ElmoMC Gold Bell User Manual

Gold Bell

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.004)

www.elmomc.com

Elmo Motion Control and the Elmo Motion Control logo are

EtherCAT Conformance Tested. EtherCAT® is a registered

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 Bell 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.

registered trademarks of Elmo Motion Control Ltd.

trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

Catalog Number

Document no. MAN-G-BELIG (Ver. 1.004)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Version Details

Ver. 1.0 Initial release

Ver. 1.001 Organized how the Gold DC Whistle features are presented in the document.

Ver. 1.002 Added a caution and recommendation on the type of cleaning solution to use

for the Elmo unit.

Section 5.5.2 - updated the supply output (VDD) voltage range value of the
Digital Output Interface - TTL mode.

Updated Section 4.3.2.5: Connector J1 and Section 4.10.1: Digital Inputs

Updated Figure 23 and Figure 24.

Ver. 1.003 Changes to section 4.6

Ver. 1.004 General format updates

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., P.O. Box 3078, Petach Tikva 49516
Israel

Tel: [phone] • Fax: [phone] •

[e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

Tel: [phone] • Fax: [phone] • [e-mail]

Europe

Elmo Motion Control GmbH

Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany

Tel: [phone] • Fax: [phone] • [e-mail]

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

Room 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051)
China

Tel: [phone] • Fax: [phone] • [e-mail]

Asia Pacific

Elmo Motion Control APAC Ltd.

B-601 Pangyo Innovalley, 621 Sampyeong-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea (463-400)

Tel: [phone] • Fax: [phone] • [e-mail]

MAN-G-BELIG (Ve r. 1.004)

Table of Contents

Gold Bell Installation Guide

Chapter 1: Safety Information .......................................................................................... 8

1.1. Warnings ......................................................................................................................... 9

1.2. Cautions .......................................................................................................................... 9

1.3. Directives and Standards .............................................................................................. 10

1.4. CE Marking Conformance ............................................................................................. 10

1.5. Warranty Information .................................................................................................. 10

Chapter 2: Product Description ...................................................................................... 11

2.1. Functional Description .................................................................................................. 11

2.2. Product Features .......................................................................................................... 11

2.2.1. High Power Density ....................................................................................... 11

2.2.2. Supply Input ................................................................................................... 12

2.2.3. Servo Control ................................................................................................. 12

2.2.4. Advanced Filters and Gain Scheduling........................................................... 13

2.2.5. Motion Control .............................................................................................. 13

2.2.6. Fully Programmable ....................................................................................... 14

2.2.7. Feedback Ports Options ................................................................................. 14

2.2.8. Feedback Sensor Specifications ..................................................................... 14

2.2.9. Communications ............................................................................................ 15

2.2.10. Safety ............................................................................................................. 16

2.2.11. Digital Outputs ............................................................................................... 16

2.2.12. Differential Outputs ....................................................................................... 16

2.2.13. Digital Inputs .................................................................................................. 17

2.2.14. Differential Inputs .......................................................................................... 17

2.2.15. Analog Input .................................................................................................. 17

2.2.16. Built-In Protection ......................................................................................... 18

2.2.17. Status Indication ............................................................................................ 18

2.2.18. Automatic Procedures ................................................................................... 18

2.2.19. Accessories .................................................................................................... 18

2.3. System Architecture ..................................................................................................... 19

2.4. How to Use this Guide .................................................................................................. 20

5

Chapter 3: Technical Information ................................................................................... 21

3.1. Technical Data .............................................................................................................. 21

3.1.1. Auxiliary Supply ............................................................................................. 22

Chapter 4: Installation ................................................................................................... 23

4.1. Site Requirements ........................................................................................................ 23

4.2. Unpacking the Drive Components ................................................................................ 23

4.3. Connectors.................................................................................................................... 25

4.3.1.

Connector Types ............................................................................................ 25

MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Safety Information

4.3.2. Pinouts ........................................................................................................... 26

4.3.2.1. Motor Power ................................................................................. 26

4.3.2.2. Main Power ................................................................................... 27

4.3.2.3. Auxiliary Power Connector ........................................................... 27

4.3.2.4. Connector J2 ................................................................................. 28

4.3.2.5. Connector J1 ................................................................................. 31

4.4. Mounting the Gold Bell ................................................................................................ 33

4.5. Integrating the Gold Bell on a PCB ............................................................................... 34

4.5.1. Traces ............................................................................................................. 34

4.5.2. Grounds and Returns ..................................................................................... 34

4.6. The Gold Bell Connection Diagram ............................................................................... 36

4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 37

4.7.1. Motor Power.................................................................................................. 37

4.7.2. Main Power.................................................................................................... 39

4.7.3. Auxiliary Power Supply (Optional) ................................................................. 40

4.7.4. Single Supply .................................................................................................. 41

4.7.5. Separate Auxiliary (Backup) Supply ............................................................... 41

4.7.6. Shared Supply ................................................................................................ 42

4.8. STO (Safe Torque Off) Inputs ........................................................................................ 43

4.9. Feedback ....................................................................................................................... 46

4.9.1. Port A (J2) ...................................................................................................... 47

4.9.1.1. Incremental Encoder .................................................................... 48

4.9.1.2. Absolute Serial Encoder ................................................................ 49

4.9.1.3. Hall Sensors................................................................................... 50

4.9.2. Port B (J2) ....................................................................................................... 51

4.9.2.1. Incremental Encoder .................................................................... 52

4.9.2.2. Interpolated Analog Encoder ........................................................ 53

4.9.2.3. Resolver ........................................................................................ 53

4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 54

4.9.4. Analog Input .................................................................................................. 55

4.10. User I/Os ....................................................................................................................... 56

4.10.1. Digital Inputs (J1) ........................................................................................... 56

4.10.2. Digital Outputs (J1) ........................................................................................ 59

4.10.3. Analog Input .................................................................................................. 60

4.11. Communications ........................................................................................................... 61

4.11.1. RS-232 Communication (J2) ........................................................................... 61

4.11.2. CAN Communication (J2) ............................................................................... 63

4.11.3. USB 2.0 Communication (J2) ......................................................................... 65

4.11.4. EtherCAT Communication (J2) ....................................................................... 66

4.11.5. Ethernet Communication (J2) ........................................................................ 68

4.11.6. EtherCAT/Ethernet Line Interface ................................................................. 70

4.12. Powering Up ................................................................................................................. 70

4.13. Initializing the System ................................................................................................... 70

4.14. Heat Dissipation............................................................................................................ 70

4.14.1. Thermal Data ................................................................................................. 70

6

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Gold Bell Installation Guide Safety Information

4.14.2. Heat Dissipation Data .................................................................................... 71

4.14.3. How to Use the Charts ................................................................................... 71

Chapter 5: Technical Specifications ................................................................................ 72

5.1. Dimensions ................................................................................................................... 72

5.2. Environmental Conditions ............................................................................................ 73

5.3. Control Specifications ................................................................................................... 73

5.3.1. Current Loop .................................................................................................. 73

5.3.2. Velocity Loop ................................................................................................. 74

5.3.3. Position Loop ................................................................................................. 74

5.4. Feedbacks ..................................................................................................................... 75

5.4.1. Feedback Supply Voltage ............................................................................... 75

5.4.2. Feedback Options .......................................................................................... 75

5.4.2.1. Incremental Encoder Input ........................................................... 75

5.4.2.2. Digital Halls ................................................................................... 76

5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 76

5.4.2.4. Resolver ........................................................................................ 77

5.4.2.5. Absolute Serial Encoder ................................................................ 77

5.4.3. Port C Feedback Output ................................................................................ 78

5.5. I/Os ............................................................................................................................... 79

5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 79

5.5.2. Digital Output Interface – TTL Mode ............................................................. 80

5.5.3. Analog Input .................................................................................................. 80

5.6. Safe Torque Off (STO) ................................................................................................... 81

5.6.1. STO Input Interfaces – TTL Mode .................................................................. 81

5.7. Communications ........................................................................................................... 82

5.8. Pulse-Width Modulation (PWM) .................................................................................. 82

5.9. Compliance with Standards .......................................................................................... 83

7

MAN-G-BELIG (Ve r. 1.004)

Chapter 1: Safety Information

Warning:

Caution:

Gold Bell Installation Guide

In order to achieve the optimum, safe operation of the Gold Bell servo drive, it is imperative
that you implement the safety procedures included in this installation guide. This information is
provided to protect you and to keep your work area safe when operating the Gold Bell and
accompanying equipment.

Please read this chapter carefully before you begin the installation process.

Before you start, ensure that all system components are connected to earth ground. Electrical
safety is provided through a low-resistance earth connection.

Only qualified personnel may install, adjust, maintain and repair the servo drive. A qualified
person has the knowledge and authorization to perform tasks such as transporting, assembling,
installing, commissioning and operating motors.

The Gold Bell servo drive contains electrostatic-sensitive components that can be damaged if
handled incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating
materials, such as plastic film and synthetic fabrics. Place the product on a conductive surface
and ground yourself in order to discharge any possible static electricity build-up.

8

To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.

The following safety symbols are used in this manual:

This information is needed to avoid a safety hazard, which might cause bodily
injury.

This information is necessary for preventing damage to the product or to
other equipment.

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MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Safety Information

1.1. Warnings

• To avoid electric arcing and hazards to personnel and electrical contacts, never

connect/disconnect the servo drive while the power source is on.

• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect

the Gold Bell from all voltage sources before it is opened for servicing.

• The Gold Bell servo drive contains grounding conduits for electric current protection. Any

disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at

least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.

1.2. Cautions

• The Gold Bell servo drive contains hot surfaces and electrically-charged components during

operation.

9

• The maximum DC power supply connected to the instrument must comply with the

parameters outlined in this guide.

• When connecting the Gold Bell to an approved isolated 12–95 VDC auxiliary power supply,

connect it through a line that is separated from hazardous live voltages using reinforced or
double insulation in accordance with approved safety standards.

• Before switching on the Gold Bell, verify that all safety precautions have been observed

and that the installation procedures in this manual have been followed.

• Do not clean any of the Gold Bell drive's soldering with solvent cleaning fluids of pH greater

than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual damage
to the drive's PCBs.

Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).

For further technical information on this recommended cleaning fluid, select the link:

http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1­VIGON_EFM-US.pdf

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MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Safety Information

1.3. Directives and Standards

The Gold Bell conforms to the following industry safety standards:

Safety Standard Item

10

In compliance with

Adjustable speed electrical power drive systems

IEC/EN 61800-5-1, Safety

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

In compliance with UL 60950-1
(formerly UL 1950)

Safety of Information Technology Equipment
Including Electrical Business Equipment

In compliance with EN 60204-1 Low Voltage Directive 73/23/EEC

The Gold Bell servo drive has been developed, produced, tested and documented in
accordance with the relevant standards. Elmo Motion Control is not responsible for any
deviation from the configuration and installation described in this documentation.
Furthermore, Elmo is not responsible for the performance of new measurements or ensuring
that regulatory requirements are met.

1.4. CE Marking Conformance

The Gold Bell servo drive is intended for incorporation in a machine or end product. The actual
end product must comply with all safety aspects of the relevant requirements of the European
Safety of Machinery Directive 98/37/EC as amended, and with those of the most recent
versions of standards EN 60204-1 and EN 292-2 at the least.

According to Annex III of Article 13 of Council Directive 93/68/EEC, amending Council Directive
73/23/EEC concerning electrical equipment designed for use within certain voltage limits, the
Gold Bell meets the provisions outlined in Council Directive 73/23/EEC. The party responsible
for ensuring that the equipment meets the limits required by EMC regulations is the
manufacturer of the end product.

1.5. Warranty Information

The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the
time of installation, or 18 months from time of shipment, whichever comes first. No other
warranties, expressed or implied — and including a warranty of merchantability and fitness for
a particular purpose — extend beyond this warranty.

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MAN-G-BELIG (Ve r. 1.004)

Chapter 2: Product Description

Gold Bell Installation Guide

2.1. Functional Description

The Gold Bell is an advanced high power density servo drive. It provides top servo
performance, advanced networking and built in safety, all in a small PCB mountable package.
The Gold Bell has a fully featured motion controller and local intelligence.

The Gold Bell operates from a DC power source. 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 Bell drive is easily set up and tuned using the Elmo Application Studio (EAS) software
tools. As part of the Gold product line, it is fully programmable with the Elmo motion control
language. For more information about software tools refer to the Elmo Application Studio
Software Manual.

The Gold Bell is available in a variety of models. There are multiple power rating options, two
different communications options, a number of feedback options and different I/O
configuration possibilities.

11

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Bell models.

Depending on the model you have purchased, not all features are available.

To see the features for your model, look at the product label on the Gold Bell and use the
product catalog number schematic that appears at the beginning of this manual and on
page 24 to determine which specific features are available to you.

2.2.1. High Power Density

The Gold Bell delivers up to 1.6 kW of continuous power or 3.2 kW of peak power in a 49.4 cc
(3.02 in

3

) package (55 x 59 x 15 mm or 2.17” x 2.32” x 0.6”)

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MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Product Description

2.2.2. Supply Input

• Single DC Power Supply: Power to the Gold Bell is provided by a single 12 V to 95 V isolated

DC power source (not included with the Gold Bell). A “smart” control-supply algorithm
enables the Gold Bell to operate with only one power supply with no need for an auxiliary
power supply for the logic.

• Optional Backup Supply: If backup functionality is required in case of power loss, e.g., to

keep the original position, an external 12 V to 95 V isolated supply should be connected.
This is more flexible than the requirement for 24 VDC supply.
If backup is not needed, a single power supply is used for both the power and logic circuits.

There are multiple voltage ratings of the Gold Bell (12 V to 95 V), so you must use the correct
power supply according to the maximum operating voltage of the Gold Bell. See Section
Chapter 3: Technical Information.

2.2.3. Servo Control

12

• Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)

• Current/Torque sampling rate: up to 25 kHz (40 μs)

• Velocity sampling rate: up to 12.5 kHz (80 μs)

• Position sampling rate: up to 12.5 kHz (80 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

• Position/Velocity/Acceleration command range – full 32 bit

• Position over velocity, with full dual loop support

• Current gain scheduling to compensate for the motor’s non-linear characteristics

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

• Velocity gain scheduling for ultimate velocity loop performance

• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and

position tracking errors

• High order filters gain scheduling vs. speed and position

• S-curve Profile Smoothing

• Cogging, BEMF and

ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Incremental encoder frequency of up to 75 Megacounts/sec

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Gold Bell Installation Guide Product Description

• Motion profiler numeric range:

9

 Position up to ±2 x 10
 Velocity up to 2 x 10
 Acceleration up to 2 x 10

counts

9

counts/sec

9

counts/sec2

2.2.4. Advanced Filters and Gain Scheduling

• “On-the-Fly” gain scheduling of current and velocity

• Velocity and position with “1-2-2” PIP controllers

• Automatic commutation alignment

• Automatic motor phase sequencing

• Current gain scheduling to compensate for the motor's non-linear characteristics

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

13

• Velocity gain scheduling for reliable velocity loop performance

• Gains & filter scheduling vs. position for mechanical coupling optimization, speed and

position tracking errors

• High order filters gain scheduling vs. speed and position

2.2.5. Motion Control

• Motion control programming environment

• Motion modes: PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event

capturing inputs

• Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE)

protocols, including Cyclic Position/Velocity modes. Fast (Hardware) event capturing
inputs, supporting < 1 μs latch latency

• Fast (hardware) Output Compare, with < 1 μs latency

• Output compare repetition rate:

 Fixed Gap: Unlimited
 Table based: 4 kHz

• Motion Commands: Analog current and velocity, Pulse-Width Modulation (PWM) current

and velocity, digital (software), Pulse and Direction

• Distributed Motion Control

• EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner

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Gold Bell Installation Guide Product Description

2.2.6. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming

2.2.7. Feedback Ports Options

• There are Port A and Port B feedback input ports that are flexible and configurable. Each

port can be programmed to serve as:

 Commutation feedback and/or
 Velocity feedback and/or
 Position feedback

• Port A supports the following sensors, depending on the specific model:

 Incremental encoder
 Incremental encoder and digital Hall
 Absolute serial encoder
 Absolute serial encoder and digital Hall (for dual loop)

14

• Port B supports the following sensors, depending on the specific model:

 Incremental encoder
 Analog encoder
 Analog Hall
 Resolver

• Port C is a flexible and configurable feedback output port. It supports the Encoder

emulation outputs of Port A or Port B or internal variables

• Analog input (±10 V ptp) support:

 Velocity feedback (tachometer)
 Position feedback (potentiometer)

2.2.8. Feedback Sensor Specifications

• Incremental Encoder – up to 75 Megacounts per second (15 MHz on A/B)

• Digital Halls:

 Up to 4 kHz commutation frequency
 5 V logic
 Input voltage up to 15 VDC

• Incremental encoder with digital Halls for commutation – up to 75 Megacounts per second

for encoder

• Interpolated Analog (Sine/Cosine) Encoder:

 Supports 1 V PTP Sin/Cos

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Gold Bell Installation Guide Product Description

 Sin/Cos frequency: up to 500 kHz
 Internal interpolation: up to ×8192
 Automatic correction of amplitude mismatch, phase mismatch, signal offset
 Emulated encoder output of the analog encoder

• Analog Hall Sensor:

 One feedback electrical cycle = one electrical cycle of the motor
 Supports 1 V PTP Sin/Cos
 Sin/Cos Frequency: up to 500 kHz
 Internal Interpolation: up to ×8192
 Automatic correction of amplitude mismatch, phase mismatch, signal offset

• Resolver

 14-bit resolution
 Up to 512 revolutions per second (RPS)
 Emulated encoder outputs of the resolver

• Auxiliary encoder inputs (ECAM, follower, etc.) single-ended, unbuffered

15

• Tachometer & Potentiometer

• Absolute serial encoders:

 NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)
 EnDAT 2.2
 BiSS/SSI

The Gold Bell can provide power (5 V, 2x200 mA max) for encoders, resolvers or Halls.

2.2.9. Communications

• Fast and efficient EtherCAT and CAN networking

• EtherCAT Slave:

 CoE (CANopen over EtherCAT)
 EoE (Ethernet over EtherCAT)
 FoE (File over EtherCAT) for firmware download
 Supports Distributed Clock
 EtherCAT cyclic modes supported down to a cycle time of 250 μs

• CANopen (DS-301, DS-305, DS-402)

• Ethernet TCP/IP

 UDP
 Telnet

• USB 2.0

• RS-232 (TTL logic level)

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MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Product Description

2.2.10. Safety

• IEC 61800-5-2, Safe Torque Off (STO)

 Two STO (Safe Torque Off) inputs
 Optically isolated
 TTL Level (5 V logic)
 Open collector and open emitter

• UL 508C recognition

• UL 60950 compliance

• CE EMC compliance

2.2.11. Digital Outputs

• Two separate programmable digital outputs

 Optically isolated sink and source for TTL level

16

• Pulse and Direction inputs (single-ended)

• PWM current command output for torque and velocity

• Optional functions:

 Fast output compare
 Brake control
 Amplifier fault indication
 General purpose
 Servo enable indication
 Output level: up to 30 V
 Open collector and open emitter

2.2.12. Differential Outputs

• Three differential outputs:

 Port C EIA-422 differential output line transmitters
 Response time < 1 μs
 Output current: ± 15 mA.

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Gold Bell Installation Guide Product Description

2.2.13. Digital Inputs

• Six separate programmable digital inputs

 TTL Level (5 V logic)
 Optically isolated
 Fast digital capture data <5 μs

• Optional functions:

 Fast event capture
 Inhibit/Enable motion
 Stop motion under control (hard stop)
 Motion reverse and forward limit switches
 Begin on input
 Abort motion
 Homing
 General purpose

17

2.2.14. Differential Inputs

• Six very fast differential event capture inputs 5 V logic

 Via Port A or B (three on each port, depending on model)
 EIA-422 Differential input line receiver
 Response time < 1 μs

2.2.15. Analog Input

• One Analog Input – up to 14-bit resolution

• Input: ±10 V

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Gold Bell Installation Guide Product Description

2.2.16. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Extensive Status reporting

• Protection against:

 Shorts between motor power outputs
 Shorts between motor power outputs and power input/return
 Failure of internal power supplies
 Overheating
 Over temperature
 Motor current

2

 i

t motor current

• Continuous temperature measurement. Temperature can be read on-the-fly; a warning can

be initiated x degrees before temperature disable is activated.

18

 Over/under voltage
 Loss of feedback
 Following error
 Current limits

2.2.17. Status Indication

• Output for a bi-color LED

2.2.18. Automatic Procedures

• Commutation alignment

• Phase sequencing

• Current loop offset adjustment

• Current loop gain tuning

• Current gain scheduling

• Velocity loop offset adjustment

• Velocity gain tuning

• Velocity gain scheduling

• Position gain tuning

2.2.19. Accessories

• External heatsink. See Section 4.4 for details. Catalog number: WHI-HEATSINK-2.

• Cable Kit (TBD)

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Gold Bell Installation Guide Product Description

2.3. System Architecture

19

Figure 1: Gold Bell System Block Diagram

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MAN-G-BELIG (Ve r. 1.004)

Gold Bell Installation Guide Product Description

2.4. How to Use this Guide

In order to install and operate your Elmo Gold Bell servo drive, you will use this manual in
conjunction with a set of Elmo documentation. Installation is your first step; after carefully
reading the safety instructions in the first chapter, the following chapters provide you with
installation instructions as follows:

• Chapter 3 - Installation, provides step-by-step instructions for unpacking, mounting,

connecting and powering up the Gold Bell.

• Chapter 4 - Technical Specifications, lists all the drive ratings and specifications.

Upon completing the instructions in this guide, your Gold Bell servo drive should be
successfully mounted and installed. From this stage, you need to consult higher-level Elmo
documentation in order to set up and fine-tune the system for optimal operation.

• The Gold Product Line Software Manual, which describes the comprehensive software used

with the Gold Bell.

• The Gold Product Line Command Reference Manual, which describes, in detail, each

software command used to manipulate the Gold Bell motion controller.

20

• The Elmo Application Studio Software Manual, which includes explanations of all the

software tools that are part of the Elmo Application Studio software environment.

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MAN-G-BELIG (Ve r. 1.004)

Chapter 3: Technical Information

Gold Bell Installation Guide

21

3.1. Technical Data

Feature Units 1/100 2.5/100 5/100 10/100 15/100 20/100

Minimum supply voltage VDC 12

Nominal supply voltage VDC 85

Maximum supply voltage VDC 95

Maximum continuous power

W 80 200 400 800 1200 1600

output

Efficiency at rated power (at

% > 99

nominal conditions)

Maximum output voltage > 95% of DC bus voltage at f = 22 kHz

Auxiliary power supply VDC 12 to 95 VDC

(up to 6 VA inc. 5 V/2 x 200 mA for encoder)

Amplitude sinusoidal/DC

A 1.0 2.5 5 10 15 20

continuous current

Sinusoidal continuous RMS

A 0.7 1.8 3.5 7 10.6 14.1

current limit (Ic)

Peak current limit A 2 x Ic

Weight g (oz) 55 g (1.94 oz)

Dimensions mm

(in)

(55 x 59 x 15 mm or 2.17” x 2.32” x 0.6”)

49.4 cc (3.02 in3) package

Digital in/Digital out/Analog in 6/2/1

Mounting method PCB mount

Table 1: Technical Data

Note on current ratings: The current ratings of the Gold Bell are given in units of DC

amperes (ratings that are used for trapezoidal commutation or DC motors). The RMS
(sinusoidal commutation) value is the DC value divided by 1.41.

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Gold Bell Installation Guide Technical Information

3.1.1. Auxiliary Supply

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 12 V to 95 V

Auxiliary supply input power ≤4 VA without external loading

≤6 VA with full external loading

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Chapter 4: Installation

Gold Bell Installation Guide

The Gold Bell must be installed in a suitable environment and properly connected to its voltage
supplies and the motor.

4.1. Site Requirements

You can guarantee the safe operation of the Gold Bell by ensuring that it is installed in an
appropriate environment.

Feature Value

23

Ambient operating temperature

Maximum non-condensing humidity 90%

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution:
The Gold Bell dissipates its heat by convection. The maximum ambient

operating temperature of 40 °C (104 °F) must not be exceeded.

0 °C to 40 °C (32 °F to 104 °F)

4.2. Unpacking the Drive Components

Before you begin working with the Gold Bell, verify that you have all of its components, as
follows:

• The Gold Bell servo drive

• The Elmo Application Studio (EAS) software and software manual

The Gold Bell is shipped in a cardboard box with Styrofoam protection.

To unpack the Gold Bell:

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 Bell you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the Gold Bell. It looks like this:

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Gold Bell Installation Guide Installation

4. Verify that the Gold Bell type is the one that you ordered, and ensure that the voltage

meets your specific requirements.

The part number at the top gives the type designation as follows:

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Gold Bell Installation Guide Installation

4.3. Connectors

The Gold Bell has nine connectors.

4.3.1. Connector Types

Port Pins Type Function

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J2 2x24 1.27 mm pitch

0.41 mm sq

Feedbacks, Digital Halls, Analog Inputs,
Communications

J1 2x12 I/O, LEDs, STO

M4 1x2 2 mm pitch

M3 1x2 Motor power output 3

0.51 mm sq

Motor power output 4

M2 1x2 Motor power output 2

M1 1x2 Motor power output 1

PE 1x2 Protective earth

PR 1x2 Power input return

VP+ 1x2 Positive power input

VL+ 1x1 Auxiliary power input

Connector Location

Table 2: Connector Types

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4.3.2. Pinouts

The pinouts in this section describe the function of each pin in the Gold Bell connectors that are
listed in Table 2.

4.3.2.1. Motor Power

For full details see Section 4.7.1.

Pin Function Cable

Brushless Motor Brushed DC Motor Stepper Motor

PE Protective Earth Motor Motor Motor

M1 Motor phase Motor No Connection Motor

M2 Motor phase Motor Motor Motor

M3 Motor phase Motor Motor Motor

M4 Motor phase No Connection No Connection Motor

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Pin Positions

Table 3: Motor Connector

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