Elmo Gold Solo Double Twitter Series Installation Manual
Gold Solo Double Twitter
Digital Servo Drive
Installation Guide
CAN and EtherCAT
May 2019 (Ver. 1.005) www.elmomc.com
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
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
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
Gold Solo Double Twitter Installation Guide
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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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10
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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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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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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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
Gold Solo Double Twitter Installation Guide
Table of Contents
MAN-G-SOLTWIB_160 (Ver. 1.005)
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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