold 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 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 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 Warran

Gold Trombone Digital Servo Drive Installation Guide

Contents

Download Pdf Manuals

Related Search

Related Contents