Page 1
Gold Solo Double Twitter
Digital Servo Drive
Installation Guide
CAN and EtherCAT
May 2019 (Ver. 1.005) www.elmomc.com
Page 2
Notice
This guide is delivered subject to the following conditions and restrictions:
• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Gold Solo Double
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.
• Information in this document is subject to change without notice.
Document no. MAN-G-SOLTWIB_160 (Ver. 1.005)
Copyright 2019
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Page 3
Revision History
Version Date
Ver. 1.000 Mar 2018
Ver. 1.001 Mar 2018
Ver. 1.002 Jul 2018
Ver. 1.003 Sep 2018
Ver. 1.004 Dec 2018
Ver. 1.005 May 2019
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Table of Contents
MAN-G-SOLTWIB _160 (Ver . 1.005)
Chapter 1: This Installation Guide ................................................................................. 7
Chapter 2: Safety Information ...................................................................................... 7
2.1. Warnings .................................................................................................................... 8
2.2. Cautions ...................................................................................................................... 8
2.3. Warranty Information ................................................................................................ 8
Chapter 3: Product Description ..................................................................................... 9
Chapter 4: Technical Information ................................................................................ 10
4.1. Physical Specifications .............................................................................................. 10
4.2. D Type Technical Data .............................................................................................. 10
4.3. Control Supply Input Voltage (VL) ............................................................................ 11
4
4.4. Product Features ...................................................................................................... 11
4.5. Environmental Conditions ........................................................................................ 12
Chapter 5: Standards .................................................................................................. 13
5.1. CE Declaration .......................................................................................................... 14
5.2. Environmental .......................................................................................................... 14
5.3. EMC .......................................................................................................................... 14
5.4. EtherCAT Conformance ............................................................................................ 14
5.5. Other Compliant Standards ...................................................................................... 15
Chapter 6: Installation ................................................................................................ 16
6.1. Unpacking the Servo Drive Components.................................................................. 16
6.2. Mounting the Gold Solo Double Twitter to a Heat Sink ........................................... 17
6.3. The Gold Solo Double Twitter Connection Diagrams ............................................... 18
6.3.1. CAN Connection Diagram .......................................................................... 18
6.3.2. EtherCAT Connection Diagram .................................................................. 19
Chapter 7: Wiring ....................................................................................................... 20
7.1. Wiring Legend........................................................................................................... 20
7.2. Connectors Types ..................................................................................................... 22
7.2.1. Recommended Cable Lugs and Cabling ..................................................... 23
7.3. Mating Connectors, Wires, and Cables .................................................................... 23
7.4. Logic and Control Cabling and Wiring ...................................................................... 24
7.4.1. J10 and J11 (Feedback ports, VL, RS232, USB, Analog Input) .................... 24
7.4.2. J11 (Digital Inputs/Outputs, STO) .............................................................. 24
7.4.3. J17, J18 EtherCAT or CAN Communication................................................ 24
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7.4.4. COMRET to PE Connection ........................................................................ 24
7.5. Wiring the Female Connectors ................................................................................. 25
Chapter 8: Connections .............................................................................................. 26
8.1. Main, Control, and Motor Power ............................................................................. 26
8.1.1. Connecting the DC Power and the Motor Power Wires............................ 26
8.1.2. Motor Power Connections ........................................................................ 27
8.1.3. Motor Power ............................................................................................. 28
8.1.4. Main Power and Control Supply ................................................................ 30
8.1.4.1. Main Power .............................................................................. 30
8.1.4.2. Control Supply (J10) .................................................................. 31
8.1.4.3. Dual Power Supply (PN G-SOLTWIDXXX/YYYEESD) .................. 32
8.1.4.4. Single Power Supply (PN G-SOLTWIDXXX/YYYEESV) ................ 34
5
8.2. Drive Status Indicator ............................................................................................... 35
8.3. J10 VL and Feedback Connector ............................................................................... 36
8.3.1. Port A ......................................................................................................... 39
8.3.1.1. Incremental Encoder ................................................................ 39
8.3.1.2. Absolute Serial Encoder ............................................................ 40
8.3.1.3. Hiperface .................................................................................. 41
8.3.1.4. Hall Sensors .............................................................................. 42
8.3.2. Port B ......................................................................................................... 43
8.3.2.1. Incremental Encoder ................................................................ 43
8.3.2.2. Interpolated Analog Encoder ................................................... 44
8.3.2.3. Resolver .................................................................................... 45
8.3.3. Port C – Emulated Encoder Output (J10)................................................... 46
8.4. J11 I/O and Communication Connector ................................................................... 47
8.4.1. Digital Inputs .............................................................................................. 50
8.4.1.1. Source PLC Voltage Level Digital Input ..................................... 50
8.4.1.2. Sink PLC Voltage Level Digital Input ......................................... 52
8.4.1.3. Source 5V Logic Level Digital Input ........................................... 54
8.4.2. Digital Outputs ........................................................................................... 56
8.4.2.1. Source PLC Voltage Level Digital Output .................................. 56
8.4.2.2. Sink PLC Voltage Level Digital Output ...................................... 58
8.4.2.3. Digital Outputs Source 5V Logic Mode ..................................... 60
8.4.3. STO (Safe Torque Off) ................................................................................ 62
8.4.4. Analog Input .............................................................................................. 63
8.4.5. Standard RS-232 ........................................................................................ 64
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8.4.6. USB 2.0 Communication (Only for EtherCAT version) ............................... 65
8.5. EtherCAT Communications Version ......................................................................... 66
8.5.1. EtherCAT IN/Ethernet Connector (J17) ..................................................... 66
8.5.2. EtherCAT OUT Connector (J18) ................................................................. 67
8.5.3. EtherCAT Option ........................................................................................ 68
8.5.3.1. EtherCAT Communication ........................................................ 68
8.5.3.2. EtherCAT Status Indicator (D2) ................................................. 69
8.5.3.3. EtherCAT Link Indicators (D3, D4) ............................................ 70
8.6. CAN Communications Version ................................................................................. 71
8.6.1. CAN IN Connector (J17) ............................................................................. 71
8.6.2. CAN OUT Connector (J18).......................................................................... 72
8.6.3. CAN Option ................................................................................................ 73
6
8.6.3.1. Interface ................................................................................... 73
8.6.3.2. CAN Layout ............................................................................... 74
Chapter 9: Powering Up ............................................................................................. 75
9.1. Initializing the System .............................................................................................. 75
9.2. Heat Dissipation ....................................................................................................... 76
9.2.1. Heat Dissipation Data ................................................................................ 76
9.2.2. How to Use the Chart ................................................................................ 80
Chapter 10: Dimensions ............................................................................................... 81
Chapter 11: Cables and Accessories .............................................................................. 83
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7
Chapter 1:
This installation Guide details the technical data, pinouts, and power connectivity of the Gold Solo
Double Twitter. For a comprehensive detailed description of the functions and connections of the
drive, refer to the Gold Panel Mounted Drives Hardware Manual.
Chapter 2:
In order to achieve the optimum, safe operation of the Gold Solo Double Twitter, 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 Solo Double
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.
This Installation Guide
Safety Information
The Gold Solo Double 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.
Important:
Identifies information that is critical for successful application and understanding
of the product.
|Warnings|www.elmomc.com
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2.1. Warnings
• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Solo Double 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 3 minutes 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 Solo Double Twitter to an approved control supply, connect it
through a line that is separated from hazardous live voltages using reinforced or double
insulation in accordance with approved safety standards.
8
• Before switching on the Gold Solo Double 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. 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 shipment. No other warranties, expressed or implied — and including a warranty of
merchantability and fitness for a particular purpose — extend beyond this warranty.
|Warnings|www.elmomc.com
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9
Chapter 3:
The Ultra High Current Gold Solo Double Twitter which can deliver up to 160A @ up to 75VDC, 140A
@ up to 95VDC, and 40A @ up to 195VDC, are advanced high power density servo drives, delivering
up to 11 kW power in a 97.02 cm3(5.92 Inch3) compact package
47 x 69.5 x 29.7 mm (1.85" x 2.74" x 1.17").
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. Power to the Gold
Solo Double Twitter is provided by a DC power source which is isolated from the Mains. The Gold
Solo Double Twitter can operate with single or dual power supplies. If separation between the main
DC power source and a control supply is required, then a control supply (isolated from the Mains) is
required according to the Part Number.
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 Solo Double 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 (EASII) User Guide.
The Gold Solo Double 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 possibilities.
Product Description
EtherCAT CANopen
Figure 1: Difference between 4-Tier EtherCAT and 3-Tier CANopen modules
|Warranty Information|www.elmomc.com
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Chapter 4:
Technical Information
4.1. Physical Specifications
Feature Units All Types
Weight g (oz) ~120.0 g (4.23 oz)
EtherCAT Version Dimension mm (in) 47 x 69.5 x 29.7 mm (1.85" x 2.74" x 1.17")
CAN Version Dimension mm (in) 47 x 69.5 x 26.9 mm (1.85" x 2.74" x 1.06")
Mounting method Panel Based Mounting
4.2. D Type Technical Data
Feature Units D160/80 D140/100 D40/200
Minimum supply voltage VDC 11 20
Nominal supply voltage VDC 65 85 170
Maximum supply voltage VDC 75 95 195
Maximum continuous Electrical
power output
Efficiency at rated power (at nominal
conditions)
Maximum output voltage Up to 96% of DC bus voltage
Amplitude sinusoidal/DC continuous
current
3-Phase Sinusoidal continuous RMS
current limit (Ic)
DC Motor (any two phase motor) A 100 40
Current limit A Max Output current is guaranteed for T
kW 10 11 7
% > 99
A 160 140 40
A 113 99 28
Heat-Sink
<85°C
|Physical Specifications|www.elmomc.com
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4.3. Control Supply Input Voltage (VL)
The Control Supply input voltage (VL) must be either SELV or PELV rated.
Feature Unit Details
Standard CAN (S option)
Input range V 11 V – 95 V
11
Power consumption
W < 2.5 W
(including 5 V/200 mA for encoder)
ETHERCAT (E option)
Input range V 11 V – 95 V
Power consumption
W < 4 W
(including 5 V/200 mA for encoder)
4.4. Product Features
Main Feature Details Presence / No.
STO
Digital Input
Digital Output
+5V Logic, Opto isolated from the Control section, or √
PLC Source, Opto isolated from the Control section √
+5V Logic, Opto isolated from the Control section or 6
PLC Source, Opto isolated from the Control section or 6
PLC Sink Opto isolated from the Control section 6
+5V Logic, Opto isolated from the Control section or 4
Analog Input
Feedback
Communication
Option
PLC Source, Opto isolated from the Control section or 4
PLC Sink, Opto isolated from the Control section 4
Differential ±10V or Single Ended
Standard Port A, B, and C
USB (only for EtherCAT version)
EtherCAT or
CAN
Standard RS232
1
√
√
√
√
√
|Control Supply Input Voltage (VL)|www.elmomc.com
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12
4.5. Environmental Conditions
You can guarantee the safe operation of the Gold Solo Double Twitter by ensuring that it is installed
in an appropriate environment.
Warning: During operation the Gold Solo Double Twitter becomes hot to the
touch (the heatsink and wires may heat up to 92 °C). Care should be taken
when handling it.
Caution
:
The Gold Solo Double Twitter dissipates its heat by convection or by
conduction. The maximum ambient operating temperature of 50 °C (122°F)
must not be exceeded.
Feature Details
Operating ambient temperature
0 °C to 40 °C (32 °F to 104 °F)
in compliance with STO standards
Operating ambient temperature
according to IEC60068-2-2
Storage temperature
Maximum non-condensing humidity
0 °C to 50 °C (32 °F to 122 °F) in compliance
with UL standards
-20 °C to +85 °C ( -4 °F to +185 °F)
95%
according to IEC60068-2-78
Maximum Operating Altitude
2,000 m (6562 feet)
It should be noted that servo drives capable
of higher operating altitudes are available on
request.
Mechanical Shock
15g / 11ms Half Sine
according to IEC60068-2-27
Vibration
according to IEC60068-2-6
5 Hz ≤ f ≤ 10 Hz: ±10mm
10 Hz ≤ f ≤ 57 Hz: 4G
57 Hz ≤ f ≤ 500 Hz:5G
|Environmental Conditions|www.elmomc.com
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13
Chapter 5:
The following table describes the Main Standards of the Gold Solo Double Twitter servo drive. For
further details refer to the MAN-G-Panel Mounted Drives Hardware manual.
Safe Torque Off (STO)
Safety Standard
The related functional safety standards below apply to the performance of the servo drives as
stated in the environmental conditions in the section above.
In Compliance with
STO IEC 61800-5-2:2007 SIL 3
In Compliance with
EN ISO 13849-1:2008 PL e, Cat 3
In Compliance with
EN 61508-1:2010 SIL 3
In Compliance with
EN 61508-2:2010 SIL 3
Standards
Item
Adjustable speed electrical power drive systems –
Safety requirements – Functional
Safety of machinery — Safety-related parts of
control systems.
Functional safety of electrical/electronic/
programmable electronic safety-related systems
Functional safety of electrical/electronic/
programmable electronic safety-related systems
In Compliance with
EN 61508-3:2010 SIL 3
Safety Item
The related safety standards below apply to the performance of the servo drives as stated in the
environmental conditions in section above.
In compliance with IEC/EN 61800-5-1 Adjustable speed electrical power drive systems
In compliance with UL61800-5-1 Adjustable speed electrical power drive systems
In compliance with CSA C22.2 NO. 14-13
Or
In compliance with CSA C22.2 NO. 274-13
Functional safety of electrical/electronic/
programmable electronic safety-related systems
Safety requirements – Electrical, thermal and energy
Safety requirements – Electrical, thermal and energy
Industrial Control Equipment
Adjustable drive speeds
|Environmental Conditions|www.elmomc.com
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5.1. CE Declaration
Refer to the complete EC Declaration of Conformity available on the internet at:
https://www.elmomc.com/download/4443/Gold-Line-CE-Declaration-of-Conformity-1.pdf
5.2. Environmental
Specification Details
In compliance with IEC60068-2-78 Environmental testing – Damp heat, steady state
In compliance with IEC60068-2-6 Environmental testing –Vibration (sinusoidal)
In compliance with IEC60068-2-2 Environmental testing – Dry heat
In compliance with IEC60068-2-27 Basic environmental testing procedures - Shock
5.3. EMC
Specification Details
14
In compliance with IEC/EN 61800-3 Adjustable speed electrical power drive systems
In compliance with EN 55011 Class A with
EN 61000-6-2: Immunity for industrial
environment, according to:
IEC 61000-4-2 / criteria B
IEC 61000-4-3 / criteria A
IEC 61000-4-4 / criteria B
IEC 61000-4-5 / criteria B
IEC 61000-4-6 / criteria A
IEC 61000-4-8 / criteria A
IEC 61000-4-11 / criteria B/C
In compliance with IEC 61326-3-1 Electrical equipment for measurement, control and
Electromagnetic compatibility (EMC)
laboratory use. Standard required for STO.
5.4. EtherCAT Conformance
EtherCAT Conformance Test Certified
Approved and certified EtherCAT conformance
|CE Declaration|www.elmomc.com
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5.5. Other Compliant Standards
Quality Assurance
ISO 9001:2015 Quality Management
Design
15
• IPC-D-275
• IPC-SM-782
• IPC-CM-770
Printed wiring for electronic equipment
(clearance, creepage, spacing, conductors sizing,
etc.)
Reliability
MIL-HDBK- 217F Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Workmanship
IPC-A-610, level 3 Acceptability of electronic assemblies
PCB
IPC-A-600, level 3 Acceptability of printed circuit boards
Packing
EN 100015 Protection of electrostatic sensitive devices
Environmental
WEEE Directive 2012/19/EC Waste Electrical and Electronic Equipment
regulations (WEEE)
ROHS Directives 2011/65/EU and
2015/863
Note: Out-of-service Elmo drives should be sent
to the nearest Elmo sales office.
Restrictions on Application of Hazardous
Substances in Electric and Electronic Equipment
(RoHS)
|Other Compliant Standards|www.elmomc.com
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16
Chapter 6:
Installation
6.1. Unpacking the Servo Drive Components
Before you begin working with the Gold Solo Double Twitter, verify that you have all of its
components, as follows:
• The Gold Solo Double Twitter servo drive
• The Elmo Application Studio (EASII) software and software manual
The Gold Solo Double Twitter is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Solo Double Twitter:
1. Carefully remove the servo drive from the box and the Styrofoam.
2. Check the drive to ensure that there is no visible damage to the instrument. If any damage
has occurred, report it immediately to the carrier that delivered your drive.
3. To ensure that the Gold Solo Double Twitter you have unpacked is the appropriate type for
your requirements, locate the part number sticker on the top of the Gold Solo Double
Twitter. It looks like this:
4. Verify that the Gold Solo Double 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.
|Unpacking the Servo Drive Components|www.elmomc.com
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6.2. Mounting the Gold Solo Double Twitter to a Heat Sink
The selected heat sink must be screwed to the lower surface of the Gold Solo Double Twitter.
To mount the heat sink:
1. Mount the heat sink under the base of the Gold Solo Double Twitter.
2. Place the Thermal foil (PN IMT-DTWIALHFLAT purchased from Elmo) between the lower
surface of the servo drive, and the upper surface of the heat sink
3. Use four M3 head cup Allen screws to secure the heat sink under the servo drive.
4. Tighten the screws to the relevant torque force applicable to an M3 stainless steel A2
screw.
17
Figure 2: Mount the Heat Sink and Thermal Foil to the Gold Solo Double Twitter
|Mounting the Gold Solo Double Twitter to a Heat Sink|www.elmomc.com
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6.3. The Gold Solo Double Twitter Connection Diagrams
6.3.1. CAN Connection Diagram
18
Figure 3: The Gold Solo Double Twitter CAN Connection Diagram
|The Gold Solo Double Twitter Connection Diagrams|www.elmomc.com
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6.3.2. EtherCAT Connection Diagram
19
Figure 4: The Gold Solo Double Twitter EtherCAT Connection Diagram
|The Gold Solo Double Twitter Connection Diagrams|www.elmomc.com
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Chapter 7:
Wiring
7.1. Wiring Legend
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
Earth connection (PE)
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
|Wiring Legend|www.elmomc.com
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Wiring Symbol Description
Encoder Earthing.
The cable`s shield is connected to the
chassis (PE) in the connector.
Earthing the Encoder and connecting
the Earth (PE) to the drive COMRET is
mandatory to insure reliable operation,
high noise immunity and rejection of
voltage common mode interferences.
21
|Wiring Legend|www.elmomc.com
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7.2. Connectors Types
The Gold Solo Double Twitter has the following types of connectors.
Type Function Port Connector Location
22
Terminal Lug
+ M4 Flat Washer
Power VP+,
PR
+ M4 Spring
Washer
+ M4 Nut
Motor M1,
M2,
M3
Terminal Lug
+ M3 Flat Washer
Earth
Connection
PE, PE
+ M3 Spring
Washer
+ M3 screw
Recommended for M4 screw Terminal Lug (FLEX) Stud hall size: M4
Connectors Location
|Connectors Types|www.elmomc.com
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Pins Type Function
23
Redcube Terminal screw, M4 Flat
Power, Motor
Washer, M4 Spring Washer, and M4
Nut
2 rows x 15 Pins Molex type J10 - VL & Feedback Ports
2 rows x 15 Pins Molex type J11 - IO and Communication
EtherCAT/CAN
5
5
Molex type
Molex type
J17 - CAN/EtherCAT IN Communication
J18 - CAN/EtherCAT OUT Communication
7.2.1. Recommended Cable Lugs and Cabling
Elmo recommends the following cable lugs depending on the cable to be installed. Refer to the
specification drawings for the UL listed lug and cable application.
Copper Lug - One-Hole, Standard Flex Barrel 6, 8, 10, 12, 14 Gauge
Current (A)
Wire Type Stud Size
(Up to)
160 #6 AWG
100
90
40
20
#8 AWG
#10 AWG
#12 AWG
#14 AWG
M4(#8)
M4(#8)
M4(#8)
M4(#8)
M4(#8)
For best noise immunity, twist the DC power wires.
Do not twist or bundle the motor phase wires.
7.3. Mating Connectors, Wires, and Cables
Connector Mating Connector Type Mating Crimping Pins
J10, J11
VL & Feedback Ports
IO and Communication
J17, 18
IN/OUT CAN/EtherCAT
Communication
MOLEX 1.00mm "Pico-Clasp"
501189-3010
MOLEX 1.00mm "Pico-Clasp"
501330-0500
MOLEX 1.00mm crimp
terminal 501193-3000
MOLEX 1.00mm crimp
terminal 501334-0100
|Mating Connectors, Wires, and Cables|www.elmomc.com
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7.4. Logic and Control Cabling and Wiring
7.4.1. J10 and J11 (Feedback ports, VL, RS232, USB, Analog Input)
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
7.4.2. J11 (Digital Inputs/Outputs, STO)
Wires can always be used, no need for twisting, no need for shielding.
7.4.3. J17, J18 EtherCAT or CAN Communication
Always use CAT5e cables
(see Elmo’s Gold Solo Double Twitter Cable Kit (MAN-G-SOLO_DOUBLE_TWITTER_CBLKIT)).
7.4.4. COMRET to PE Connection
24
Figure 5: COMRET Connection to the PE
At least one COMRET pin (Figure 5) must be connected to the Protective Earth (PE).
Earthing the COMRET by connecting the Earth (PE) to the drive COMRET is mandatory to insure
reliable operation, high noise immunity and rejection of voltage common mode interferences.
|Logic and Control Cabling and Wiring|www.elmomc.com
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7.5. Wiring the Female Connectors
25
Figure 6: Inserting a wire/pin to the Female Connector
To insert a wire/pin to the female connectors of J10, J11, J17, and J18 do the following:
1. Select the relevantly colored wire to insert to a specific rectangular compartment on the
female connector.
2. Use the appropriate Molex crimping plier (Molex P/N 63819-1500) to fasten a pin connector
to the end of the wire.
3. Place the connector on a flat surface, in the orientation as shown in Figure 6.
Notice that the rectangular slot has a niche at the bottom of the slot.
4. Insert the wire connector to the slot as shown in Figure 6. Make sure that the connector
protrusion is inserted to the bottom of the rectangular slot.
When inserting the wire connector to a slot in the second row, make sure to rotate the
connector in the opposite orientation.
5. Repeat the same procedure for any other wire connections.
|Wiring the Female Connectors|www.elmomc.com
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26
Chapter 8:
Connections
8.1. Main, Control, and Motor Power
This section describes the Main and Control supplies, and Motor Power connections. The Motor and
Main Power interface uses lugs and cables defined in section 7.2.1 Recommended Cable Lugs and
Cabling.
8.1.1. Connecting the DC Power and the Motor Power Wires
This section describes the installation of the wire terminal lugs for both the Main Power wires to
VP+, PR, and PE terminals on the Gold Solo Double Twitter, and the Motor Power wires to the M1,
M2, M3, and PE terminals on the Gold Solo Double Twitter.
Note: When connecting several identical motors, all the motor phases must be connected in an
identical sequence in order to save repetition of the tuning process.
Step 1: PE Earth Connection
Tighten the screw to the relevant torque force applicable to an M3 stainless steel A2 screw.
|Main, Control, and Motor Power|www.elmomc.com
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Step 2: Power and Motor Connection
27
Table 1: Connecting the Main Power and Motor Cables
8.1.2. Motor Power Connections
1. Ensure that the motor chassis is properly earthed.
2. Connect the appropriate terminal lugs from the Motor Power cables to the M1, M2, M3,
and PE terminals on the Gold Solo Double Twitter.
The phase connection is arbitrary as Elmo Application Studio (EAS II) 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.
a. Install the motor cable to the drive using the recommended Terminal Lug (FLEX), M4
flat washer, M4 spring washer, and secure with an M4 nut (to the drive). The required
M4 nut torque is typically 1.2 Nm.
b. Install the recommended PE wire to the drive, using a barrel connector, M3 flat
washer, M3 spring washer, and secure with an M3 head cup Allen screw to the
heatsink. Tighten the screw to the relevant torque force applicable to an M3 stainless
steel A2 screw.
3. For high EMI environment, it is highly recommended to use a 4-wire shielded (not twisted)
cable for the motor connection. The gauge is determined by the actual RMS current
consumption of the motor.
Connect the cable shield to the closest ground connection at the motor end.
For better EMI performance, the shield should be connected to Earth Connection (heat sink
mounting holes).
|Main, Control, and Motor Power|www.elmomc.com
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8.1.3. Motor Power
For full details see Section 7.3 in the manual: MAN-G-Board Level Modules Hardware manual.
Pin Function Cable Pin Positions
28
Brushless
Motor
Brushed DC
Motor
PE Connection earth Motor Motor
M1 Motor phase Motor N/C
M2 Motor phase Motor Motor
M3 Motor phase Motor Motor
Table 2: Motor Terminals
Figure 7: Brushless Motor Power Connection Diagram
Figure 8: Brushed Motor Power Connection Diagram
|Main, Control, and Motor Power|www.elmomc.com
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Connect the motor power wires as shown in Figure 9. The Yellow wire is the Grounding wire.
Make sure not to bundle the wires.
29
Figure 9: Connecting the Motor Power Wires
|Main, Control, and Motor Power|www.elmomc.com
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8.1.4. Main Power and Control Supply
This section describes the Main Power and the Control supply connector.
8.1.4.1. Main Power
The isolated DC power source is not included with the Gold Solo Double Twitter.
Pin Function Cable Pin Positions
VP+ DC Pos. Power input Power
PR Power return Power
PE Connection earth Power
30
Table 3: Main Power Terminals
Connect the DC power cable to the VP+ and PR terminals on the main power connector.
To connect the Gold Solo Double Twitter to the DC power source:
1. The source of the VDC power supply must be isolated from the Mains.
2. Verify that the rectified VDC is indeed within the range of the drive.
3. Connect the VP+ and PR wires to the terminals on the servo-drive as shown in Figure 10.
It is highly recommended to twist the two DC main power cables at intervals of 10 cm.
Figure 10: Connecting the Main Power Wires
4. Connect the PE to the closest earth connection near the power supply.
5. Connect the PR to the closest earth connection near the power supply.
6. Before applying power, first verify the polarity of the connection.
|Main, Control, and Motor Power|www.elmomc.com
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8.1.4.2. Control Supply (J10)
Connect the VL+ and VL- pins on the Gold Solo Double Twitter in the manner described in the table
and drawing below.
Pin Signal Function Pin Positions
30 VL+ Control Supply Input
29 VL- Control Supply
Return
1. Standard CAN (S option)
Input range: 11VDC – 95VDC
Power consumption: < 2.5W
(including 5 V/200 mA for
encoder)
2. EtherCAT (E option)
Input range: 11VDC – 95VDC
31
Power consumption: < 4W
(including 5 V/200 mA for
encoder)
Table 4: Control Supply Pins
Connect the VL+ and VL- terminals to the power supply Control Connector.
To connect the VL+ and VL- to the control supply:
1. The source of the control supply must be isolated from the Mains.
2. Connect the return (common) of the control supply source to the closest earth connection
near the control supply source.
3. Connect the VL+ and VL- wires to the terminals on the servo-drive as shown in Figure 11.
Figure 11: Connecting the Control Supply Wires
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and
shielding is not required. For longer distances than 1.0 m and/or high EMI environment,
shielded and twisted wires should be used. Drain wires should be connected to Elmo COMRET.
4. Before applying power, first verify the polarity of the connection.
|Main, Control, and Motor Power|www.elmomc.com
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8.1.4.3. Dual Power Supply (PN G-SOLTWIDXXX/YYYEESD)
Whenever dual power supply is selected by its part number, a separate supply for the Logic is
required. Both the Power and Logic supplies are required to be isolated from the mains:
• A battery or main DC power source rectified from the mains, according to specification
• A control supply for the logic (VL+, VL-)
The following figure describes an ordinary power supply for Servo drives with sufficient internal
capacitance and shunt regulator to manage power flow in both directions to-and-from the motor.
Note: The PR, COMRET, and VL- are connected internally in the Gold Solo Double Twitter.
32
Figure 12: Separate VP and VL Power Supplies Connection Diagram –Highly Recommended
The (+) of the control power supply is connected to the VL+ terminal, while the (-) of the control
power supply is connected directly to the (-) of the DC bus power supply. This connection avoids
high current ground loops due to poor wiring (Figure 12).
|Main, Control, and Motor Power|www.elmomc.com
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33
Figure 13: Separate VP and VL Power Supplies Connection Diagram - Alternative
The (-) of the control power supply is connected to the VL- of the Gold Solo Double Twitter (Figure
13).
|Main, Control, and Motor Power|www.elmomc.com
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8.1.4.4. Single Power Supply (PN G-SOLTWIDXXX/YYYEESV)
The Gold Solo Double Twitter 80V and 100V can be ordered (with V suffix) with VL+ already
internally connected to the VP+.
The single power supply is selected by its part number (VL+ connected to VP+) which describes the
absolute maximum VP+ and VL+ voltage which must be < 95VDC, under all conditions, to prevent
VL+ supply failure.
A single power supply can be used for the main and control power in the range of 11VDC to 95VDC.
The following figure describes a single connection of main power and control:
34
Figure 14: Single Power Supply (VP+ <95V) Connection Diagram
Note: This option is available for 80VDC and 100VDC models only.
|Main, Control, and Motor Power|www.elmomc.com
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8.2. Drive Status Indicator
Figure 15 shows the position of the D1 red/green dual LED, which is used for immediate indication
of the Initiation and Working states. For details refer to Chapter 7 Drive Status Indicator, in the
MAN-G-Panel Mounted Drives Hardware manual.
35
Drive Status Indicator - EtherCAT
Figure 15: Drive Status Indicator - CAN
The red/green dual LED is used for immediate indication of the following states:
• Initiation state: In this state the LED indicates whether the drive is in the boot state
(blinking red) or in the operational state (steady red).
• Working state: In this state the LED indicates whether the drive is in an amplifier failure
state (red) or is ready to enable the motor (green).
|Drive Status Indicator|www.elmomc.com
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8.3. J10 VL and Feedback Connector
36
J10 VL & Feedback Connector
Feedback A/B/C, Digital Halls – see Section 9.2 in the manual: MAN-G-Board Level Modules
Hardware Manual.
The following table describes the J10 VL and Feedback connections to the 2 x 15 pins female
connector.
Pin J10 Signal Function
1
2
3
4
5
6
PortA_ENC_A+ / ABS_CLK+ Channel A+ / Abs encoder clock +
PortB_ENC_A- Port B Channel A-
PortA_ENC_A- / ABS_CLK- Channel A- / Abs encoder clock -
PortB_ENC_A+ Port B Channel A+
PortA_ENC_B+ / ABS_DATA+ Channel B+ / Abs encoder data +
PortB_ENC_B- Port B Channel B-
7
8
9
10
|J10 VL and Feedback Connector|www.elmomc.com
PortA_ENC_B- / ABS_DATA- Channel B- / Abs encoder data -
PortB_ENC_B+ Port B Channel B+
PortA_ENC_INDEX+ Index+
PortB_ENC_INDEX- Port B Index-
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Pin J10 Signal Function
37
11
12
13
14
15
16
17
18
19
20
21
PortA_ENC_INDEX- Index-
PortB_ENC_INDEX+ Port B Index+
HA Hall sensor A
PortC_ENCO_A- Buffered Channel A- output / Pulse- / PWM-
HB Hall sensor B
PortC_ENCO_A+ Buffered Channel A+ output/Pulse+/PWM+
HC Hall sensor C
PortC_ENCO_B- Buffered Channel B- output / Dir-
+5V Encoder +5V supply with a total allowable
maximum consumption of 200mA using Pins 19
or 26.
PortC_ENCO_B+ Buffered Channel B+ output / Dir+
COMRET Common return
22
23
24
25
26
27
28
29
30
PortC_ENCO_Index- Buffered Channel INDEX- output
COMRET Common return
PortC_ENCO_Index+ Buffered Channel INDEX+ output
COMRET Common return
+5V Encoder +5V supply with a total allowable
maximum consumption of 200mA using Pins 19
or 26.
COMRET Common return
COMRET Common return
VL- Control 24V supply return
VL+ Control 24V supply
Table 5: Connector J10 – VL & Feedback
|J10 VL and Feedback Connector|www.elmomc.com
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Figure 16: Connecting the Feedback Wires
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
38
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.1. Port A
Refer to section 10.3 in the MAN-G-Board Level Modules Hardware Manual for further details of
the Port A connections.
8.3.1.1. Incremental Encoder
39
Figure 17: Port A Incremental Encoder Input – Recommended Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.1.2. Absolute Serial Encoder
40
Figure 18: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting
Data/Clock (e.g., Biss / SSI / EnDAT, etc.)
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
Figure 19: Absolute Serial Encoder – Recommended Connection Diagram for Sensors Supporting
Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.)
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.1.3. Hiperface
41
Figure 20: Absolute Serial Encoder – Recommended Connection Diagram for Stegmann Hiperface
Note: When the Hiperface protocol is used, the RS-232 connection is not available.
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.1.4. Hall Sensors
42
Figure 21: Hall Sensors Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.2. Port B
Refer to section 10.4 in the MAN-G-Board Level Modules Hardware Manual for further details of
the Port B connections.
8.3.2.1. Incremental Encoder
43
Figure 22: Port B Incremental Encoder Input – Recommended Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.2.2. Interpolated Analog Encoder
44
Figure 23: Port B - Interpolated Analog Encoder Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.3.2.3. Resolver
45
Figure 24: Port B – Resolver Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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46
8.3.3. Port C – Emulated Encoder Output (J10)
See Section 10.5 in the manual: MAN-G-Board Level Modules Hardware Manual for further details
of Port C.
Figure 25: Emulated Encoder Differential Output – Recommended Connection Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
|J10 VL and Feedback Connector|www.elmomc.com
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8.4. J11 I/O and Communication Connector
47
J11 I/O and Communication Connector
Pin J11 Signal Function
1
IN1 High speed programmable digital input 1 (opto isolated from
control COMRET)
2
IN2 High speed programmable digital input 2 (opto isolated from
control COMRET)
3
IN3 High speed programmable digital input 3 (opto isolated from
control COMRET)
4
IN4 High speed programmable digital input 4 (opto isolated from
control COMRET)
5
IN5 High speed programmable digital input 5 (opto isolated from
control COMRET)
6
IN6 High speed programmable digital input 6 (opto isolated from
control COMRET)
7
8
|J11 I/O and Communication Connector|www.elmomc.com
INRET D
INRET D
return
in
return
in
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Pin J11 Signal Function
48
9
10
11
12
13
14
15
16
17
18
OUT1 Programmable output 1 (opto isolated from control COMRET)
OUT2 Programmable output 2 (opto isolated from control COMRET)
OUT3 Programmable output 3 (opto isolated from control COMRET)
OUT4 Programmable output 4 (opto isolated from control COMRET)
OUTRET D
OUTRET D
return
out
return
out
STO1 STO 1 input opto isolated from control COMRET
STO2 STO 2 input opto isolated from control COMRET
STO_RET STO signal return.
The two digital STO inputs are optically isolated from the other
parts of the drive, and share one return line.
STO_RET STO signal return.
The two digital STO inputs are optically isolated from the other
parts of the drive, and share one return line.
19
20
21
22
23
24
25
26
27
28
29
30
COMRET Common return
GPIO5 ANALOG IN GPIO5 Analog input
ANALOG1+ Analog input 1
ANALOG1- Analog input 1 complement
COMRET Common return
COMRET Common return
RS-232_TX RS-232 Transmit
RS-232_RX RS-232 Receive
USB_VBUS USB VBUS detector (Only for EtherCAT version)
COMRET Common return
USB D+ USB _P line (Only for EtherCAT version)
USB D- USB _N line (Only for EtherCAT version)
Table 6: I/O, STO, Analog, RS-232, and USB Connector
STO (safety): For full details on STO, see Chapter 9 in the in the MAN-G-Board Level Modules
Hardware manual for full details.
|J11 I/O and Communication Connector|www.elmomc.com
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Figure 26: Connecting the USB, RS232, and Analog Input Wires
For USB, RS232, and Analog Input Wires
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
49
For Digital Inputs/Outputs, STO
Wires can be always used, no need for twisting, no need for shielding.
|J11 I/O and Communication Connector|www.elmomc.com
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8.4.1. Digital Inputs
8.4.1.1. Source PLC Voltage Level Digital Input
Feature Details
Standard Isolated PLC source
Conforming to IEC 61131-2
Input current Iin=( Vin-7.4)/4.99 Kohm
= 920 uA @ Vin = 12 V
I
in
= 4.5 mA @ Vin = 30 V
I
in
High-level input voltage 12 V < Vin < 30 V
Low-level input voltage 0 V < Vin < 7 V
50
Minimum pulse width
Execution time (all inputs):
the time from application of
voltage on input until execution is
complete
High-speed inputs – 1–6 minimum
pulse width, in high-speed mode
Capture with differential input
Port A, Port B Index
>250 µsec
0 < T < 250 µsec
T > 5 µsec if the input functionality is set to
latch/capture (index/strobe).
Notes:
• 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 µsec if the differential input functionality is set
to touch probe/capture (index/strobe).
Figure 27: Digital Input PLC Source Schematic
|J11 I/O and Communication Connector|www.elmomc.com
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The following are the connection diagram of Digital inputs:
51
Figure 28: Digital Input Connection Diagram Example – Source PLC Option
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8.4.1.2. Sink PLC Voltage Level Digital Input
Feature Details
Type of input Isolated PLC Sink
Input current Iin=(Vin-7.4)/4.99Kohm
= 920 uA @ Vin = 12 V
I
in
= 4.5 mA @ Vin = 30 V
I
in
High-level input voltage 12 V < Vin < 30 V
Low-level input voltage 0 V < Vin < 7 V
52
Minimum pulse width
Execution time (all inputs):
the time from application of
voltage on input until execution is
complete
High-speed inputs – 1–6 minimum
pulse width, in high-speed mode
Capture with differential input
Port A, Port B Index
>250 µsec
0 < T < 250 µsec
T > 5 µsec if the input functionality is set to
latch/capture (index/strobe).
Notes:
• 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 µsec if the differential input functionality is set
to touch probe/capture (index/strobe).
Figure 29: Digital Input Sink PLC Schematic
|J11 I/O and Communication Connector|www.elmomc.com
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Figure 30: Digital Input Sink Mode Example – PLC voltage level Connection Diagram
|J11 I/O and Communication Connector|www.elmomc.com
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8.4.1.3. Source 5V Logic Level Digital Input
Feature Details
Type of input Optically isolated
Input current for all inputs Iin = 3.8 mA @ Vin = 5 V
High-level input voltage 3.0 V < Vin < 10 V, 5 V typical
Low-level input voltage 0 V < Vin < 0.8 V
54
Minimum pulse width
Execution time (all inputs):
the time from application of voltage on input
until execution is complete
High-speed inputs – 1–6 minimum pulse width,
in high-speed mode
> 250 µsec
0 < T < 250 µsec
T > 5 µsec if the input functionality is set to
latch/capture (index/strobe).
Notes:
Home mode is high-speed mode and can
be used for fast capture and precise
homing.
Highest speed is achieved when turning on
optocouplers.
Figure 31: Digital Input 5V Logic Schematic
|J11 I/O and Communication Connector|www.elmomc.com
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55
Figure 32: Digital Input Source 5V Logic Mode Connection Diagram
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8.4.2. Digital Outputs
8.4.2.1. Source PLC Voltage Level Digital Output
Feature Details
Type of output Optically isolated PLC source
Supply output (VDD) 12 V to 30 V (typically 24 V)
56
Max. output current
I
(max) (V
out
= High)
out
(max) ≤ 30 mA
I
out
Collector Emitter saturation voltage 1 V
Ton (Time from low to high)
= 24V
If V
dd
T
(Time from high to Low)
off
< 15 µsec
< 250 µsec
RL The external RL must be selected to limit output
current to no more than 30 mA.
Executable time
0 < T < 250 µsec
Figure 33: Digital Photodarlington Output Schematic – Source Mode PLC Level
|J11 I/O and Communication Connector|www.elmomc.com
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Figure 34: Digital Output Connection Diagram Example – Source PLC Option
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8.4.2.2. Sink PLC Voltage Level Digital Output
Feature Details
Type of output Optically isolated PLC Sink
Supply output (VDD) 12 V to 30 V (Typically 24 V)
58
Max. output current
I
(max) (V
out
= Low)
out
(max) ≤ 30 mA
I
out
Collector Emitter saturation voltage 1 V
Ton (Time from low to high)
= 24V
If V
dd
T
(Time from high to Low)
off
< 15µsec
< 300µsec
RL The external RL must be selected to limit output
current to no more than 30 mA.
Executable time
0 < T < 250 µsec
Figure 35: Digital Photodarlington Output Schematic for Sink – PLC level
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Figure 36: Digital Output Connection Diagram Example – Sink PLC Option
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8.4.2.3. Digital Outputs Source 5V Logic Mode
Feature Details
Type of output Optically isolated 5V Logic source
Supply output (VDD) < 30 V (Typically 5 V)
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Max. output current
I
(max) (V
out
= High)
out
(max) ≤ 30 mA
I
out
Collector Emitter saturation voltage 1 V
Ton (Time from low to high)
= 5V
If V
dd
T
(Time from high to Low)
off
< 10µsec
< 100µsec
RL The external RL must be selected to limit output
current to no more than 30 mA.
Executable time
0 < T < 250 µsec
Figure 37: Digital Photodarlington Output Schematic – Source Mode 5V Logic Level
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Figure 38: Digital Output Connection Diagram Example – Source 5V Logic Option
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8.4.3. STO (Safe Torque Off)
For full details on STO, see Chapter 9 in the MAN-G-Board Level Modules Hardware manual.
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Figure 39: STO Input Connection – 5V Logic
Figure 40: STO Input Connection – PLC (24V Logic)
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8.4.4. Analog Input
For full details on Analog Inputs, see section 11.3 in the MAN-G-Board Level Modules Hardware
manual.
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Figure 41: Analog Input
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
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8.4.5. Standard RS-232
Figure 42 describes the Standard RS-232 connection diagram.
Figure 42: Standard RS-232 Connection Diagram
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For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
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8.4.6. USB 2.0 Communication (Only for EtherCAT version)
For full details on USB communication, see section 12.1 in the MAN-G-Board Level Modules
Hardware manual.
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Figure 43: USB Network Diagram
For short distances between the drive and control, 0.5 to 1.0 m wires can be used and shielding is
not required. For longer distances than 1.0 m and/or high EMI environment, shielded and twisted
wires should be used. Drain wires should be connected to Elmo COMRET.
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8.5. EtherCAT Communications Version
Fieldbus communications are industrial network protocols for real-time distributed control that
allows connection of servo drives. The Gold Solo Double Twitter supports the following EtherCAT
fieldbus type industrial network protocol:
Fieldbus Type Product Number
EtherCAT G-SOLTWIDXXX/YYYEESV
8.5.1. EtherCAT IN/Ethernet Connector (J17)
Refer to section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for more details.
Pin (J17) Signal Function
1 EtherCAT_IN_TX+/Ethernet_TX+ EtherCAT in/Ethernet transmit +
2 EtherCAT_IN_TX-/Ethernet_TX- EtherCAT in/Ethernet transmit -
3 EtherCAT_IN_RX+/Ethernet_RX+ EtherCAT in/Ethernet receive +
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4 EtherCAT_IN_RX-/Ethernet_RX- EtherCAT in/Ethernet receive -
5 COMRET Shield drain wire
Pin Positions Cable Connector
Ethernet Cable Connector
Table 7: EtherCAT IN / Ethernet Pin Assignments
Note: Always use CAT5e cables.
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8.5.2. EtherCAT OUT Connector (J18)
See Section 12.2 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
Pin (J18) Signal Function
1 EtherCAT_OUT_TX+ EtherCAT out transmit +
2 EtherCAT_OUT_TX- EtherCAT out transmit -
3 EtherCAT_OUT_RX+ EtherCAT out receive +
4 EtherCAT_OUT_RX- EtherCAT out receive -
5 COMRET Shield drain wire
Pin Positions Cable Connector
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Table 8: EtherCAT OUT Pin Assignments
Note: Always use CAT5e cables.
Ethernet Cable Connector
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8.5.3. EtherCAT Option
For full details on EtherCAT communication, see Section 12.2 in the in the MAN-G-Board Level
Modules Hardware manual.
Note: The EtherCAT IN port can be configured to an Ethernet Port.
8.5.3.1. EtherCAT Communication
This section only describes 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.
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Figure 44: EtherCAT Connection Schematic Diagram
Note: Always use CAT5e cables.
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8.5.3.2. EtherCAT Status Indicator (D2)
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Figure 45: EtherCAT Status LED
The EtherCAT status indicator D2 is a single red/green dual bi-colored LED that combines the green
RUN indicator and the red ERROR indicator of the EtherCAT state machine. For further details, see
the EtherCAT Application Manual.
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8.5.3.3. EtherCAT Link Indicators (D3, D4)
The Gold Solo Double Twitter can serve as an EtherCAT slave device. For this purpose it has two
Ports J17 and J18, which are designated as EtherCAT In and EtherCAT Out. Each of these Ports has a
status LED; D3 EtherCAT In and D4 EtherCAT Out, which are shown in Figure 46.
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Figure 46: Ethernet Connector LEDs
The green LEDs D3 and D4 are the link/activity indicators. They show the state of the applicable
physical link and the activity on that link; blinking green, D3 for the Link Act IN, and D4 for the Link
Act OUT.
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8.6. CAN Communications Version
Fieldbus communications are industrial network protocols for real-time distributed control that
allows connection of servo drives. The Gold Solo Double Twitter supports the following CAN
fieldbus type industrial network protocol:
Fieldbus Type Product Number
CAN G-SOLTWIDXXX/YYYSESV
See Section 12.4 in the MAN-G-Panel Mounted Drives Hardware manual for the electrical diagram.
8.6.1. CAN IN Connector (J17)
Pin (J17) Signal Function
1 NC NC
4 CAN_L CAN_L bus line (dominant low)
3 CAN_H CAN_H bus line (dominant high)
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2 CAN_RET CAN Return
5 COMRET Shield drain wire
Pin Positions Cable Connector
CAN Cable Connector
Table 9: CAN IN Connector Pin Assignments
Note: Always use CAT5e cables.
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8.6.2. CAN OUT Connector (J18)
Pin (J18) Signal Function
1 NC NC
4 CAN_L CAN_L bus line (dominant low)
3 CAN_H CAN_H bus line (dominant high)
2 CAN_RET CAN Return
5 COMRET Shield drain wire
Pin Positions Cable Connector
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Table 10: CAN OUT Connectors Pin Assignments
Note: Always use CAT5e cables.
CAN Cable Connector
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8.6.3. CAN Option
For full details on CANopen communication, see section 14.3 in the MAN-G-Board Level Modules
Hardware manual.
8.6.3.1. Interface
The Gold Solo Double Twitter includes the CAN transceiver, common mode choke, and a CAN Bus
Protector against ESD and other harmful transient voltage events.
The following signals describe how to connect CAN to the external connector.
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Figure 47: CAN Interface
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8.6.3.2. CAN Layout
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Figure 48: CAN Network Diagram – Drop Off Topology
Caution: When installing CAN communication, ensure that each servo drive is
allocated a unique ID. Otherwise, the CAN network may “hang”.
Note: Daisy chain topology can also be accomplished using J18.
Note: Always use CAT5e cables.
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Chapter 9:
After the Gold Solo Double Twitter is connected to its device, it is ready to be powered up.
Powering 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 Solo Double 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.
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9.2. Heat Dissipation
The best way to dissipate heat from the Gold Solo Double Twitter is to mount it so that its heat-sink
is attached to the machine chassis. If mounted with its heat-sink suspended, then for best results
mount the servo drive faced upwards and leave approximately 10 mm of space between the Gold
Solo Double Twitter's heat-sink and any other assembly.
9.2.1. Heat Dissipation Data
Heat Dissipation is shown graphically below. The graphs below describe the Gold Solo Double
Twitter.
It should also be noted that the Gold Solo Double Twitter’s Heat Sink can dissipate up to 7.5 W.
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9.2.2. How to Use the Chart
The charts above are based upon the theoretical worst-case scenario. The actual test results display
a 20% -30% lower power dissipation.
The above charts indicate the net power conversion losses and exclude the control losses.
To determine if your application heat dissipation requires a heat sink:
1. Determine the power dissipation according to the "continuous current" and the DC bus
voltage curve.
If the DC bus is not one of the three curves above, estimate the dissipation by interpolation.
The estimation error is not critical.
2. The chart is calculated for continuous current operation, if the actual operation is pulsed
current, add 25% to 30% to the power dissipation of the average (RMS) current.
3. When the Heat-Sink temperature reaches ≈ 85 °C, the Gold Solo Double Twitter will shut
down.
Design the system for continuous operation so that the maximum Heat Sink temperature
should be no higher than between 80°C to 82°C.
4. If the average heat dissipation is less than ≈4W to 5W (Average operating power of 300W to
600W) there will be no requirement for an additional external heat sink.
If the average Heat dissipation is higher than 4W then an additional heat dissipation means
is required, usually by connecting to an additional external heat-sink.
5. When an external Heat-Sink is required, calculate the thermal resistance of the heat sink
according to:
/
=
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Chapter 10: Dimensions
This chapter provides detailed technical dimensions regarding the Gold Solo Double Twitter.
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Figure 49: G-Solo Double Twitter –EtherCAT version
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Figure 50: G-Solo Double Twitter –CAN version
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Chapter 11: Cables and Accessories
A Power cable kit can be purchased separately from Elmo for the Gold Solo Double Twitter:
Part Number Description
CBL-GSOLDTWIPOWKIT01 Kit cable for Power
The following describes the accessory kits available for the Gold Solo Double Twitter.
Part Number Description
CBL-GSOLTWIKIT03 Kit cable for EtherCAT model
CBL-GSOLTWIKIT04 Kit cable for CAN model
CBL-GSOLTWIKIT05 CONNECTORS AND PINS KIT
A specific Crimping Tool (available for purchase from Elmo) is required to mount extra connecting
pins on the wires. A number of wires are provided in the kit as pre-crimped for convenience:
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Crimping Tool Pins for Single Row Connector
Molex P/N 63819-1500 MOLEX P/N 501334-0100
Elmo P/N TOOL-P000040 Pins for Dual Row Connector
MOLEX P/N 501193-3000
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