Digital Servo Drive Installation Guide
Contents
1. m N v S 2 E LO co i c E N m st 3 iT L it T T m DE N a eo c lt DC LO a Qo c E LC E E E E E E E E E ms 2 2 DI 2 2 O O O O O O O O O O O O 1 1 CONO P 1 SCA 1 CN 4 DN T T c t Q a e e l a e e ee ee een ke a e e H 4 eo ele e e e v SS SES a i Cd i a as da i i i i 8 E L b 4 La dle o e K e e e e e e 0 gt gt E E E E E ial ai UN ail Vx LA Si gt Pi S S L e x e z gt e x els e x e x gt gs O E A AA RA a gt aera I i A LN ID GN Ta I EP g Go stro sO cho 196 lL 41 I i O z gt 2 z 2 Z E g3 E E E E E 3 5 538 gt gt gt gt gt gt i tn S E Z E Foo 1 0 DIO ys us us Es els S 825 rd S P LE AS scenotecnica sesta Figure 19 Digital Input 5V Logic level Mode Connection Diagram Main Connector MAIN www elmomc com Table of Contents Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 3 2 Digital Outputs There are two types of Digital outputs Out1 and Out2 5V Logic Out3 and Out4 3 3V Logic The following table2. i Integration Board Gold Twitter Integration Connector I Board I I Connector ing A l Gold Twitter il 7 i FDB Connector I I I Sine Cosine i PortB_SIN I 4 l I o Encoder lt j H i O m ME A I I I 1200 PortB SIN We l i Ill 1 lo E o a CS i Ca Cai PortB_COS 8 i I lt teoa ala i LRS mm B i T l i 1200 I E I I 1 i PortB_COS 6 l lt 4 T om m L J s i I 712 I a E q PortB ANA INDEX I i I Cm NOES 1200 I I T I I T 10 I I PortB_ANA_INDEX I i eo q m CE i I CE mm INDEX 1 I 19 I f 5V l C t id um i Encoder 5V Supply 1 MEM I Lario COMRET LR mm T ovivion I I l a I ia I l l e o e ei EE Cable s Shield E dbi 4 Wc p m Les E id nl GTWIOTIC Figure 16 Port B Interpolated Analog Encoder Connection Diagram Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 34 8 2 2 3 Resolver 1 i Integration Board Gold Twitter t Integration Connector Board 1 i Connector U Gold Twitter a c i FDB Connector I I I Padi I L ncoder PortB_SIN 4 I 3 1 fg lt t lt pm rpm I f 470pF
3. MAN G TWI Ver 1 005 57 29 08 24 3 127 a 00 51 pe a219 1 27 21 29 1 3 a i l Ed T 8 0 40 A I X N Sl N ED FE 2 8 9 TR dE i e p E Y 1 27 i js ele 23 25 32 80 i L nell si e Uu Y VITO T_J o nn Ada per m n esa gt Le d co E f AA UT U 0 U 0 U U U 0 L MI M2X0 4 5 O i o e N Y la 30 60 Table of Contents Figure 30 G Twitter EtherCAT version Heat Dissipation www elmomc com 58 Inspiring Motion Since 1988 For alist of Elmo s branches and your local area office refer to the Elmo site www elmomc com a Elmo Motion Control N Table of Contents Heat Dissipation www elmomc com
4. gt Q ke W S o D a Cod 3 gt 6 22 o io z os 2 USES l xr 3 3 689 g E Boom go 8 Wi O 5 65 5 Z z d l TE i cp ES pi e l dani aa SN nt i e isla a a iy I I A LA LX A A A A A ts E teed A A O A RS oe EE ie e cos OR iS ton E annan essen planin a ei eir stum l i o oi o No o i DO RI DI I Locale leale c L j E amp lt a di x x G i O ol o ol amp a aa ga 2 8 O g g 2 z o o o o LU LU a n n a 5 m 29 Y y Y y Y Sc S g S S DO S a BY m LL I I I iagram D ion Port A Incremental Encoder Input Recommended Connect Figure 11 Feedback Connector FDB www elmomc com Table of Contents Gold Twitter Installation Guide MAN G TWI Ver 1 005 30 Absolute Serial Encoder 8 2 1 2 Cable s Shield connected to Chassis PE GTWI014D COMMON Encoder 5V Supply c o o e o c UU o g o o 2 lt Connector lei Em me EN L a Integration Board Gold Twitter Connector ABS_DATA Gold Twitter FDB Connector Integration Board Figure 12 Absolute Serial Encoder Recommended Connection Diagram for Sensors etc Supporting Data Clock e g Biss SSI EnDAT Cable s Shield connected to Chassis PE GTWI015D Encoder 5V Supply COMMON c o o 9 o c UU o
5. ZO T GTWIO36C Figure 22 STO Input Connection PLC 24V Logic Table of Contents Main Connector MAIN www elmomc com MAN G TWI Ver 1 005 44 8 3 4 Analog Input For full details on Analog Inputs see section 11 3 in the MAN G Board Level Modules Hardware manual r EN 1 Integration Integration Board Gold Twitter Board Connector Connector m 5 cima Gold Twitter Single Ended Analog Inputs Source Main Connector I EE I l I I l I I l I ANALOG1 9 lt e rR KA i I I I 10 I 7 LAS I Q I I l i E l COMRET t 7 C l 7 I l T qoa TU Cable s Shield I I I 1 M 1 connected l I 1 wd ire to Chassis PE I I I I I I I I I I I I I I I I I I I I I I T I ANALOG1 1 0 I I I I I I I I I I I I I I 1 I Figure 23 Analog Input Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 3 5 CAN Option For full details on CANopen communication see section 12 4 in the MAN G Board Level Modules Hardware manual 45 PH Integration i Integration Board Gold Twitter Board Connector Connector js enden Gold Twitter I I CAN Controller i CAN Interface i I l Main Connector 1 I
6. 1 U I 1 I Figure 20 Digital Output 5V and 3 3V Level Mode Connection Diagram Main Connector MAIN www elmomc com Table of Contents Gold Twitter Installation Guide MAN G TWI Ver 1 005 43 8 3 3 STO Safe Torque Off For full details on STO see Chapter 9 in the MAN G Board Level Modules Hardware manual pot core ee ee ee O Integration Board Gold Twitter Integration i Connector Board Connector i Gold Twitter r P P 1 Controller i Digital Inputs iI i MAIN Connector I I li I I n a ha I E i MN um 1 1 E L I I ao l EN l o I ia 111 1 1 m n Li I I 1 1 i STO_RET 13 I 1 ME 1 i e d II GTWI040C Figure 21 STO Input Connection 5V Logic Level a aa O A cca cH i Integration i Integration Board Gold Twitter f Board i Connector Connector 1 1 i Gold Twitter 3 b E 1 Controller i Digital Inputs 1 i MAIN Connector I I iI I i I I iI I E 1 42 I R 1 5 KO 62V I I E AAA i I I iI I y od I I iI I o ZI i l I I I Do BY I a4 1 R15ko ezv I La ESSE A Le 1 1 I I I 13 1 I r 1948 4 I I iI I i Le L
7. T 3 A AC2 c AC3 c PE Terminal Chassis Earthing Earth Connection Circuit Breaker Power Input 3XVAC or 1XVAC Figure 9 Single Power Supply 40V Connection Diagram With VL connected internally Integration Board I DENEN Gold Twitter E VL L T 9 9 A i RAN poo I n I LT 1 i i VL I I I I I Earth Connection I l do e L VP _ i LM nana e za I i 5 JU 1 I i yy Vy I EMI l JI i PR i AA gt JU VV e Apt is d po m i iod j ee Earth 1 L i Connection l Wire 2 i diia L po Earth Les ite J Earth Connection Connection GTWI024B A For Servo Drives CAN version 12 40 VDC Power Supply NICE EtherCAT version Isolation Circuit 14 40 VDC Power Supply Transformer Breaker ACI _ va S ax lt gt i Ez SAC pum oo C 3 Oo AC3 d i Sen lt e I x 5 PE Terminal Chassis Earthing Earth Connection Figure 10 Single Power Supply lt 40V Connection Diagram With VL connected externally Table of Contents Main Power Auxiliary Power Motor Power www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 27 8 2 Feedback Connector FDB PR VP PE M1 M2 M3 0 0 nonounounuuo FDBlooooooo O nu Do Do 0000000000000 MW 00006000000
8. 2 49k0 I i I i PortB_SIN 2 l i I I OE LR i PortB_COS 8 I 1 e 2 I um L R i lt b I I M I 470pF__ 2 490 I i I I i I I PortB COS 6 i o o 4 m i i PortB_RES_OUT 12 H gt eo pr r me L Cam I I 1 I I i I I i 47OpF__ 2 49kQ I I l I i T I I I PortB_RES_OUT I 10 il l RES a gt pi p mm RES I I 1 I I 21231 l l COMMON a COMRET y mm i I mm l I l BN l l I I r J gt o Cable s Shield I I H i I SEE AL aa cu 1 I I I O assis I a dg I I I i I I I I l L L 1 I GTWIO10C Figure 17 Port B Resolver Connection Diagram Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 2 3 Port C Emulated Encoder Output FDB 35 See Section 10 5 in the manual MAN G Board Level Modules Hardware Manual for further details of Port C Integration Board Gold Twitter FDB Connector ll Cable s Shield L connected to Chassis PE Basis SUSE re SASS 5S Sa SS SRS SSR necem nn gt Integration Gold Twitter Board Connector i Connector i pesa l I i I Controller or I I l I l Gold Twitter I I 16 1 PortC_ENCO A I l A I d y Bit 31i LRS 14 iI I PortC_ENCO_A Hm r 1 I i I I I i I 20 i PortC_ENCO_B I I TE I ai Am a 1 f1 PortC_ENCO_B I x 18 i
9. 1 005 37 Pin MAIN Signal Function RS232_RX SB_OUT There are two options for this pin Option 1 TTL RS232 receive default Option 2 Serial Bus output for extended I O refer to MAN G Board Level Modules Hardware manual This option is only available for EtherCAT s STO signal return The two digital STO inputs are optically isolated from the other parts of the drive and share one return line STO2 STO 2 input 15 LED1 Bi color indication output 1 Cathode Internal Resistor 1K O 16 LED2 Bi color indication output 2 Cathode Internal Resistor 1K O 17 OUTA Programmable output 4 connected to COMRET 3 3V logic level Programmable output 2 connected to COMRET 5V logic level Programmable output 3 connected to COMRET 3 3V logic level Programmable output 1 connected to COMRET 5V logic level Common return Common return Programmable digital input 6 connected to COMRET 5V logic level Programmable digital input 5 connected to COMRET 5V logic level Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 38 Pin MAIN Signal Function Programmable digital input connected to COMRET 5V logic level Programmable digital input 3 connected to COMRET 5V logic level 5V logic level Programmable digital input 1 connected to COMRET 5V logic level i Programmable digital input 2 connected to COMR
10. 9 i C O a i q SAC d PEN PR mm 20 AC3 DT iI Earth 9 1 ho dn Drain T Connection T N eet Wire to PEO K zs PE Terminal Chassis Earthing L Earth Earth Connection Earth Connection Connection GTWI023D Figure 8 Separate VP and VL Power Supply Connection Diagram Main Power Auxiliary Power Motor Power www elmomc com Power Input 3XVAC or 1XVAC 8 1 2 4 MAN G Gold Twitter Installation Guide TWI Ver 1 005 Single Power supply 12VDC to 40VDC For the EtherCAT E option the minimum VL is 14 VDC 26 For the CAN version power rating of 12VDC to 40VDC or 14VDC to 40VDC for the EtherCAT version a single Power Supply can be used without the necessity for an auxiliary power supply for the logic Integration Board I aneian Gold Twitter l Vi LT I I VL n I I I I y i i I I I l L i I I N d i hr a e I x fry ti VP ei eL 31MM E VI E VIVI ii ot WAAR a ELI I PR Ii NU h JUU U R T l gt E i 1 ME Earth 1 bran 5 Connection EN L Wire v PEO EH ha I I Earth i Earth Connection Connection GTWI024B For Servo Drives CAN version 12 40 VDC Power Supply EtherCAT version Isolation 14 40 VDC Power Supply Transformer AC1
11. Important Identifies information that is critical for successful application and understanding of the product Table of Contents Warnings www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 2 1 Warnings 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 Twitter from all voltage sources before servicing The high voltage products within the Gold Line range contain grounding conduits for electric current protection Any disruption to these conduits may cause the instrument to become hot live and dangerous 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 2 2 Cautions The maximum DC power supply connected to the instrument must comply with the parameters outlined in this guide When connecting the Gold Twitter to an approved isolated from the Mains auxiliary power supply connect it through a line that is separated from hazardous live voltages using reinforced or double insulation in accordance with approved
12. i z nm z i E T di l a Pol m co i io m T d DE AE T mum i e 0 Cui n 1 i i i l i i nome L i Lo i I i m N i i 1 Mi i V Integration Integration Board Gold Twitter Board R eed H ed Connector Connector e 6 y Gold Trombone 2 5 i Ser CAN Interface E OR E F lt fi i T 7 se r Integration Integration Board Gold Twitter Board i LL ll Connector Connector e Gold Trombone n I 1 1 1 CAN Interface I I 1 I i 8 S L4 uf 3 F 1 1 mm ut i L R HC e Fg l il I L4 EZ LA NN I IN I um i 1 7 1 a i p me mo I I I e i I I I I 1200 m L d L 2a i GTWI018C Note If cable is long gt 5M itis recommended to ground at both ends Figure 24 CAN Network Diagram Caution When installing CAN communication ensure that each servo drive is allocated a unique ID Otherwise the CAN network may hang Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 46 8 3 6 RS232 There are two types of RS232 Standard RS232 and RS232 TTL Level Figure 25 describes the Standard RS232 connection diagram i Integration i Gold Twitter i Board i Connector Connector Gold Twitter Jig ia PC RS232 RS232 Communication Ma
13. 2 2 o o 2 lt Integration Board Connector mm uH ka aA m w la n m la m a m m l eee a I gg T Q po Bs off a gt E 2 DE l Y V e 20 I EX Ms uas imt omen M Y 2o I I t 1 E lt lt gt LU I E lt Y ra a a z m Dv Q I t a I lt c lt I E 8 G i c 29 a I 2 zt I w FE e e l 5 32 s 2 on i L I 1 I I AV I I I I I I Figure 13 Absolute Serial Encoder Recommended Connection Diagram for Sensors Supporting Data Line Only NRZ types e g Panasonic Mitutoyo etc Feedback Connector FDB www elmomc com Table of Contents Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 2 1 3 Hall Sensors Table of Contents 31 Figure 14 Hall Sensors Connection Diagram I I Integration Board Gold Twitter i Integration Connector Board I i Connector I pem i re Gold Twitter I I I I Hall Sensors FDB Connector I 1 I I iI I I 1 13 1 I I HA y Hall A I i 115 1 I I i HB r NN ea Hall B 17 il i Hc 1 AC ma Hall C Egg DI 45V L Hall 5v Supply I i I ER 23 L I TUI COMRET I mm I I m I COMMON I I I e I e m Drain Cable s Shield I l I Wi L 1 i ire connected I I I il I l l l I mil I ml I 1 Fe
14. Legend www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 Chapter 8 Connections The Gold Twitter has nine connectors Pins Type 1 27 mm pitch 0 40 mm sq 3 65 mm pitch 1 20 mm round pins 2 mm pitch 0 51 mm sq 2x14 1 27 mm pitch 0 40 mm sq 19 Function Feedbacks Digital Halls Analog Inputs Communications DC Positive power input I O LEDs STO CAN or EtherCAT 2x4 1 27 mm pitch 0 40 mm sq Available only for EtherCAT Version 2x4 1 27 mm pitch 0 40 mm sq Available only for EtherCAT Version 1 27 mm pitch 0 40 mm sq Table of Contents 1 27 mm pitch 0 40 mm sq Available only for EtherCAT Version Available only for EtherCAT Version Only for LEDS end Transformer Wiring Legend www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 20 Connectors Location PR VP PE M1 M2 M3 O 000000 0 ooooooonoo FDBjonoo0o0o000000g VL e CAN VL ez ersion p ggn gonn 9 nn Rz 25227 o 00000000000000000 0000000000000 GTWI001B A 3 3 V 00000000000000 00000000000000 MAIN GTWIOO2E A Table 2 Connector Types Table of Contents Wiring Legend www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 2 1 8 1 Main Power Auxiliary Power Motor Power This section describes the Main Auxiliary and Motor Power 8 1 1 Motor Power For full details see Section 7 3 in the manual MAN G Board Level Modules Hardware
15. OAE E eed 44 8 3 5 CAN OPtlON usada ati TRE ea obadvandetaes ne Nan gung e neu et eoa aeg 45 8 3 6 RS232 cm 46 8 4 EtherCAT Module ede iii 48 8 4 1 EtherCAT Module Connectors ie 48 BALA ECI2 connector doeet esce cce e peo exe Een 48 8 4 1 2 A ntt ria 49 8 4 1 3 ECTS Connector ai 49 8 4 1 4 33V Connector ieiunii e dotes 49 8 4 2 EtherCAT Communication e 50 8 4 3 USB 2 0 Communication 52 Chapter9 Powering p iieoe erro orn oon n abo Ion n aa EP gentar orna ko P open doe apa aseo b onn FPE anziana 53 9 1 Initializing the System eese eren lanea Mires 53 9 2 Heat Dissipation sss ssssssssse esse ss ssseee esee eene eene nnne eene Ml o c ee e lace S 54 9 2 1 Heat Dissipation Data ei 54 9 2 2 How to Use the Chart ees eoe ee ee negas e ER 55 Chapter 10 Dimensions rina ini aiar o cai eso MO 56 Gold Twitter Installation Guide MAN G TWI Ver 1 005 Chapter 1 This Installation Guide This installation Guide details the technical data pinouts and power connectivity of the Gold Twitter For a comprehensive detailed description of the functions and connections of the drive refer to the Gold Board Level Module Hardware Manual Chapter 2 Safety Information In order to achieve the optimum safe operation of the Gold Twitter it is imperative that you implement the safety procedures included in this installation g
16. manual n Function Cable Pin Positions Brushless Brushed DC Motor Motor Connection Motor Motor earth VL e MAIN 2950000000088 nung p 0009009000 O O O O O O O O O Oo O O O O 00000000000000000 GTWI001B B Table 3 Motor Connector Table of Contents Main Power Auxiliary Power Motor Power www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 22 Gold Drive Brushless Motor Connectors M1 M2 M3 GGEN PNL075D Figure 6 Brushless Motor Power Connection Diagram Gold Drive DC Brushed Motor M1 M2 M3 GGEN PNL074D Figure 7 Brushed Motor Power Connection Diagram Table of Contents Main Power Auxiliary Power Motor Power www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 23 8 1 2 Main Power and Auxiliary Power Connector This section describes the Main and Auxiliary Power 8 1 2 1 Main Power The VDC isolated from the Mains DC power source is not included with the Gold Twitter Pin Function Cable Pin Positions VP DC Pos Power input Power M1 M2 M3 O Power output return Power oo00o0000 PE Protective earth Power 0000000000000 8099090900008 OAN EITE lo c00000000000000000 GTWI001B C Table 4 Connector for Main Power Connect the DC power cable to the VP and PR terminals on the Main Power Connector
17. 01B D Table 5 Auxiliary Supply Pins Connect the VL and VL terminal to the Auxiliary Connector To connect your integration board to the auxiliary supply 1 2 The source of the Auxiliary Supply must be isolated from the Mains For safety reasons connect the return common of the auxiliary supply source to the closest earth connection near the auxiliary supply source Connect the cable shield to the closest earth connection near the auxiliary supply source Before applying power first verify the polarity of the connection Table of Contents Main Power Auxiliary Power Motor Power www elmomc com Gold Twitter Installation Guide Table of Contents MAN G TWI Ver 1 005 25 8 1 2 3 Dual Power Supply The following figure describes the connection of Main Power and auxiliary Two power isolated from the mains DC power sources are required main power according to specification and auxiliary for logic NH The PR and the VL are connected internally in the Gold Twitter Isolated from Mains Integration Board CAN version 12 40 VDC VL Supply EtherCAT version 14 40 VDC VL Supply Gold Twitter e ay VL I i VL i e eo bo Earth i men Connection L Drain T Wire Earth Connection Earth Connection i Circuit Power Supply Isolation For Servo Drives Transformer Reker e aN AC1 VP
18. 08 ood c3 oO o DU Jo lt _ lt CO e MAIN 220000000088 aame e o o o o 60 o o o o Cm mn O 6900990009900 9 O HETO 0699009000900 OR EE 00000000000000000 ECT1 MAIN ECT2 GTWIOO1B E GTWI002E D FDB Connector in the CAN option FDB Connector in the EtherCAT option Feedback A B C Digital Halls see Section 9 2 in the manual MAN G Board Level Modules Hardware Manual Function PortA_ENC_A ABS CLK Port A channel A Absolute encoder clock PortB ENC A SIN Port B channel A complement Port A channel A complement Absolute encoder clock Port A channel B complement Absolute encoder Data Port B channel B Port B index complement Vref complement Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 28 Pin Signal Function FDB s s r s s s i 7 s a Table 6 Connector FDB Feedback Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TW 29 1 005 T Ver Port A 8 2 1 Refer to section 10 3 in the MAN G Board Level Modules Hardware Manual for further details of the Port A connections Incremental Encoder 8 2 1 1 Integration Board Connector Gold Twitter Connector Integration Board GTWI016E
19. ET Table 7 Connector MAIN I O STO Analog LEDs LEDs For full details on the LEDs see Chapter 7 and section 12 2 1 in the in the MAN G Board Level Modules Hardware manual for full details STO safety For full details on STO see Chapter 9 in the in the MAN G Board Level Modules Hardware manual for full details Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 3 1 Digital Inputs The following table describes the electrical specification of the inputs IN1 and IN6 Feature Details R1 Pull up Resistor If VT 3 3V R1 3 3KO If VT 5V R1 lt 10KQ Minimum pulse width gt 250 psec Execution time all inputs 0 lt T lt 250 usec the time from application of voltage on input until execution is complete High speed inputs 1 6 minimum T 2 5 usec if the input functionality is set to pulse width in high speed mode latch capture index strobe Home mode is high speed mode and can be used for fast capture and precise homing Capture with differential input T 0 1 usec if the differential input functionality is Port A Port B Index set to touch probe capture index strobe Table of Contents Main Connector MAIN www elmomc com 39 Gold Twitter Installation Guide MAN G TWI Ver 1 005 40
20. I E I H mA L RJ I I o I I I I PortC_ENCO_INDEX I r 24 i l 7 I r mm 71 r mm 4 PortC ENCO INDEX I la 22 I I ra I H H UM I I 1 I I 21 23 d I COMRET H ma Cm i COMMON l l iI I LL i Ln l T Jj I I I I I l i GTWI009C Figure 18 Emulated Encoder Differential Output Recommended Connection Diagram Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 36 8 3 Main Connector MAIN PR VP PE M1 M2 M3 O o o o o 060 0 1 oooaoadaagaad L 6 V VL amp DooooooooooodS a O 00000000000000000 GTWI001B F GTWI002E B FDB Connector in the CAN option FDB Connector in the EtherCAT option 0000000000000 NO B gt Pin MAIN Signal Function CAN Version CANH CAN Version CAN H BUS Line dominant high ECAT Version LED ET ERR ECT Version EtherCAT status LED Error CAN Version CANL CAN Version CAN L BUS Line dominant low ECAT Version LED ET RUN ECT Version EtherCAT status LED Run RS232 TX S Standard RS232 transmit BEBE RS232 RX S Standard RS232 receive RS232 TX SB IN There are two options for this pin Option 1 TTL RS232 transmit Default Option 2 Serial Bus IN for extended I O refer to MAN G Board Level Modules Hardware manual This option is only available for EtherCAT Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver
21. Inspiring Motion Since 1988 Gold Twitter Digital Servo Drive Installation Guide CAN and EtherCAT 30 mm 1 181 November 2014 Ver 1 005 www elmomc com Motion Control 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 Twitter servo drive in its installation The text and graphics included in this manual are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice e Information in this document is subject to change without notice Catalog Number G Gold Line d Output Current Profile Blank Standard R No peak current Continuous Current Amps Maximum DC Operating Voltage Network Communications S Standard e CANopen e RS 232 E EtherCAT e EtherCAT or Ethernet e USB e RS 232 Document no MAN G TWI Ver 1 005 Copyright 2014 Elmo Motion Control Ltd All rights reserved TWI RXX YYY E E Feedback E Port A Absolute Serial Encoder e Incremental Encoder Digital Hall Port B e Incremental Encoder e Analog Encoder s Analog Hall Port A Absolute Serial Encoder Incremental Encoder e Digital Hall Port B e Resolver Revision History Version Date Details Ver 1 004 Oc
22. LOR LED Figure 4 The Gold Twitter CAN Connection Diagram The Gold Twitter Connection Diagram www elmomc com GTWI019C Gold Twitter Installation Guide MAN G TWI Ver 1 005 Gold Twitter EtherCat In PHY_IN_RX USB USB Host EtherCat T USB VBUS MN master or BANGIN OS other EtherCat USBD gay device PHY_IN_TX USBD Hm PHY_IN_TX USB_COMRET EtherCat Out e PHY_OUT_RX NY EtherCat Xn master or um PHY OUT RX other EtherCat device Yn um PHY OUT TX Controller mm PHY OUT TX sro1 4 STO2 zu a e o Incremental or Absolute Feedback In STO RET gt encoder Hall Sensors PortA RI e o Incremental encoder Analog encoder A S Feedback In Resolver 7 l Com Port B Analog Hall sensors e e B L 4 4 Feedback Out Encoder Emulation mm ree Ou kad m T Ex 4 o Motor M3 Connector um K m M2 E Mi n 5 mm PE lt e e Main Power Connector e i ANALOG1 E ANALIN1 DC Power mm VP XY Supply W ANALOG1 um ANALIN1 7 mm PR P Circuit P COMRET Se T V V uu Isolated JE Transformer Low Power 12 95V DC Aux Power Connector i I e Lal OPTIONAL The Gold Twitter Can Operate Isolated Transformer Without The Aux Backup Supply Du
23. O O O B DDD DDD DDD D 0 EEE ECTIED VL e1 GTWIOO2E C 8 4 1 EtherCAT Module Connectors 8 4 1 1 ECT2 connector Pin ECT2 Signal Function 48 For full details on EtherCAT communication see Section 12 2 in the in the MAN G Board Level Modules Hardware manual Ro ume COTA PHY IN LINK ACT Indicates EtherCAT IN Ethernet LINK input PHY IN SPEED Indicates EtherCAT IN Ethernet Speed input PHY_OUT_LINK_ACT Indicates EtherCAT OUT LINK CERNI PHY OUT SPEED Indicates EtherCAT OUT Speed Table 8 Connector ECT2 Table of Contents EtherCAT Module www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 49 8 4 1 2 ECT1 connector Pin ECT1 Signal Function ho meme eroe NN NN Table 9 Connector ECT1 EtherCAT IN port can be configured to an Ethernet Port 8 4 1 3 ECT3 Connector Pin ECT3 Signal Function 1 SB_Load Serial Bus Load for extended IO refer to the MAN G Panel Mounted Drives Hardware Manual 2 SB Clock Serial Bus Clock 9 375Mhz for extended IO refer to the MAN G Panel Mounted Drives Hardware Manual Table 10 Connector ECT3 8 4 1 4 3 3V Connector Signal Function Pin 3 3 V supply voltage for EtherCAT LEDs 3 3 V supply voltage for EtherCAT LEDs Table 11 3 3V Connector Table of Contents EtherCAT Module www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 4 2 EtherCAT Communication This section only descr
24. To connect your integration board to the DC power supply 1 The source of the VDC power supply must be isolated from the Mains 2 For best immunity it is highly recommended to use twisted and shielded cables for the DC power supply A 3 wire shielded cable should be used The gauge is determined by the actual current consumption of the motor Connect the cable shield to the closest earth connection near the power supply Connect the PE to the closest earth connection near the power supply Connect the PR to the closest earth connection near the power supply By x cm ug Before applying power first verify the polarity of the connection Table of Contents Main Power Auxiliary Power Motor Power www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 1 2 2 Auxiliary Supply 24 Connect the VL and VL pins on the Gold Twitter in the manner described in the table and drawing below Pin 1 Signal Function Pin Positions Auxiliary Supply Input PR VP PE M1 M2 M3 Y SUPPYY p 0000 0 O Auxiliary Supply Return FDB o 0300000 cod D 00 9 2 Standard CAN S option Input range 12VDC 40VDC Power consumption 2 5W including 5 V 200 mA for encoder EtherCAT E option Input range 14VDC 40VDC 0000000000000 Power consumption lt 4W ag S including 5 V 200 mA for encoder deci dido AAA VL VL jez O o GTWI0
25. ation Guide MAN G TWI Ver 1 005 52 8 4 3 USB 2 0 Communication For full details on USB communication see section 12 1 in the MAN G Board Level Modules Hardware manual Integration Board Gold Twitter Integration Connector Board Connector a Gold Twitter I l l I USB Host USB I l id l Main Connector I 1 i I I iI l i I ECT2 1 i E I USB_VBUS j mm r NI ECT2 2 i I USBD Li mm mm K l I ECT2 4 DI l Y i USBD LL i i i 4 ECT2 3 T E USB COMRET L Ce r NI i I I iI I i I l d E dE de Cable s Shield I I i I Drain L connected l I 7 I I Wire to Chassis PE l L I i Psa Issa ais stilato 1 GTWI006D Figure 28 USB Network Diagram Table of Contents EtherCAT Module www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 53 Chapter 9 Powering Up After the Gold Twitter is connected to its device it is ready to be powered up Caution Before applying power ensure that the DC supply is within the specified range and that the proper plus minus connections are in order 9 1 Initializing the System After the Gold Twitter has been connected and mounted the system must be set up and initialized This is accomplished using the EASII Elmo s Windows based software application Install the application and then perform setup and initialization according to the directions in the EASII User Manual Table of C
26. d on a PCB by soldering its pins directly to the PCB Table of Contents Integrating the Gold TWE on a PCB www elmomc com MAN G TWI Ver 1 005 Gold Twitter Installation Guide 6 2 The Gold Twitter Connection Diagram Gold Twitter Incremental or Absolute encoder Hall Sensors Incremental encoder Analog encoder Resolver Analog Hall sensors Encoder Emulation Table of Contents CANopen CAN H CAN L CAN COMRET V Feedback In Port A Feedback In Port B a a i r CAN ti A M Controller de L E 5 Lf u Drain L wire vd ve oo a a M M EE i Q la La a a M T i b di i3 pol i4 ved m L m je je DC Power i Supply BH m ie Le N it SETY Isolated Transformer 9 je DC Power Supply HE ii m lit i bd E m jd VARA PARA Isolated Transformer Feedback Out Port C Power Connectors RS 232 RS232_TX RS232_RX RS232 COMRET 15 PC RS232 STO STO1 STO2 STO RET ANALOG 1 ANALOG1 COMRET Controller ANALIN1 ANALIN1 Y um um um V Em E gt E E lt lt um um E um um um mm K um gt WM 3 mum T E T i SHR T 4 m 2 BI CO
27. describes the electrical specification of the outputs OUT1 and OUT2 Feature Details Type of output 5V Logic VOL max low level Vout Low lt 0 52V at 10 mA VOH min High level Vou High gt 4 9V at 10 mA Max output current lout max Ton time from low to high Toff time from high to low The following table describes the electrical specification of the outputs OUT3 and OUTA Feature Details Type of output 3 3V Logic VOL max low level Vout On 0 4V at 8 mA VOH min High level Vout High gt 2 5V at 8 mA Max output current louis max 8mA Executable time 0 lt T lt 250 usec Table of Contents Main Connector MAIN www elmomc com 41 Gold Twitter Installation Guide MAN G TWI Ver 1 005 42 GTWI083B Controller INRET1 INRET2 INRET3 INA INRET4 IN1 IN3 Integration Board Connector I I I I I I mm I I l I I I I I I I l I I I l l l l I I I l l E l l I I I I I l I I I EM I l I T I I mp ES dm B ees cp a sc Mmm ipe Naa DD n Icd PM MM I ar I SI su ef off cl I 1 SRL a Celi SO E I 9 N e i E E E i 2 2 gt 1 Y O O O O o i 52 Ss 1 c 3 1 S 169 A Oc AN LE L H 6 G 1 hh D I 9 6 I c I
28. e to The Diode Coupling GTWI039B 16 Figure 5 The Gold Twitter EtherCAT Connection Diagram Table of Contents The Gold Twitter Connection Diagram www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 Chapter 7 Wiring 7 1 Wiring Legend 17 The following table legend describes the wiring symbols detailed in all installation guides All the wiring diagrams show wiring for D TYPE connectors Wiring Symbol Description 0 Drain Wire e GGEN DTYPE101A A e GGEN DTYPE101A B GGEN DTYPE101A E Table of Contents Wiring Legend www elmomc com Protective Earth Connection Common at the Controller Shielded cable with drain wire The drain wire is a non insulated wire that is in direct contact with the braid shielding Shielded cable with drain wire significantly simplifies the wiring and earthing Shielded cable braid only without drain wire Twisted pair wires Gold Twitter Installation Guide MAN G TWI Ver 1 005 1 8 Wiring Symbol Description Encoder Earthing i The cable s shield is connected to Tw E PNE the chassis PE in the connector Cable s Drain Wire connected to Chassis H Earthing the Encoder and connecting the Earth PE to the drive COMRET is mandatory to insure reliable GGEN_DTYPE101C 1 operation high noise immunity and rejection of voltage common mode interferences Table of Contents Wiring
29. edback Connector FDB www elmomc com to Chassis PE GTWI013C Gold Twitter Installation Guide MAN G TWI Ver 1 005 32 8 22 Port B Refer to section 10 4 in the MAN G Board Level Modules Hardware Manual for further details of the Port B connections 8 2 2 1 Incremental Encoder Integration Board Gold Twitter Integration Connector I Board m i Sonnector Gold Twitter r 1 N 1 FDB Connector I Encoder PortB_ENC_A r 3 d i R lt e ortB_ENC_ p i sini III A I i I I I 1200 I I PortB_ENC_A i e d _ ortB _A 1 I A 1 ee i t e m mm A I I lt j H Pong ENG B LR LL mH p 1200 I l 1 I T I 6 PortB_ENC_B nm p a la e t mm B I as 7 i aS I Can a A PortB_ENC_INDEX mmi md mm INDEX ru I M I pS L l 11 1200 I i I r WX i I 2 li q PortB_ENC_INDEX mm am m INDEX 1 pA 2 74 5V I LR m t cs Encoder 5V Supply I d dod 1 I 21231 i I COMRET i c Co COMMON 1 I i ll I T I 1 i I L om e e o mm Cable s Shield i I I I S L connected ire to Chassis PE I pl I l IV 1 ds LL GTWI012C Figure 15 Port B Incremental Encoder Input Recommended Connection Diagram Table of Contents Feedback Connector FDB www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 33 8 2 2 2 Interpolated Analog Encoder
30. en find the dissipated power If the dissipated power is below 4 W the Gold Twitter will need no additional cooling The chart above shows that no heat sink is required when the heat sink temperature is 80 C ambient temperature is 40 C and heat dissipated is 4 W Table of Contents Heat Dissipation www elmomc com 55 18 8 Gold Twitter Installation Guide MAN G TWI Ver 1 005 56 Chapter 10 Dimensions This chapter provides detailed technical dimensions regarding the Gold Twitter E e i O a ol 5 o o 9 5 n o 9 o o 9 e 8 o M o o o o 0000000000000 o 1 i Ll sal Eo y V uv i o n D 30 60 M2X0 4 25 60 O i G TWI001C Figure 29 G Twitter CAN Version Table of Contents Heat Dissipation l www elmomc com 15 14 Gold Twitter Installation Guide
31. ibes the EtherCAT communication and the pinout drawing of the connector When the EtherCAT is connected and the FoE is in operation the USB cable connection must be disconnected Table of Contents EtherCAT Module www elmomc com 50 1 005 Gold Twitter Installation Guide MAN G TWI Ver Integration Board Gold Twitter EtherCAT Out Main Connector PHY OUT Rx PHY OUT Rx PHY OUT Tx 3 3V A Gold Twitter Connector S P N N I A L R ECT1 3 7 L R ECT1 2 I I I Ecrit l I I I PHY OUT Tx PHY OUT SPEED mmi ECT1 4 EtherCAT ECT2 8 i Cable CAT5 E um ECT2I6 PHY OUT LINK ACT I I i lt 121 C ou ee I 1100nF 1uF Main 211 COMRET LL MINI e I RJ45 J magnetic lbe not included Integration Board 33V Gold Twitter xf amp Connector amp ee Gold Twitter EtherCAT In Main Connector PHY IN Rx PHY_IN_Rx PHY_IN_Tx PHY_IN_Tx PHY_IN_SPEED PHY_IN_LINK_ACT COMRET Table of Contents ECT4 7 p Ca ECT1 6 EtherCAT Cable CATS RJ45 magnetic not included GTWI005D Figure 27 EtherCAT Connection Schematic Diagram EtherCAT Module www elmomc com EtherCAT Master or Other EtherCAT Device EtherCAT Master or Other EtherCAT Device 51 Gold Twitter Install
32. ies GTWI002B D 3 TIER CAN MODULE 4 TIER ETHERCAT MODULE Figure 1 Difference between 3 Tier CAN and 4 Tier EtherCAT modules Within the variety of models offered the CAN and EtherCAT versions are physically different in that the CAN version has three tiers whereas the EtherCAT version has four tiers as shown in Figure 1 Table of Contents Warranty Information www elmomc com e Gold Twitter Installation Guide 9 MAN G TWI Ver 1 005 Chapter 4 Technical Information 4 1 Physical Specifications Feature Units All Types Weight EtherCAT Version 22 2 g 0 78 oz CAN Version 18 6 g 0 66 oz EtherCAT Version Dimension 35 35x30x188 mm L38 x148 x0 074 30 x 18 8 mm 35x30x188 mm L38 x148 x0 074 38 x 1 18 x 0 0 74 CAN Version Dimension 35 x 30x 18 8 mm 1 38 x 1 18 x 0 0 74 Mounting method PCB mount 4 2 Technical Data Feature Units 30 60 3 100 S S 10 200 Maximum peak 2 6 0 6 p continuous electrical 1 3 0 3 power output 1 6 N o o 00 Efficiency at rated power at nominal conditions Maximum output voltage RR N gt 95 of DC bus gt 95 of DC bus voltage at Ts 50us at Ts 50 us Ic Amplitude sinusoidal DC continuous current Sinusoidal continuous 74 10 RMS current limit Ic Peak current limit current limit 2 x lc for 3 seconds Table 1 Technical Data Table of Contents Physical Specifications www elmomc com Gold Twitter I
33. in Connector I I a I I 1 je cec HEUS PR AEA Ter 1 3 dl l l e e RS232 Tx S A l LL l pe m l EG 0 I jd ii 4 L LL L L 1 RS232 Rx S am I A a I i i I 1 1 1 I I i l a bj MEE I 7 N lo i 1 i a ag o COMRET PL ill 44 m RL L MN RS232 COMRET I d TE NE 1 1 1 1 I 1 g SA Lic i I po f eee KL Cable s Shield I i I V Wire Neg connected I i I to Chassis PE I I d l i I DLE Segni csc A GTWI032D Figure 25 RS232 Connection Diagram For full details on RS232 TTL Level communication see section 12 5 1 in the MAN G Board Level Modules Hardware manual Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 47 The RS232 TTL Level will be used in order to connect Differential RS232 RS422 A A LL Gold Twitter Integration Integration Connector Board Board Connector IE rax d EM Gold Drive I I Main Connector AM 26LV31E m m d J TX_Diff_RS 232 I TX_Diff_RS 232 RS232_TX AM 26LV32E RX_Diff_RS 232 RS232_RX RX_Diff_RS 232 E i COMRET GTWIO90C Figure 26 Differential RS232 RS422 Connection Diagram Table of Contents Main Connector MAIN www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 8 4 EtherCAT Module PRVP PE M1 M2 M3 O O
34. nstallation Guide 10 MAN G TWI Ver 1 005 4 24 R Type Feature Units R50 60 R45 100 R15 200 Minimum supply voltage wor Maximum continuous kW 2 2 3 6 2 4 Electrical power output Efficiency at rated power at gt 99 nominal conditions Maximum output voltage E gt 95 of DC bus voltage at Ts 50 us Amplitude sinusoidal DC A 50 45 15 continuous current Sinusoidal continuous RMS A 35 5 32 10 6 current limit Ic Current limit Max Output current is guaranteed for Tyeat sink lt 85 C 4 2 2 Auxiliary Supply Input Voltage VL Feature Power consumption including 5 V 200 mA for encoder Input range Power consumption including 5 V 200 mA for encoder Table of Contents Technical Data www elmomc com Gold Twitter Installation Guide A MAN G TWI Ver 1 005 4 2 3 Product Features Main Feature Digital Input Option Digital Output Option Analog Input Feedback Communication Option Table of Contents Details Presence No 5V Logic Level Opto isolated from the Control section 5V Logic Level Internally connected to COMRET 5V logic Internally connected to COMRET 3 3V logic Internally connected to COMRET Differential 10V Standard Port A B amp C p p E pum E m ooo Technical Data www elmomc com 11 Gold Twitter Installation Guide MAN G TWI Ver 1 005 Chapter 5 Unpacking the Drive Components Before you begin working with the Gold Twitte
35. ntents Warnings www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 Chapter 3 Product Description The Gold Twitter is an advanced high power density servo drive delivering up to 4 kW power in a 12 6 cc 0 769 in compact package 35 x 30 x 12 mm or 1 38 x 1 18 x 0 47 The Gold Twitter is designed to be mounted on a PCB by soldering its pins directly to the PCB This advanced high power density servo drive provides top performance advanced networking and built in safety as well as a fully featured motion controller and local intelligence The Gold Twitter operates from a DC power source from 8V up to 195V It does not require an additional power supply if the DC power supply is between 12V to 40V otherwise an isolated from the Mains DC power source 12 to 40V for logic is required The drive 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 Gold Twitter drive is easily set up and tuned using the Elmo Application Studio EASII software tools As part of the Gold product line it is fully programmable with the Elmo motion control language For more information about software tools refer to the Elmo Application Studio Software Manual The Gold Twitter is available in a variety of models There are multiple power rating options different communications options a number of feedback options and different I O configuration possibilit
36. ontents _ Initializing the System www elmomc com MAN G TWI Ver 1 005 54 9 2 Heat Dissipation The best way to dissipate heat from the Gold Twitter is to mount it so that its heat sink faces up For best results leave approximately 10 mm of space between the Gold Twitter s heat sink and any other assembly 9 2 1 Heat Dissipation Data Heat Dissipation is shown in graphically below o o Power Dissipation Watt N A Oo o Motor s current Table of Contents Heat Dissipation www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 GOLD Twitter 50 100 Power Dissipation 45 40 35 30 e 4W line 24V 20 48V 72V 25 15 Power Dissipation Watt 10 0 5 10 15 20 25 30 35 40 45 50 Motor s Phase current Amplitude Ampere 9 2 2 How to Use the Chart 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 2 Determine the ambient operating temperature of the Gold Twitter 3 Calculate the allowable temperature increase as follows for an ambient temperature of 40 C AT 80 C 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 th
37. r verify that you have all of its components as follows 12 The Gold Twitter servo drive The Elmo Application Studio EASII software and software manual The Gold Twitter is shipped in a cardboard box with Styrofoam protection To unpack the Gold Twitter 1 2 Carefully remove the servo drive from the box and the Styrofoam 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 To ensure that the Gold Twitter you have unpacked is the appropriate type for your requirements locate the part number sticker on the side of the Gold Twitter It looks like this EA pN G TWI20 100 Elmo S N HB EE EE 1 Motion Control G T103000 GTWIO17A Verify that the Gold Twitter type is the one that you ordered and ensure that the voltage meets your specific requirements The part number at the top provides the type designation Refer to the appropriate part number in the section Catalog Number at the beginning of the installation guide Table of Contents Technical Data www elmomc com Gold Twitter Installation Guide MAN G TWI Ver 1 005 1 3 Chapter 6 Mounting the Gold Twitter The Gold Twitter was designed for mounting on a printed circuit board PCB via 1 27 mm pitch 0 40 mm square pins 2 mm pitch 0 51 mm square pins and 3 65 mm pitch 1 20 mm round pins When integrating the Gold Twitter into a device be s
38. ring Legend eee eicere eet i rne Vini T 17 Chapter8 ea crore rene none eer uaa sese agonia Peio ve Moo lee eo 19 8 1 Main Power Auxiliary Power Motor Power eene enne nnne 21 8 1 1 Motor Power ug 9 a 21 8 1 2 Main Power and Auxiliary Power Connector 23 8 1 2 1 Main Power 488 99 9 T 23 8 1 2 2 Auxiliary Supply s iii 24 8 1 2 3 Dual Power Supply E esse eenn 25 8 1 2 4 Single Power supply 12VDC to 40VDC eee 26 8 2 Feedback Connector FDB ener entente nennen 27 9 2 1 PON Ase inei tereti eese tee ede tere esoee tes ced estere cba Ere ce seh ees sue e tee ee esee n beue 29 8 2 1 1 Incremental Encoder esee 29 8 2 1 2 Absolute Serial Encoder i 30 8 2 13 Hall Sehsors riale 31 8 2 2 O 32 Table of Contents MAN G TWI Ver 1 005 8 2 2 1 Incremental Encoder esee 32 8 2 2 2 Interpolated Analog Encoder 33 8 2 2 3 Resolver iia 34 8 2 3 Port C Emulated Encoder Output FDB eese 35 8 3 Main Connector MAIN ii 36 8 3 1 Digital INPUUS iii iaia Fre DR ca 39 8 3 2 Digital OUtpUts ii eie titer eene reticere eee tette qe reel ee eaae see eta iR ede ea equa 41 8 3 3 STO Safe Torque Off eene nennen nnne nnne nennen 43 8 3 4 Analog INPUT eicere tete eor ree iere ra ee
39. safety standards Before switching on the Gold Twitter verify that all safety precautions have been observed and that the installation procedures in this manual have been followed Make sure that the Safe Torque Off is operational 2 3 CE Marking Conformance The Gold Twitter 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 2006 42 EC as amended and with those of the most recent versions of standards EN 60204 1 and EN ISO 12100 at the least and in accordance with 2006 95 EC Concerning electrical equipment designed for use within certain voltage limits the Gold Twitter meets the provisions outlined in 2006 95 EC The party responsible for ensuring that the equipment meets the limits required by EMC regulations is the manufacturer of the end product 2 4 Warranty Information 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 Table of Co
40. t 2014 Initial document Ver 1 005 Nov 2014 Changes to RS232 signal names in section 8 3 6 Table of Contents MAN G TWI Ver 1 005 Chapter1 This Installation Guide eerte reo in niccenianicni ana niinennanivninnanioninnanicninnia 6 Chapter 2 Safety Information Leo dida seio oice es Rigo repe xe danos aha re sonia Caos Uia repa ke aeneo ie 6 2 4 Warnings lai iaia 7 2 2 CAUTIONS EEUU 7 2 3 CE Marking Conformance scs ocs vesse on aaargaa voger a tahanan ogaao ATR assis aRar ata 7 2 4 Warranty Information 0 7 Chapter3 Product Descriptio eerte toon eoo nine nannini 8 Chapter 4 Technical Information eeeeeeeee eee eene eene eene nennen enne nnn nennen nnn 9 4 1 Physical SpecificationS eese eene enne nnne nnn nn nnne nennen in nennen 9 4 2 Technical Data ie il t it ceps det re ramas tee feu lana 9 42 1 RV VDC sr 10 4 2 2 Auxiliary Supply Input Voltage VL i 10 4 2 3 Product FeatU res vcd iia iia ind 11 Chapter 5 Unpacking the Drive Components sss sese se sess ee sess sese ss sese ss eee ss ee cesse eee eee eee 12 Chapter 6 Mounting the Gold Twitter cccccsssssceccssssceccecssseceeesscecceesseseeeesseeeeees 13 6 1 Integrating the Gold TWE on a PCB 14 6 2 The Gold Twitter Connection Diagram ii 15 Chapter7 WPS eeeseto toon nee b o ona a ek oi ooa a Ebo paa edo agi ci ci Men 17 7 Wi
41. uide This information is provided to protect you and to keep your work area safe when operating the Gold Twitter 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 Twitter contains electrostatic sensitive components that can be damaged if handled incorrectly To prevent any electrostatic damage avoid contact with highly insulating materials such as plastic film and synthetic fabrics Place the product on a conductive surface and ground yourself in order to discharge any possible static electricity build up To avoid any potential hazards that may cause severe personal injury or damage to the product during operation keep all covers and cabinet doors shut The following safety symbols are used in this and all Elmo Motion Control manuals Warning This information is needed to avoid a safety hazard which might cause bodily injury or death as a result of incorrect operation Caution This information is necessary to prevent bodily injury damage to the product or to other equipment
42. ure to leave about 1 cm 0 4 outward from the heat sink to enable free air convection around the drive We recommend that the Gold Twitter be soldered directly to the board If the PCB is enclosed in a metal chassis we recommend that the Gold Twitter be screw mounted to it as well to help with heat dissipation The Gold Twitter has screw mount holes on each corner of the heat sink for this purpose see below od 8 i Qa O D D eis o od o oa solo nu o nu s E cdd oo lS nuo he TIE oo o j aajo uno oo oo su O o o O 0000000000000 O Y 35 rm 30 60 M2X0 4 5 p gt 25 60 O O G TWI001C Figure 2 Gold Twitter CAN Version Dimensions Table of Contents Technical Data www elmomc com 15 14 Gold Twitter Installation Guide MAN G TWI Ver 1 005 14 35 i 29 08 l Bm 24 3 1 27 R l _ 00 51 Ub 1 27 01 20 2 w 9 8 ED QT O i un i gt KE i 00 l i 00 O a 00 O O I _ 00 40 T i N S O i d a i 2 j 1999900000000004E i d 1 27 p N 6 50 A ini 23 25 32 80 Figure 3 Gold Twitter EtherCAT Version Dimensions 6 1 Integrating the Gold TWE on a PCB The Gold Twitter is designed to be mounte
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