ElmoMC Gold Drum HV User Manual

Gold Drum HV (High

Voltage)

Digital Servo Drive

Installation Guide

EtherCAT and CAN

July 2014 (Ver. 1.202)

www.elmomc.com

Elmo Motion Control and the Elmo Motion Control logo are

EtherCAT Conformance Tested. EtherCAT® is a registered

CANopen compliant. CANopen® is a registered trademark and

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 Drum HV
(High Voltage) 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.

patented technology, licensed by CAN in Automation (CiA) GmbH,
Kontumazgarten 3, DE-90429 Nuremberg, Germany.

Catalog Number

Document no. MAN-G-DRUMHVIG-EC (Ver. 1.202)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Version Details

1.0 Initial release

1.100 EtherCAT and CAN merged in one document.

1.101 General document updates

1.102 Organized how the Gold Drum HV features are presented in

the document.

1.103 Addition of EtherCAT switches

1.104 Added a caution and recommendation on the type of cleaning

solution to use for the Elmo unit.

Updated the supply output (VDD) voltage range value of the
Digital Output Interface for PLC and TTL modes.

1.200 May 2013 Changes of Part number and within document to allow

EtherCAT switches and STO OUT.

1.201 Jan 2014 Updated Section 4.5.2.1: Main Power

Updated the connector drawing in the table in
Section 4.3.2.7: I/O Connector

1.202 July 2014 General format update

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

60 Amal St., POB 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 208, Building 2, TIan'An Hi-Tech Industrial Plaza, Guangzhou 511400,
No. 555 PanYuDaDao, China.

Tel: [phone] • Fax: +XX-XX-XXXXXXXX • [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-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN)

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. Drive Description .......................................................................................................... 11

2.2. Product Features .......................................................................................................... 12

2.2.1. Servo Control ................................................................................................. 12

2.2.2. Advanced Filters and Gain Scheduling........................................................... 13

2.2.3. Motion Control .............................................................................................. 13

2.2.4. Fully Programmable ....................................................................................... 13

2.2.5. Feedback Ports Options ................................................................................. 14

2.2.6. Feedback Sensor Specifications ..................................................................... 15

2.2.7. Communications ............................................................................................ 15

2.2.8. Safe Torque Off (STO) .................................................................................... 16

2.2.9. Digital Outputs ............................................................................................... 16

2.2.10. Differential Outputs ....................................................................................... 17

2.2.11. Digital Inputs .................................................................................................. 17

2.2.12. Differential Inputs .......................................................................................... 17

2.2.13. Analog Input .................................................................................................. 17

2.2.14. Built-In Protection ......................................................................................... 17

2.2.15. Status Indication ............................................................................................ 18

2.2.16. Automatic Procedures ................................................................................... 18

2.2.17. Approved Safety and EMC Standards ............................................................ 18

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

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

5

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

3.1. Technical Data for 400 V Drive ..................................................................................... 21

3.2. Technical Data for 800 V Drive ..................................................................................... 22

3.2.1. Auxiliary Supply ............................................................................................. 23

Chapter 4: Installation ................................................................................................... 24

4.1. Site Requirements ........................................................................................................ 24

4.2. Unpacking the Drive Components ................................................................................ 24

4.3. Connectors and Indicators ............................................................................................ 26

4.3.1. Connector Types ............................................................................................ 26

4.3.2. Pinouts ...........................................................................................................

28

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Gold Drum HV Installation Guide (EtherCAT and CAN) Table of Contents

4.3.2.1. Motor Power Connector ............................................................... 28

4.3.2.2. Main Power Connector ................................................................. 29

4.3.2.3. Auxiliary Power Connector ........................................................... 30

4.3.2.4. Port A Connector .......................................................................... 31

4.3.2.5. Port B Connector .......................................................................... 32

4.3.2.6. Port C Connector .......................................................................... 33

4.3.2.7. I/O Connector ............................................................................... 34

4.3.2.8. USB ................................................................................................ 36

4.3.3. EtherCAT Communications Version ............................................................... 37

4.3.3.1. EtherCAT IN/Ethernet ................................................................... 37

4.3.3.2. EtherCAT OUT ............................................................................... 38

4.3.3.3. EtherCAT Link Indicators ............................................................... 38

4.3.3.4. EtherCAT Status Indicator ............................................................. 39

4.3.3.5. EtherCAT Rotary Switches ............................................................ 39

4.3.4. CAN Communications Version ....................................................................... 41

4.3.5. Indicators ....................................................................................................... 41

4.4. Mounting the Gold Drum HV (High Voltage) ................................................................ 42

4.5. Wiring the Gold Drum HV (High Voltage) ..................................................................... 43

4.6. Connection Diagrams ................................................................................................... 43

4.6.1. Connection Diagrams for EtherCAT Version .................................................. 44

4.6.2. Connection Diagrams for CAN Version .......................................................... 46

4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 48

4.7.1. Motor Power.................................................................................................. 48

4.7.2. Main Power.................................................................................................... 51

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 52

4.7.2.2. Battery Power Supply ................................................................... 55

4.7.3. Control and Backup Supply ............................................................................ 55

4.7.3.1. Optional Backup Supply ................................................................ 56

4.8. STO (Safe Torque Off) Inputs ........................................................................................ 57

4.9. Feedback ....................................................................................................................... 61

4.9.1. Feedback Port A ............................................................................................. 62

4.9.1.1. Incremental Encoder .................................................................... 63

4.9.1.2. Absolute Serial Encoder ................................................................ 63

4.9.1.3. Hall Sensors................................................................................... 64

4.9.2. Feedback Port B ............................................................................................. 65

4.9.2.1. Incremental Encoder .................................................................... 66

4.9.2.2. Interpolated Analog Encoder ........................................................ 66

4.9.2.3. Resolver ........................................................................................ 67

4.9.3. Port C –

Emulated Encoder Output ............................................................... 68

4.10. Inputs/Outputs ............................................................................................................. 70

4.10.1. I/O Connector Pinout ..................................................................................... 70

4.10.1.1. Digital Input .................................................................................. 72

4.10.1.2. Digital Output ............................................................................... 75

4.10.2. Analog Input .................................................................................................. 78

4.11. Communications ........................................................................................................... 79

6

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Gold Drum HV Installation Guide (EtherCAT and CAN) Table of Contents

4.11.1. USB 2.0 Communication ................................................................................ 79

4.11.2. EtherCAT Communication ............................................................................. 80

4.11.2.1. Ethernet Communication ............................................................. 82

4.11.3. CAN Communication Version ........................................................................ 83

4.12. Powering Up ................................................................................................................. 84

4.13. Heat Dissipation............................................................................................................ 84

4.13.1. Gold Drum HV (High Voltage) Thermal Data ................................................. 84

4.13.2. Heat Dissipation Data .................................................................................... 85

4.13.3. How to Use the Charts ................................................................................... 86

4.14. Initializing the System ................................................................................................... 86

Chapter 5: Technical Specifications ................................................................................ 87

5.1. Gold Drum HV (High Voltage) Dimensions ................................................................... 87

5.2. Environmental Conditions ............................................................................................ 88

5.3. Control Specifications ................................................................................................... 88

5.3.1. Current Loop .................................................................................................. 88

5.3.2. Velocity Loop ................................................................................................. 89

5.3.3. Position Loop ................................................................................................. 89

5.4. Feedbacks ..................................................................................................................... 90

5.4.1. Feedback Supply Voltage ............................................................................... 90

5.4.2. Feedback Options .......................................................................................... 90

5.4.2.1. Incremental Encoder Input ........................................................... 90

5.4.2.2. Digital Halls ................................................................................... 91

5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 91

5.4.2.4. Resolver ........................................................................................ 92

5.4.2.5. Absolute Serial Encoder ................................................................ 92

5.4.3. Port C Feedback Output ................................................................................ 93

5.5. I/Os ............................................................................................................................... 94

5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 94

5.5.2. Digital Input Interfaces – PLC Mode .............................................................. 95

5.5.3. Digital Output Interface – PLC Mode ............................................................. 96

5.5.4. Digital Output Interface – TTL Mode ............................................................. 97

5.5.5. Digital Output Interface – A Mode ................................................................ 98

5.5.6. Analog Input .................................................................................................. 98

5.6. Safe Torque Off (STO) ................................................................................................... 99

5.6.1. STO Input Interfaces – PLC and A Modes ...................................................... 99

5.6.2. STO Input Interfaces – TTL Mode ................................................................ 100

5.7. EtherCAT Communications Version ........................................................................... 100

5.8.

CAN Communications Version .................................................................................... 101

5.9. Pulse-Width Modulation (PWM) ................................................................................ 101

5.10. Compliance with Standards ........................................................................................ 101

7

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Chapter 1: Safety Information

Warning:

Caution:

Gold Drum HV Installation Guide (EtherCAT and CAN)

In order to achieve the optimum, safe operation of the Gold Drum HV (High Voltage) 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 Drum HV (High Voltage) 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 Drum HV (High Voltage) 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.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) 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 Drum HV (High Voltage) from all voltage sources before it is opened for servicing.

• The Gold Drum HV (High Voltage) 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

9

• The Gold Drum HV (High Voltage) servo drive contains hot surfaces and electrically-charged

components during operation.

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

parameters outlined in this guide.

• When connecting the Gold Drum HV (High Voltage) to an approved isolated 18–30 VDC

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

• Before switching on the Gold Drum HV (High Voltage), 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 Drum HV (High Voltage) 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

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Safety Information

1.3. Directives and Standards

The Gold Drum HV (High Voltage) conforms to the following industry safety standards:

Safety Standard Item

10

In compliance with IEC/

Adjustable speed electrical power drive systems

EN 61800-5-1, Safety

In compliance with 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 Drum HV (High Voltage) 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 Drum HV (High Voltage) 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 Drum HV (High Voltage) 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.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Chapter 2: Product Description

Gold Drum HV Installation Guide (EtherCAT and CAN)

This installation guide describes the Gold Drum HV (High Voltage) servo drive and the steps for
its wiring, installation and power-up. Following these guidelines ensures optimal performance
of the drive and the system to which it is connected.

2.1. Drive Description

The Gold Drum HV (High Voltage) series of digital servo drives are highly resilient and designed
to deliver the highest density of power and intelligence. The Gold Drum HV (High Voltage)
delivers up to 65 kW of continuous power in a compact package.

The digital drives are part of Elmo’s advanced Gold Line. They operate from a DC power source
in current, velocity, position and advanced position modes, in conjunction with a permanent­magnet synchronous brushless motor, DC brush motor, linear motor or voice coil. They are
designed for use with any type of sinusoidal and trapezoidal commutation, with vector control.
The Gold Drum HV (High Voltage) can operate as a stand-alone device or as part of a multi-axis
system in a distributed configuration on a real-time network.

11

The drives are easily set up and tuned using Elmo Application Studio software tools. This
Windows-based application enables users to quickly and simply configure the servo drive for
optimal use with their motor. The Gold Drum HV (High Voltage), as part of the Gold Line, is fully
programmable with Elmo’s motion control language.

Power to the drives is provided by a DC power source (not included with the Gold Drum HV
(High Voltage)).

Since the power stage is fully isolated from the control stage, the DC rectifier can be fed
directly from the mains, without the need for a bulky and expensive transformer.

If backup functionality is required to store control parameters in the event of a mains power
outage, then an S, T, or A-model Gold Drum HV (High Voltage) should be used, with an external
24 VDC isolated supply connected to it.

Note: The backup functionality can operate from an isolated voltage source within the range

of 18 to 30 VDC.

Whenever backup functionality is not required, Gold Drum HV (High Voltage) models that have
the 0 or 1 option (only for 400 V model) in the catalog number (see page 25) can be used, i.e.,
they do not have a 24 V control supply. In these models, a smart control-supply algorithm
enables the Gold Drum HV (High Voltage) to operate with only the main power supply VP+ and
VN-, with no need for a 24 VDC auxiliary power supply for the logic.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Drum HV (High

Voltage) 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 Drum HV (High
Voltage) and use the product catalog number schematic that appears at the beginning of this
manual and on page 25 to determine which specific features are available to you.

2.2.1. Servo Control

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

• Current/Torque sampling rate: up to 20 kHz (50 μs)

• Velocity sampling rate: up to 10 kHz (100 μs)

• Position sampling rate: up to 10 kHz (100 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

12

• 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

• Motion profiler numeric range:

 Position up to ±2 x 10

 Velocity up to 2 x 10

 Acceleration up to 2 x 10

9

counts

9

counts/sec

9

counts/sec2

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.2.2. 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

• 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

13

2.2.3. 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

2.2.4. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.2.5. 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)

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

• Incremental encoder

14

• 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).

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.2.6. Feedback Sensor Specifications

• Incremental Quadrature Encoder (with or without commutation halls) up to

75 Megacounts per second (18 MHz PPS (Pulses Per Second))

• Digital Hall

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

• Incremental encoder and digital Halls

• Analog encoders

 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

• Analog Halls (commutation & position)

15

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

• Absolute serial encoders:

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

• Resolver up to 512 rps with 14-bit resolution

• Tachometer (available on request)

• Potentiometer (available on request)

• The Gold Drum HV (High Voltage) provides 5 V supply voltage (5 V, 400 mA max) for the

encoders supplies

2.2.7. 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)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

• Ethernet TCP/IP

 UDP
 Telnet

• USB 2.0

2.2.8. Safe Torque Off (STO)

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

• Two STO inputs PLC level which can be configured to 5 V logic (dependent on Part Number)

• One STO output indication (optional, see Part Number on Section 4.2)

• Opto-isolated

2.2.9. Digital Outputs

• Four separate programmable high voltage digital outputs related to VDD and VDDRET:

 TTL level: optically isolated source
 PLC: optically isolated source and APAC
 Conforms to IEC 61131-2
 Up to 30 VDC
 High-side logic (source)
 Low-side logic (sink)-APAC
 Opto-isolated
 For S, 0 option, Digital Outputs 2,3,4 up to 250 mA
 For A option, Digital Outputs 2,3,4 up to 150 mA
 For T, 1 option, Digital Outputs 2,3,4 up to 7 mA
 For S, 0 option, Digital Output 1 brake output: 500 mA
 For A option, Digital Output 1 brake output: 300 mA
 For T, 1 option, Digital Output 1: 7 mA
 Short circuit protection
 Thermal protection
 Reverse polarity protection

16

• The four outputs can be configured to 5 V Logic

• Optional functions:

 Fast output compare (for one output only)
 Brake control
 Amplifier fault indication
 General purpose
 Servo enable indication

• Pulse and Direction inputs (single-ended)

• PWM current command output for torque and velocity

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.2.10. Differential Outputs

• Three additional differential outputs can be configured through Port C:

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

2.2.11. Digital Inputs

• Six separate programmable digital Inputs, optically isolated, PLC compatible, can be

configured to TTL Level, and APAC mode depending on the part number definition.

• Six Digital Inputs – optically isolated, sharing a single common INRET

• Six Digital Inputs – optically isolated, sharing a single common positive supply-APAC

• All six inputs are fast 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

2.2.12. Differential Inputs

• Six additional fast differential event capture inputs 5 V logic cab be configured through

Ports A and B:

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

2.2.13. Analog Input

• One Analog Input – up to 14-bit resolution: ±10 V

2.2.14. Built-In Protection

Built-in Protection & Diagnostics:

• Software error handling

• Abort (hard stops and soft stops)

• Extensive status reporting

• Protection against:

 Shorts between motor power outputs

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

 Shorts between motor power outputs and power return
 Failure of internal power supplies
 Over-heating
 Over temperature
 Over/under voltage
 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.

 Loss of feedback
 Following error
 Current limits
 STO

2.2.15. Status Indication

• Two outputs for bi-color LEDs

18

2.2.16. 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

2.2.17. Approved Safety and EMC Standards

• UL 508C recognition

• UL 60950 compliance

• IEC 61800-5-1 compliance

• IEC 61800-3 compliance

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Isolated Power Stage

Feedback Port A

Feedback Port B

Feedback Out

Port C

Communication

User I/O Interface

Motion

Control

Logic

Incremental

Encoder, Hall

Sensors

(Options E,R)

Serial Encoder,

Hall Sensors

(Options E, R)

Incremental

Encoder

Or

Analog Encoder

(Option E)

Resolver

(Option R)

Encoder

Emulation,

PWM

Main DC Power

Supply

Optional DC

Auxiliary Supply

for S and T

models

Motor

PWM

Current

Feedback,

VBus

Protection

Or

Or

STO2

Isolation

Boundary

Isolation

Boundary

Digital
Inputs

Digital

Outputs

Analog

Input

CANopen, USB,

(Option S)

EtherCAT, USB,

(Option E)

Or

STO1,

STO2

STO Out

(Optional)

EtherCAT with

Switches, USB,

(Option F)

Or

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.3. System Architecture

19

Figure 1: Gold Drum HV (High Voltage) System Block Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

2.4. How to Use this Guide

In order to install and operate your Elmo Gold Drum HV (High Voltage) 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 Drum HV (High Voltage).

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

Upon completing the instructions in this guide, your Gold Drum HV (High Voltage) 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 Drum HV (High Voltage)

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

software command used to manipulate the Gold Drum HV (High Voltage) 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

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Chapter 3: Technical Information

Digital in/Digital out/ Analog in

Gold Drum HV Installation Guide (EtherCAT and CAN)

3.1. Technical Data for 400 V Drive

Feature Units 50/400 R100/400

Minimum supply voltage VDC *For S, T, or A option = 50

For 0 or 1 option = 100

Nominal supply voltage VDC 325

Maximum supply voltage VDC 400

Maximum continuous power output kW 16.5 33

21

Efficiency at rated power (at nominal
conditions)

Auxiliary supply voltage option VDC 18 to 30 VDC (only in S, T, or A option)

Auxiliary power supply

Continuous current limit (Ic)
Amplitude sinusoidal/DC trapezoidal
commutation

Continuous RMS sinusoidal
commutation current limit (Ic)

Peak Current A 100 No Peak

Weight g (oz) 1.65 Kg (58.202 oz)

Dimensions mm (in) 180 x 142 x 75.2 (7.08" x 5.53" x 2.96")

Mounting method Panel / Wall Mounted

% > 98

VA ≤5 VA without external loading

≤7 VA with full external loading

A 50 100

A 35 71

6/4/1

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Digital in/Digital out/ Analog in

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Information

3.2. Technical Data for 800 V Drive

Feature Units 35/800 50/800 R70/800 R100/800

Minimum supply voltage VDC *For S, T, or A option

= 95

Nominal supply voltage VDC 560 for 400 VAC

680 for 480 VAC

Maximum supply voltage VDC 780

22

Maximum continuous power
output

Efficiency at rated power (at
nominal conditions)

Auxiliary supply voltage option VDC 18 to 30 VDC (only in S, T, or A option)

Auxiliary power supply

Continuous current limit (Ic)
Amplitude sinusoidal/DC
trapezoidal commutation

Continuous RMS sinusoidal
commutation current limit (Ic)

Peak Current A 70 100 No Peak No Peak

Weight g (oz) 1.65 Kg (58.202 oz)

Dimensions mm (in) 180 x 142 x 75.2 (7.08" x 5.53" x 2.96")

Mounting method Panel / Wall Mounted

kW 22.5 32.5 45 65

% > 98

VA ≤5 VA without external loading

≤7 VA with full external loading

A 35 50 70 100

A 25 35 50 71

6/4/1

For both above Technical Data tables
*See page 25 for details on the part number. The S, T, or A option appears in models where
there is a 24 V control supply. If there is a 0 or 1 option, the control power supply operates
from the main power.

Note on current ratings: The current ratings of the Gold Drum HV (High Voltage) 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.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Information

3.2.1. Auxiliary Supply

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 18 VDC to 30 VDC

Auxiliary supply input power < 5 VA (this includes the 5 V/200 mA load for the

main encoder only)

<7 VA (this includes the 5 V/400 mA load on the
main encoder and feedback B)

23

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Chapter 4: Installation

Gold Drum HV Installation Guide (EtherCAT and CAN)

The Gold Drum HV (High Voltage) 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 Drum HV (High Voltage) by ensuring that it is
installed in an appropriate environment.

Feature Value

Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F)

Maximum non-condensing humidity 90%

Maximum Altitude 2,000 m (6562 feet)

Operating area atmosphere No flammable gases or vapors permitted in area

24

Models for extended environmental conditions are available.

Caution: The Gold Drum HV (High Voltage) dissipates its heat by convection. The
maximum ambient operating temperature of 40 °C (104 °F) must not be
exceeded.

4.2. Unpacking the Drive Components

Before you begin working with the Gold Drum HV (High Voltage), verify that you have all of its
components, as follows:

• The Gold Drum HV (High Voltage) servo drive

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

The Gold Drum HV (High Voltage) is shipped in a cardboard box with Styrofoam protection.

To unpack the Gold Drum HV (High Voltage):

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.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

3. To ensure that the Gold Drum HV (High Voltage) you have unpacked is the appropriate type

for your requirements, locate the part number sticker on the side of the Gold Drum HV
(High Voltage). It looks like this:

4. Verify that the Gold Drum HV (High Voltage) 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:

25

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3. Connectors and Indicators

The Gold Drum HV (High Voltage) has ten connector types.

4.3.1. Connector Types

The Gold Drum HV (High Voltage) has the following connector types:

Type Function Port Connector Location

26

Terminal Lug + M4
Spring Washer +

Power N

Not in use

M4 Nut

Terminal Lug + M6

Power VP+, VN­Spring Washer +
M6 Nut

Terminal Lug + M5

Motor M1, M2, M3

Ground PE, PE, PE, PE
Flat Washer + M5
Spring Washer +
M5 screw

Pins Type Function

Rear Connectors

15 Socket D-Type Port A

9 Socket D-Type Port B

15 Socket High Density D-Type Port C and Safety

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Pins Type Function

Front Connectors

Front Connectors – EtherCAT

27

Front Connectors – CAN

15 Pin High Density D-Type I/O

4 USB Device Type Mini B USB communication

2 3.81 mm Phoenix high current Auxiliary Supply

EtherCAT Version

8 RJ-45 Ethernet/EtherCAT_IN communication

8 RJ-45 EtherCAT OUT communication

CAN Version

8 RJ-45 CAN In communication

8 RJ-45 CAN Out communication

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2. Pinouts

The pinouts in this section describe the function of each pin in the Gold Drum HV (High
Voltage) connectors.

4.3.2.1. Motor Power Connector

See Section 4.7.1 for full details.

Pin Function Cable

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective Earth Motor Motor

28

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.2. Main Power Connector

See Section 4.7.2 for full details.

Pin Function Cable

PE Protective Earth DC Power

VN- DC Negative Power input DC Power

N Not in use DC Power

VP+ DC Positive Power input DC Power

29

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.3. Auxiliary Power Connector

See Section 4.7.3 for full details.

Optional Backup Supply in S, T, or A option drives.

Pin Function Cable

S, T, or A option type

VL+ +24 V Auxiliary Supply Input Positive DC Power

VL- 24 V RET Auxiliary Supply Input Return DC Power

30

2-Pin Phoenix Plug-in

Connector

2-Pin Pluggable 3.81 mm Phoenix High Current

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.4. Port A Connector

See Section 4.9.1 for full details.

Incremental Encoder Absolute Serial Encoder

31

Pin on

Signal Function Signal Function

Port A

12,4 +5V Encoder +5V supply +5V Encoder +5V supply

3,9,11,13 SUPRET Common return SUPRET Supply return

6 PortA_ENC_A+ Channel A+ ABS_CLK+ Abs encoder clock +

5 PortA_ENC_A- Channel A- ABS_CLK- Abs encoder clock -

15 PortA_ENC_B+ Channel B+ ABS_DATA+ Abs encoder data +

14 PortA_ENC_B- Channel B- ABS_DATA- Abs encoder data -

8 PortA_ENC_INDEX+ Index+ Reserved Reserved

7 PortA_ENC_INDEX- Index- Reserved Reserved

2 HA Hall sensor A HA Hall sensor A

10 HB Hall sensor B HB Hall sensor B

1 HC Hall sensor C HC Hall sensor C

Pin Positions

15-Pin D-Type Female Connector

Table 1: Port A Pin Assignments

15-Pin D-Type Male

Connector

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.5. Port B Connector

See Section 4.9.2 or full details.

32

Incremental or

Resolver

Interpolated Analog Encoder

G-DRUXXX/YYYXEXX G-DRUXXX/YYYXRXX

Pin on

Signal Function Signal Function

Port B

4 +5V Encoder +5V supply NC

5,9 SUPRET Supply return SUPRET Supply return

1 PortB_ENC_A+/SIN+ Incremental Encoder

A+ / Sine+

6 PortB_ENC_A-/SIN- Channel A- / Sine- SIN- Sine-

2 PortB_ENC_B+/COS+ Channel B+ / Cosine+ COS+ Cosine+

7 PortB_ENC_B-/COS- Channel B- / Cosine- COS- Cosine-

3 PortB_ENC_INDEX+ Index+ RESOLVER_OUT+ Vref f=1/TS,

8 PortB_ENC_INDEX- Index - RESOLVER_OUT- Vref complement

SIN+ Sine+

50 mA Max.

f= 1/TS, 50 mA
Max.

Pin Positions

9-Pin D-Type Male

Connector

9-Pin D-Type Female Connector

Table 2: Port B Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.6. Port C Connector

The Port C connector includes the following functions:

• Port C: For full details, see Section 4.9.3.

• STO: For full details, see Section 4.8.

• Analog input: For full details, see Section 4.10.2.

33

Pin on

Signal Function

Port C

1 PortC_ENCO_A+ Buffered Channel A+ output/Pulse+/PWM+

2 PortC_ENCO _A- Buffered Channel A- output / Pulse- / PWM-

3 PortC_ENCO _B+ Buffered Channel B+ output / Dir+

4 PortC_ENCO _B- Buffered Channel B- output / Dir-

5 PortC_ENCO _ Index+ Buffered Channel INDEX+ output

6 STO1 STO 1 input (default 24 V)

7, 12 STO_RET STO signal return

8 Reserved Reserved

9 COMRET Common return

10 PortC_ENCO _ Index- Buffered Channel INDEX- output

11 STO2 STO 2 input (default 24 V)

13 ANLRET Analog ground

14 ANALOG1- Analog input 1-

15 ANALOG1+ Analog input 1+

Pin Positions

15-Socket High Density D-Type Connector

Table 3: Port C Pin Assignments

15-Pin High

Density D-Type

Male Connector

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.7. I/O Connector

The following table lists the digital input pin assignments. See Section 4.10.1 for full details on
I/O.

I/O Pins Signal Function

1 IN1 High speed programmable input 1 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

2 IN2 High speed programmable input 2 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

7 IN3 High speed programmable input 3 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

8 IN4 High speed programmable input 4 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

11 IN5 High speed programmable input 5 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

12 IN6 High speed programmable input 6 (event capture, home, general

purpose, RLS, FLS, INH, PWM & direction input, pulse & direction input)

34

or STO OUT Collector in the O version

6 INRET1-6 Programmable inputs 1 to 6 return for the S/T/0/1 versions

Programmable positive input 1 to 6 for the APAC version

3 OUT1 Programmable output 1

4 OUT2 Programmable output 2

5 OUT3 Programmable output 3

13 OUT4 Programmable output 4

or STO OUT Emitter in the O version

10, 15 VDD Supply for out 1-4

9, 14 VDDRET Supply return for out 1-4

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

15-Pin High Density D-Type Male Connector

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

I/O Pins Signal Function

Pin Positions

35

15-Pin High Density D-Type

Female Connector

Table 4: I/O Connector Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.2.8. USB

See Section 4.11.1 for the electrical diagram.

Pin on USB Signal Function

1 USB VBUS USB VBUS 5V

2 USBD- USB _N line

3 USBD+ USB _P line

5 USB COMRET USB communication return

Pin Positions

36

Table 5: USB 2.0 Pin Assignments

USB Device Mini B Plug

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.3. EtherCAT Communications Version

The Gold Drum HV (High Voltage) supports EtherCAT fieldbus industrial network protocol.

Fieldbus Type Product Number

EtherCAT G-DRU XXX/YYYEXXX

4.3.3.1. EtherCAT IN/Ethernet

See Section 4.11.2 for the electrical diagram.

37

Pin on

Signal Function

EtherCAT IN

1 EtherCAT_IN_TX+/Ethernet_TX+ EtherCAT in transmit+/Ethernet

transmit +

2 EtherCAT_IN_TX-/Ethernet_TX- EtherCAT in transmit-/Ethernet

transmit -

3 EtherCAT_IN_RX+/Ethernet_RX+ EtherCAT in receive+/Ethernet

receive +

4/5 N/A

6 EtherCAT_IN_RX-/Ethernet_RX- EtherCAT in receive-/Ethernet

receive -

7/8 N/A

Pin Positions

Standard CAT5e

Ethernet Cable

Table 6: EtherCAT In Connector Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.3.2. EtherCAT OUT

See Section 4.11.2 for the electrical diagram.

38

Pin on
EtherCAT OUT

1 EtherCAT_OUT_TX+ EtherCAT out transmit +

2 EtherCAT_OUT_TX- EtherCAT out transmit -

3 EtherCAT_OUT_RX+ EtherCAT out receive +

4/5 N/A

6 EtherCAT_OUT_RX- EtherCAT out receive -

7/8 N/A

Pin Positions

Signal Function

Standard CAT5e

Ethernet Cable

Table 7: EtherCAT Out Connector Pin Assignments

4.3.3.3. EtherCAT Link Indicators

The Gold Drum HV (High Voltage) can serve as an EtherCAT slave device. For this purpose it has
two RJ-45 connectors, which are designated as EtherCAT In and EtherCAT Out. Each of these RJ­45 connectors has two status LEDs, which are shown in Figure 2.

Figure 2: Ethernet Connector LEDs

The green LED is the link/activity indicator. It shows the state of the applicable physical link and
the activity on that link.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

The amber LED is the speed indicator. It shows the speed of the connection on the Ethernet
line.

The possible states of these LEDs are summarized in Table 8.

LED State Meaning

Link /Activity Off No link is established.

On A link is established.

Blinking There is data transmission activity.

Speed On The connection speed is 100 Mbps.

The speed of the EtherCAT line must be 100 Mbps.
Otherwise, there is no EtherCAT data transmission.

Off The connection speed is 10 Mbps.

Table 8: LED States

4.3.3.4. EtherCAT Status Indicator

39

The EtherCAT status indicator is a red/green dual LED. It combines run indication (when it is
green) and error indication (when it is red) of the EtherCAT device.

4.3.3.5. EtherCAT Rotary Switches

Note: This option is only for the G-DRUXXXX/YYYFXXX type.

Figure 3: EtherCAT Address Switches

EtherCAT slave drives with rotary switches shown in Figure 3 above, allow the user to define a
unique node ID to a slave. The two rotary switches offer up to 255 addresses, with the 0 setting
referring to No alias address.

The EtherCAT address of each axis is specified by two switches. Using a screwdriver, you can set
the low and the high bytes of the EtherCAT address.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Figure 4: Position of EtherCAT Address Switches on G-Drum HV

The position of the switches on the drive are shown in Figure 5. Use a screwdriver to set the
low and high bytes values of the drive EtherCAT address. This address is only retrieved after
power-up.

40

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.3.4. CAN Communications Version

The Gold Drum HV (High Voltage) supports CAN fieldbus industrial network protocol.

Fieldbus Type Product Number

CAN G-DRU XXX/YYYSXXX

See Section 4.11.2 for the electrical diagram.

Pin on CAN Signal Function

1 CAN_H CAN_H bus line (dominant high)

2 CAN_L CAN_L bus line (dominant low)

3 CAN_RET CAN Return

4, 5 N/A —

6 CAN_SHLD Shield, connected to the RJ plug cover

7 CAN_RET CAN Return

41

8 N/A —

Pin Positions

Standard CAT5e

Ethernet Cable

Table 9: CAN In/Out Connector Pin Assignments

4.3.5. Indicators

The Gold Drum HV (High Voltage) is equipped with several light-emitting diode (LED) indicators.

The Drive Status Indicator 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).

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.4. Mounting the Gold Drum HV (High Voltage)

The Gold Drum HV (High Voltage) has been designed for two standard mounting options:

• Wall Mount along the back (can also be mounted horizontally on a metal surface)

• Book Shelf along the side

M6 round head screws, one through each opening in the heat sink, are used to mount the Gold
Drum HV (High Voltage) (see the diagram below). For further details on installing the Drum to
the Heat Sink, refer to the document GOLD DRUM HV Heat Sink Assembly Installation Guide
(P/N MAN-G-DRUMHVHSIG).

42

Figure 5: Mounting the Gold Drum HV (High Voltage)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.5. Wiring the Gold Drum HV (High Voltage)

Once the Gold Drum HV (High Voltage) is mounted, you are ready to wire the device. Proper
wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo
performance of the Gold Drum HV (High Voltage).

Caution: Perform the following instructions to ensure safe and proper wiring.

• Use twisted pair shielded cables for control, feedback and communication connections. For

best results, the cable should have an aluminum foil shield covered by copper braid, and
should contain a drain wire.

• The drain wire is a non-insulated wire that is in contact with parts of the cable, usually the

shield. It is used to terminate the shield and as a grounding connection.

• The impedance of the wire must be as low as possible. The size of the wire must be thicker

than actually required by the carrying current. A 24, 26 or 28 AWG wire for control and
feedback cables is satisfactory although 24 AWG is recommended.

43

• Use shielded wires for motor connections as well. If the wires are long, ensure that the

capacitance between the wires is not too high: C < 30 nF is satisfactory for most

applications.

• Keep all wires and cables as short as possible.

• Keep the motor wires as far away as possible from the feedback, control and

communication cables.

• Ensure that in normal operating conditions, the shielded wires and drain carry no current.

The only time these conductors carry current is under abnormal conditions, when electrical
equipment has become a potential shock or fire hazard while conducting external EMI

interferences directly to ground, in order to prevent them from affecting the drive. Failing

to meet this requirement can result in drive/controller/host failure.

• After completing the wiring, carefully inspect all wires to ensure tightness, good solder

joints and general safety.

4.6. Connection Diagrams

There are two connection diagrams for EtherCAT and two for CAN that show the two different
ways of connecting the power supply in the Gold Drum HV (High Voltage) models:

• 400 V and 800 V S, T, or A models (the catalog number has an S, T, or A option) that feature

backup functionality and require an auxiliary 24 V backup supply. The drive will not be
operative without the external 24 VDC supply.

• 400 V model without backup functionality with a 0 or 1 option. The drive’s internal DC/DC

converter is fed from the VP+ and VN- of the internal drive’s bus line.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.6.1. Connection Diagrams for EtherCAT Version

The following describes the connection diagrams for the EtherCAT version.

44

Figure 6: Gold Drum HV (High Voltage) Connection Diagram for EtherCAT – with Power

Supply Backup Functionality (S, T, or A Option)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

45

Figure 7: Gold Drum HV (High Voltage) Connection Diagram for EtherCAT – 400 V without

Power Supply Backup Functionality for 0 or 1 Options

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.6.2. Connection Diagrams for CAN Version

The following describes the connection diagrams for the CAN version.

46

Figure 8: Gold Drum HV (High Voltage) Connection Diagram for CAN – with Power Supply

Backup Functionality (S, T, or A Option)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

47

Figure 9: Gold Drum HV (High Voltage) Connection Diagram for CAN – 400 V without Power

Supply Backup Functionality for Model Drives with 0 or 1 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.7. Main Power, Auxiliary Power and Motor Power

The Gold Drum HV (High Voltage) receives power from main and auxiliary supplies and delivers
power to the motor.

4.7.1. Motor Power

Pin Function Cable

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective Earth Motor Motor

48

Table 10: Connector for Main Power and Motor

Note: When connecting several motors, all the motor phases must be connected in an

identical sequence.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

M6 nut (available with
the drive

M6 spring washer

Terminal Lug

M6 screw

M6 spring washer

M6 flat washer

Terminal Lug

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Step 1: PE Connection

49

Table 11: Connecting the PE Cables

Step 2: Power and Motor Connection

Table 12: Connecting the Main Power and Motor Cables

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Connect the M1, M2, M3 and PE pins on the Gold Drum HV (High Voltage). The phase
connection is arbitrary as Elmo Application Studio (EAS) will establish the proper commutation
automatically during setup. When tuning a number of drives, you can copy the setup file to the
other drives and thus avoid tuning each drive separately. In this case the motor-phase order
must be the same as on the first drive.

Notes:

• For best immunity, it is highly recommended to use a 4-wire shielded (not twisted) cable

for the motor connection. The gauge is determined by the actual current consumption of
the motor.

• Connect the cable shield to the closest ground connection at the motor end.

• Connect the cable shield to the closest PE terminal of the Gold Drum HV (High Voltage).

• Ensure that the motor chassis is properly grounded.

50

Figure 10: Brushless Motor Power Connection Diagram

Figure 11: DC Brushed Motor Power Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.7.2. Main Power

Pin Function Cable

PE Protective Earth DC Power

VN- DC Negative Power input DC Power

N Not in use DC Power

VP+ DC Positive Power input DC Power

51

Table 13: Connectors for Main Power

The DC power for the Gold Drum HV (High Voltage) is delivered from a separated rectifying unit
(supplied by the user). Elmo recommends using the Tambourine 100 rectifier specifically
designed for use with Elmo drives which offers a range of versatile options.

The following sections contain topology recommendations for implementing three-phase and a
single-phase supply chains.

The power stage of the Gold Drum HV (High Voltage) is fully isolated from the other sections of
the Gold Drum HV (High Voltage), such as the control-stage and the heat sink. This isolation
allows the user to connect the common of the control section to the PE, a connection which
significantly contributes to proper functionality, safety and EMI immunity, leading to better
performance of the Gold Drum HV (High Voltage).

In addition, this isolation simplifies the requirements of the DC power supply that is used to
power the DC bus of the Gold Drum HV (High Voltage), by allowing it to operate with a non­isolated DC power source (a direct-to-mains connection) which eliminates the need for a bulky
and expensive isolation transformer.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

However, as well as operating from a non-isolated/direct-to-mains DC power supply, the Gold
Drum HV (High Voltage) can also operate from an isolated power supply or batteries.

When rectifying an AC voltage source, the AC voltage level must be limited to 270 VAC so as
not to exceed the maximum 390 VDC in the case of a 400 VDC drive, or 528 VAC so as not to
exceed the maximum 747 VDC in the case of an 800 VDC drive.

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier)

This section relates to the configuration of the power supply and drive, which are connected
directly to the mains.

To connect the non-isolated DC power supply:

1. For best immunity, it is highly recommended to use twisted cables for the DC power supply

cable. A 3-wire shielded cable should be used. The gauge is determined by the actual
current consumption of the motor.

2. Connect both ends of the cable shield to the closest PE connections.

3. Tie one end to the power supply’s PE terminal, and tie the other end either to one of the

four mounting screws of the drive’s heat sink-PE.

52

4. To close the power supply cable into the drive, use the barrel connector, M6 spring washer

and M6 nut (in the drive). The required torque is 3 to 4 Nm.

5. To close the PE wire into the drive, use the barrel connector, M6 flat washer, M6 spring

washer and M6 screw to the heat sink. The required torque is 3 to 4 Nm.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.7.2.1.a Three-Phase Direct-to-Mains Connection Topology

Figure 12: Non-Isolated Three-Phase Connection Topology

53

Caution:

• Do not connect VN- to PE. In a direct-to-mains connection the VN- must

not be connected to the PE, as this will cause irreparable damage to the
system.

• Take care and note that in a direct-to-mains connection the Neutral point is

not the most negative voltage level. It is the mid-point level of the rectified
DC bus.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.7.2.1.b Multiple Connections Topology

In a multi-axis application it is likely that a single power supply can feed several drives in
parallel. The power supply is connected directly to the mains AC line and it feeds more than
one drive.

This topology is efficient and cost saving, by reducing the number of power supplies and the
amount of wiring. Most importantly it utilizes an energy sharing environment among all the
drives that share the same DC bus network.

54

Figure 13: Non-Isolated Three-Phase Multiple Connection Topology

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.7.2.2. Battery Power Supply

Figure 14: Battery Connection Topology

55

Caution: When using batteries, it is recommended to connect the negative pole
to the PE.
When doing so, the charger of the battery must be isolated from the mains by
an isolation transformer.

4.7.3. Control and Backup Supply

In drives that have a 0 or 1 option (only for 400 V model) in the catalog number, a smart
control-supply algorithm enables the Gold Drum HV (High Voltage) to operate with the main
power supply only, with no need for an auxiliary supply voltage to supply the drive’s logic
section.

Note that in such a model there is no backup ability at all.

If backup functionality is required to store control parameters in the event of a mains power
outage, then an S, T, or A-model Gold Drum HV (High Voltage) should be used, with an external
24 VDC isolated supply connected to it.

Note that the S, T, or A-model Gold Drum HV (High Voltage) always requires an external 24 VDC
power supply, regardless of whether or not backup functionality is required.

Connect the auxiliary 24 VDC power supply as described below.

To connect the 24 VDC backup supply:

1. Use a 24 AWG twisted pair shielded cable. The shield should have copper braid.

2. The source of the 24VDC backup supply must be isolated with an isolation transformer.

3. For safety and EMI reasons, connect the return of the 24VDC backup supply to the closest

ground (PE).

4. Connect the cable shield to the closest ground (PE) near the power source.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

5. Before applying power, first verify that the polarity of the connection is correct.

Figure 15: Auxiliary 24 VDC Backup Supply Connection Diagram

4.7.3.1. Optional Backup Supply

56

For the S, T, or A option drives.

Pin Function Cable

In S, T, or A option types:

VL+ +24 V Auxiliary Supply Input Positive DC Power

VL- 24 V RET Auxiliary Supply Input Return DC Power

Table 14: Auxiliary 24 VDC Backup Supply Pins and Polarity

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.8. STO (Safe Torque Off) Inputs

Activation of Safe Torque Off causes the drive to stop providing power that can cause rotation
(or motion in the case of a linear motor) to the motor.

This function may be used to prevent unexpected motor rotation (of brushless DC motors)
without disconnecting the drive from the power supply.

The motor is active only as long as 24 VDC (or 5 V for the TTL option) is provided to both STO1
and STO2. Whenever any input voltage is no longer present, power is not provided to the
motor and the motor shaft continues to rotate to an uncontrolled stop.

In circumstances where external influences (for example, falling of suspended loads) are
present, additional measures such as mechanical brakes are necessary to prevent any hazard.

This function corresponds to an uncontrolled stop in accordance with Stop Category 0 of IEC
60204-1.

Note: This function does not protect against electrical shock, and additional measures to

turn the power off are necessary.

57

The following table defines the behavior of the motor as a function of the state of the STO
inputs:

Signal – STO1 Signal – STO2 Function

Not Active Not Active Motor is disabled

Not Active Active Motor is disabled

Active Not Active Motor is disabled

Active Active Motor can be enabled

Table 15: Motor Behavior according to Safety Inputs

Notes:

• In the Gold Drum HV (High Voltage), STO1 also latches a software disable condition.

• The STO pins are located on the Port C connector – see Section 4.9.3.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Pin on Port C Signal Function

6 STO1 STO 1 input (default 24 V)

11 STO2 STO 2 input (default 24 V)

7, 12 STO_RET STO signal return

Pin Positions

58

Table 16: STO Input Pin Assignments for S, T, 0, 1, option (Non-A option)

See the diagrams below for the PLC option connection and the TTL option connection for the
non-A version.

Figure 16: STO Input Connection – PLC Option for S or 0 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Figure 17: STO Input Connection – TTL Option for T or 1 Option

59

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Pin on Port C Signal Function

6 STO1 STO 1 input return

11 STO2 STO 2 input return

7, 12 STO_RET STO input (default 24 V)

Pin Positions

60

Table 17: STO Input Pin Assignments for the A Option

See the diagrams below for the PLC option connection for the A version.

Figure 18: STO Input Connection – PLC Option for the A Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Connector

Drain wire

housing

Make sure that the

housing

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9. Feedback

The Gold Drum HV (High Voltage) has two configurable motion sensor input ports; Port A and
port B, and one emulated buffered output port; port C. Motion sensors from the controlled
motor and from other sources can be connected to any of the available inputs on either port A
or B. Software configuration designates each input a role, e.g., the incremental encoder on port
B is the controlled motor position feedback, the Hall sensors on port A are commutation
feedback, and the incremental encoder on port A is follower input.

For more information about sensors and their use refer to the Gold Line Software Manual.

The Gold Drum HV (High Voltage) features easy-to-use D-Sub type connections for all Control
and Feedback cables. Instructions and diagrams describing how to assemble those cables are
presented below.

1. Use 24, 26 or 28 AWG twisted-pair shielded cables (24 AWG cable is recommended). For

best results, the shield should have aluminum foil covered by copper braid.

6. Use only a D-Sub connector with a metal housing.

7. Ideally, solder the drain wire to the connector body as shown in Figure 19.

However, the shield may also be attached without soldering, as long as the braid shield is in
tight contact with the metal housing of the D-type connector.

61

8. On the motor side connections, ground the shield to the motor chassis.

9. On controller side connections, follow the controller manufacturer’s recommendations

concerning the shield.

body

soldered to
the metal

braid shield is in tight
contact with the metal

Figure 19: Feedback and Control Cable Assemblies

Note: All D-Sub type connectors, used with the Gold Drum HV (High Voltage), should be

assembled in this way.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.1. Feedback Port A

Port A supports the following sensor inputs:

• Digital Hall sensors

• Incremental encoder or absolute serial encoder, depending on the specific model

Differential pulse-width modulation (PWM) signal input can be connected to port A in the
models that support input from an incremental encoder. The PWM signal can be connected to
the pair of matching + and – encoder channels and is configurable by software.

Differential Pulse & Direction signal inputs can be connected to port A in the models that
support input from an incremental encoder. The signals can be connected to the pair of
matching + and – encoder channels and are configurable by software.

Incremental Encoder Absolute Serial Encoder

62

Port A

Signal Function Signal Function

Pins

4,12 +5V Encoder +5V supply +5V Encoder +5V supply

3,9,11, 13 SUPRET Common return SUPRET Supply return

6 PortA_ENC_A+ Channel A+ ABS_CLK+ Abs encoder clock +

5 PortA_ENC_A- Channel A- ABS_CLK- Abs encoder clock -

15 PortA_ENC_B+ Channel B+ ABS_DATA+ Abs encoder data +

14 PortA_ENC_B- Channel B- ABS_DATA- Abs encoder data -

8 PortA_ENC_INDEX+ Index+ Reserved Reserved

7 PortA_ENC_INDEX- Index- Reserved Reserved

2 HA Hall sensor A HA Hall sensor A

10 HB Hall sensor B HB Hall sensor B

1 HC Hall sensor C HC Hall sensor C

Pin Positions

Table 18: Port A Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.1.1. Incremental Encoder

63

Figure 20: Port A Incremental Encoder Input – Recommended Connection Diagram

4.9.1.2. Absolute Serial Encoder

Figure 21: Absolute Serial Encoder – Recommended Connection Diagram for Sensors

Supporting Data/Clock(e.g., Biss/SSI/EnDAT, etc.)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

64

Figure 22: Absolute Serial Encoder – Recommended Connection Diagram for Sensors

Supporting Data Line Only (NRZ types, e.g., Panasonic/Mitutoyo/etc.)

4.9.1.3. Hall Sensors

Figure 23: Hall Sensors Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.2. Feedback Port B

Port B supports any of the following sensors:

• Incremental encoder, interpolated analog encoder or analog Hall sensors, Or

• Resolver (separate hardware option)

Differential PWM signal input can be connected to port B in the models that support input
from an incremental encoder. The PWM signal can be connected to the applicable pair of
matching + and – encoder channels and is configurable by software.

Differential pulse and direction signal inputs can be connected to port B in the models that
support input from an incremental encoder. The signals can be connected to the applicable pair
of matching + and – encoder channels and are configurable by software.

65

Pin on
Port B

Incremental or Interpolated Analog
Encoder

Resolver

G-DRUXXX/YYYXEXX G-DRUXXX/YYYXRXX

Signal Function Signal Function

4 +5V Encoder +5V supply NC

5, 9 SUPRET Supply return SUPRET Supply return

1 PortB_ENC_A+/

SIN+

6 PortB_ENC_A-/ SIN- Channel A- / Sine- SIN- Sine-

2 PortB_ENC_B+/Cos+ Channel B+ / Cosine+ COS+ Cosine+

7 PortB_ENC_B-/Cos- Channel B - / Cosine - COS- Cosine-

3 PortB_ENC_INDEX+ Index + RESOLVER_OUT+ Vref f=1/TS, 50 mA Max.

8 PortB_ENC_INDEX- Index - RESOLVER_OUT- Vref complement

Incremental Encoder
A+ / Sine+

SIN+ Sine+

f= 1/TS, 50 mA Maximum

Pin Positions

Table 19: Port B Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.2.1. Incremental Encoder

66

Figure 24: Port B Incremental Encoder Input – Recommended Connection Diagram

4.9.2.2. Interpolated Analog Encoder

Figure 25: Port B - Interpolated Analog Encoder Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.2.3. Resolver

67

Figure 26: Port B – Resolver Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.9.3. Port C – Emulated Encoder Output

Port C provides emulated encoder output derived from port A or port B feedback inputs, or
from internal variables. The output options are:

• Port A/B daisy chain (1:1) for incremental encoder

• Encoder emulation: Emulate any input sensor, digital or analog, or use to emulate an

internal variable such as virtual profiler.

• PWM output: Any pair of outputs that is used as an encoder channel (e.g. channel A+ and

channel A-) can be configured by software to become PWM output.

• Pulse & Direction output: The output pins that are assigned as channel A and channel B

when used as encoder out can be configured by software to become pulse and direction
outputs respectively.

This port is used when the Gold Drum HV (High Voltage) is:

• Used as a current amplifier to provide position data to the position controller.

• Used in velocity mode, to provide position data to the position controller.

68

• Used as a master in follower or ECAM mode.

Pin on Port C Signal Function

1 PortC_ENCO_A+ Buffered Channel A+ output / Pulse+ / PWM+

2 PortC_ENCO _A- Buffered Channel A- output / Pulse- / PWM-

3 PortC_ENCO _B+ Buffered Channel B+ output / Dir+

4 PortC_ENCO _B- Buffered Channel B- output / Dir-

5 PortC_ENCO _ Index+ Buffered Channel INDEX+ output

10 PortC_ENCO _ Index- Buffered Channel INDEX- output

9 COMRET Common return

Pin Positions

Table 20: Port C Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

69

Figure 27: Emulated Encoder Differential Output – Recommended Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.10. Inputs/Outputs

The Gold Drum HV (High Voltage) has six programmable digital inputs, four digital outputs and
one analog input:

I/O I/O Connector Port C & STO & Analog

Digital Input 6

Digital Output 4

Analog Input 1

4.10.1. I/O Connector Pinout

Each of the pins below can function as an independent input.

Pin (I/O) Signal Function

1 IN1 High speed programmable input 1 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

70

2 IN2 High speed programmable input 2 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

7 IN3 High speed programmable input 3 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

8 IN4 High speed programmable input 4 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

11 IN5 High speed programmable input 5 (event capture, home, general

purpose, RLS, FLS, INH, PWM & dir input, pulse & dir input)

High speed programmable input 6 (event capture, home, general
purpose, RLS, FLS, INH, PWM & direction input, pulse & direction

12 IN6

input)

or STO OUT Collector in the O version

Programmable inputs 1 to 6 return for the S/T/0/1 option

6 INRET1-6

Programmable positive input 1 to 6 for the APAC option

3 OUT1 Programmable output 1

4 OUT2 Programmable output 2

5 OUT3 Programmable output 3

Programmable output 4

13 OUT4

or STO OUT Emitter in the O version

10, 15 VDD Supply for out 1-4

9, 14 VDDRET Supply return for out 1-4

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Pin (I/O) Signal Function

Pin Positions

Table 21: Digital Input and Output Pin Assignments

71

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.10.1.1. Digital Input

Each of the pins above below can function as an independent input.

72

Figure 28: Digital Input PLC Mode Connection Diagram – for S or 0 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

73

Figure 29: Digital Input TTL Mode Connection Diagram, for T or 1 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

74

Figure 30: Digital Input A Option Connection Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.10.1.2. Digital Output

75

Figure 31: Digital Output Connection Diagram – PLC option, for S or 0 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

76

Figure 32: Digital Output Connection Diagram – TTL Option, for T or 1 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

77

Figure 33: Digital Output Connection Diagram – A Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.10.2. Analog Input

Note: The Analog Input pins are located on the Port C connector – see Section 4.9.3.

Pin on Port C Signal Function

15 ANALOG1+ Analog input 1+

14 ANALOG1- Analog input 1-

13 ANLRET Analog ground

Pin Positions

78

Figure 34: Analog Input with Single-Ended Source

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.11. Communications

The EtherCAT version of Gold Drum HV (High Voltage) supports EtherCAT and USB 2.0
communications.

The CAN version of Gold Drum HV (High Voltage) supports CAN and USB 2.0 communications.

NOTE: When the EtherCAT is connected, and FoE in operation, the USB cable connection

must be disconnected.

4.11.1. USB 2.0 Communication

The USB network consists of Host controller and multiple devices. The Gold Drum HV (High
Voltage) is a USB Device.

To connect the USB communication cable:

1. Connect a mini USB cable.

2. D+ and D- are a twisted pair in the cable.

3. The maximum cable length is 5 m.

79

4. The cable shield should only be connected to Ground at the host.

5. The shield of the cable is connected to the shield of the connector used for

communications.

Pin on USB Signal Function

1 USB VBUS USB VBUS 5V

2 USBD- USB _N line

3 USBD+ USB _P line

5 USB COMRET USB communication return

Pin Positions

Table 22: USB 2.0 - Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Figure 35: USB Network Diagram

4.11.2. EtherCAT Communication

Notes:

80

• The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT

Manual.

• It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal

integrity cable with four twisted pairs.

Pin Signal Function

1 EtherCAT_IN_TX+ EtherCAT in transmit +

2 EtherCAT_IN_TX- EtherCAT in transmit -

3 EtherCAT_IN_RX+ EtherCAT in receive +

4/5 N/A

6 EtherCAT_IN_RX- EtherCAT in receive -

7/8 N/A

Pin Positions

Table 23: EtherCAT In Connector

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

Pin Signal Function

1 EtherCAT_OUT_TX+ EtherCAT out transmit +

2 EtherCAT_OUT_TX- EtherCAT out transmit -

3 EtherCAT_OUT_RX+ EtherCAT out receive +

4/5 N/A

6 EtherCAT_OUT_RX- EtherCAT out receive -

7/8 N/A

Pin Positions

81

Table 24: EtherCAT Out Connector

When connecting several EtherCAT devices in a network, the EtherCAT master must always be
the first device in the network. The output of each device is connected to the input of the next
device. The output of the last device may remain disconnected. If redundancy is required, the
output of the last device should be connected to the input of the EtherCAT master.

Figure 36: EtherCAT Network with No Redundancy

Figure 37: EtherCAT Network with Redundancy

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.11.2.1. Ethernet Communication

To connect the Ethernet communication cable:

1. The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT

Manual.

2. It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal

integrity cable with four twisted pairs.

Pin Signal Function

1 Ethernet_TX+ Ethernet transmit +

2 Ethernet_TX- Ethernet transmit -

3 Ethernet_RX+ Ethernet receive +

4/5 N/A

6 Ethernet_RX- Ethernet receive -

7/8 N/A

82

Pin Positions

Table 25: Ethernet Connector Pin Assignments

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.11.3. CAN Communication Version

Notes for connecting the CAN communication cable:

• Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield should have

aluminum foil and covered by copper braid with a drain wire

• Connect the shield to the ground of the host (PC). Usually, this connection is soldered

internally inside the connector at the PC end. You can use the drain wire to facilitate
connection.

• The male RJ plug must have a shield cover.

• Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain wire

can be used to facilitate the connection.

• Connect a termination 120-Ohms resistor at each of the two ends of the network cable.

Pin Signal Function

1 CAN_H CAN_H bus line (dominant high)

83

2 CAN_L CAN_L bus line (dominant low)

3 CAN_RET CAN Return

4, 5 N/A —

6 CAN_SHLD Shield, connected to the RJ plug cover

7 CAN_RET CAN Return

8 N/A —

Pin Positions

Table 26: CAN Connector

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.12. Powering Up

After the Gold Drum HV (High Voltage) has been mounted, check that the cables are intact.

The Gold Drum HV (High Voltage) servo drive is then ready to be powered up.

Caution: Before applying power, ensure that:

1. The DC supply is within the specified range.

2. The proper plus-minus connections are in order

3. The VN- is not connected to the PE or to the Neutral, when working with a

non-isolated power supply.

4.13. Heat Dissipation

For full power output capability the Gold Drum HV (High Voltage) is designed to be mounted on
an external heatsink. It is highly recommended that the “Wall” on which the Drum is mounted
will have heat dissipation capabilities. The Gold Drum HV (High Voltage) at “free air convection”

(without an additional heatsink) can dissipate around 12 W for 40°C ambient temperature and

not exceeding 80 °C on the heat sink.

84

When “Free Air Convection” is sufficient for the application it is recommended to leave

approximately 10 mm of space between the Gold Drum HV (High Voltage)'s heat sink and any
other assembly.

For more information, refer to Elmo's application note: Drum HV Thermal Management

When attaching to an external heat-sink, it is recommended to use N5 surface treatment and
thermal foil or smearing thermal compound.

For more details, refer to Elmo's Drum HV Heat Sink Installation Guide,
P/N MAN-G-DRUMHVHSIG.

4.13.1. Gold Drum HV (High Voltage) Thermal Data

• Free air convection thermal resistance (θ): Approximately 7 to 8°C/W.

• Thermal time constant: Approximately 40 minutes/ 2400 seconds (thermal time constant

means that the Gold Drum HV (High Voltage) will reach 2/3 of its final temperature after 40
minutes).

• Self-heat dissipation capability (no external heat sink): 20 W for 40°C/W temperature rise.

• Shut-off temperature: 86 to 88°C.

• The thermal resistance when connecting to an external heat sink using a thermal

conductive compound/foil. By proper smearing of the surface a significant improvement of

the thermal resistance is achieved: 0.03°C/W.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.13.2. Heat Dissipation Data

Heat Dissipation is shown graphically below:

85

Figure 38: Dissipation versus Current Graph for 560 and 680 VDC

Figure 39: Dissipation versus Current Graph for 330 VDC

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

DC Bus Voltage (VDC)

Rectified Voltage (VAC)

Gold Drum HV Installation Guide (EtherCAT and CAN) Installation

4.13.3. How to Use the Charts

The power dissipation in the chart includes the losses of the rectifying bridge.
Regarding Figure 38 and Figure 39, the following should be noted:

560 3X400

680 3X480

330 3X230

The charts above are based upon theoretical worst-case conditions. Actual test results show
30% to 50% better power dissipation.

To determine if your application needs a heat sink:

1. Allow maximum heat sink temperature to be 80 °C or less (shunt down is 6 °C to 8 °C

higher).

86

2. Determine the ambient operating temperature of the Gold Drum HV (High Voltage) as ≤

40°C.

3. Calculate the allowable temperature increase according to the following example: For an

ambient temperature of 40 °C, ΔT = 80 to 40°C = 40°C

4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to

the desired output current and then find the dissipated power.

4.14. Initializing the System

After the Gold Drum HV (High Voltage) has been connected and mounted, the system must be
set up and initialized. This is accomplished using the Elmo Application Studio, Elmo’s Windows­based software application. Install the application and then perform setup and initialization
according to the directions in the Elmo Application Studio User’s Manual.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Chapter 5: Technical Specifications

Gold Drum HV Installation Guide (EtherCAT and CAN)

This chapter provides detailed technical information regarding the Gold Drum HV (High
Voltage). This includes its dimensions, power ratings, the environmental conditions under
which it can be used, the standards to which it complies and other specifications.

5.1. Gold Drum HV (High Voltage) Dimensions

87

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.2. Environmental Conditions

Feature Details

Ambient operating temperature 0 °C to 40 °C (32 °F to104°F)

Storage temperature -20 °C to 85 °C (-4 °F to 185 °F)

Maximum Altitude 2,000 m (6562 feet)

Maximum non-condensing humidity 90%

Protection level IP32

5.3. Control Specifications

5.3.1. Current Loop

Feature Details

88

Controller type Vector, digital

Compensation for bus voltage variations “On-the-fly” automatic gain scheduling

Motor types

• AC brushless (sinusoidal)

• DC brushless (trapezoidal)

• DC brush

• Linear motors

• “Voice” coils

Current control

• Fully digital

• Sinusoidal with vector control

• Programmable PI control filter based on a

pair of PI controls of AC current signals
and constant power at high speed

Current loop bandwidth > 4 kHz closed loop

Current sampling time

Programmable 40 to 120 µsec

Current sampling rate Up to 20 kHz; default 20 kHz

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.3.2. Velocity Loop

Feature Details

Controller type PI + Four advanced filters + Two advanced gain

scheduling filters

89

Velocity control

• Fully digital

• Programmable PI and feed forward control

filters

• On-the-fly gain scheduling according to either

speed or position command or feedback.

• Automatic, quick, advanced or expert tuning

Velocity and position feedback options

• Incremental Encoder

• Digital Halls

• Interpolated Analog (sin/cos) Encoder

(optional)

• Resolver (optional)

• Absolute serial encoder

Note:

• With all feedback options, 1/T with

automatic mode switching is activated (gap,
frequency and derivative).

Velocity loop bandwidth < 500 Hz

Velocity sampling time

80 to 240 µsec (2x current loop sample time)

Velocity sampling rate Up to 10 kHz; default 10 kHz

Velocity command options Internally calculated by either jogging or step

Note: All software-calculated profiles support

on-the-fly changes.

5.3.3. Position Loop

Feature Details

Controller type “1-2-2” PIP + three advanced filters + one

advanced gain scheduling filter

Position command options

Position loop bandwidth < 200 Hz

Position sampling time

Position sampling rate Up to 10 kHz; default 10 kHz

• Software

• Pulse and Direction

80 to 240 µsec (2x current loop sample time)

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.4. Feedbacks

5.4.1. Feedback Supply Voltage

The Gold Drum HV (High Voltage) has two feedback ports (Main and Auxiliary). The Gold Drum
HV (High Voltage) supplies voltage only to the main feedback device and to the auxiliary
feedback device if needed.

Feature Details

Encoder supply voltage 5 V ± 5% @ 2 x 200 mA (maximum)

5.4.2. Feedback Options

The Gold Drum HV (High Voltage) can receive and process feedback input from diverse types of
devices.

5.4.2.1. Incremental Encoder Input

Feature Details

90

Encoder format

• A, B and Index

• Differential

• Quadrature

Interface RS-422

Input resistance

Differential: 120 Ω

Maximum incremental encoder frequency Maximum absolute: 75 Megacounts per

second (18 MHz on A/B)

Minimum quadrature input period (PIN) 53 nsec

Minimum quadrature input high/low period

26 nsec

(PHL)

Minimum quadrature phase period (PPH) 13 nsec

Maximum encoder input voltage range

Common mode: ± 7 V

Differential mode: ± 7 V

Figure 40: Main Feedback - Encoder Phase Diagram

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.4.2.2. Digital Halls

Feature Details

91

Hall inputs

• H

, HB, HC

A

• Single ended inputs

• Built in hysteresis of 1 V for noise immunity

Input voltage Nominal operating range: 0 V < V

Maximum absolute: -1 V < V
High level input voltage: V
Low level input voltage: V

In_Hall

InHigh

InLow

> 2.5 V

< 1 V

< 5 V

In_Hall

< 15 V

Input current Sink current (when input pulled to the common):

5 mA

Maximum frequency f

MAX

: 4 kHz

5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder

Feature Details

Analog encoder format Sine and Cosine signals

Analog input signal level

• Offset voltage: 2.2 V to 2.8 V

• Differential, 1 V peak to peak

Input resistance

Maximum analog signal frequency f

Differential: 120 Ω

: 500 kHz

MAX

Interpolation multipliers Programmable: x4 to x8192

Maximum “counts” frequency 2 x 10

9

counts/sec

Automatic errors correction Signal amplitudes mismatch

Signal phase shift

Signal offsets

Encoder outputs See Port C Encoder Outputs Specifications,

Section 5.4.3.

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.4.2.4. Resolver

Feature Details

92

Resolver format

• Sine/Cosine

• Differential

Input resistance

Differential 2.49 kΩ

Resolution Programmable: 10 to 15 bits

Maximum electrical frequency (RPS) 512 revolutions/sec

Resolver transfer ratio 0.5

Reference frequency 1/Ts (Ts = sample time in seconds)

Reference voltage Supplied by the Gold Drum HV (High Voltage)

Reference current up to ±50 mA

Encoder outputs See Port C Encoder Output Specifications,

Section 5.4.3.

5.4.2.5. Absolute Serial Encoder

Feature Details

Encoder format

• NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)

• EnDAT 2.2

• BiSS/SSI

Interface

• RS-485

• Clock – Differential output line

• Data – Differential bidirectional line

Input Resistance

Differential 120 Ω

Transmission Rate Up to 2.5 MHz

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.4.3. Port C Feedback Output

Feature Details

93

Emulated output

• A, B, Index

• Differential

Interface RS422

Output current capability Maximum output current: IOH (max) = 2 mA

Available as options

High level output voltage: V

Minimum output current: I

Low level output voltage: V

• Emulated encoder output of any sensor on

> 3.0 V

OH

= 2 mA

OL

< 0.4 V

OL

Port A or Port B

• Daisy chain Port A or Port B

• Emulated encoder output of internal

variables

• Emulated encoder outputs of the tachometer

• Emulated encoder outputs of the

potentiometer

Maximum frequency f

: 8 MHz pulses/output

MAX

Edge separation between A & B Programmable number of clocks to allow adequate

noise filtering at remote receiver of emulated
encoder signals

Index (marker) Length of pulse is one quadrature (one quarter of

an encoder cycle) and synchronized to A&B

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.5. I/Os

The Gold Drum HV (High Voltage) has:

• 6 Digital Inputs

• 4 Digital Outputs

• 1 Analog Input

5.5.1. Digital Input Interfaces – TTL Mode

Feature Details

Option applicable T or 1

Type of input Optically isolated

94

Input current

Iin = 3.8 mA @ Vin = 5 V

for all inputs

High-level input voltage 2.4 V < Vin < 15 V, 5 V typical

Low-level input voltage 0 V < Vin < 0.8 V

Minimum pulse width

Execution time (all inputs):

>250 µsec for inputs 1-6, >3 msec for STO

0 < T < 250 µsec
the time from application of
voltage on input until execution is
complete

High-speed inputs – 1 to 6
minimum pulse width, in high­speed mode

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 41: Digital Input Schematic, for T or 1 Option

Capture with differential input

Port A, Port B Index

T > 0.1 µsec if the differential input functionality is set

to touch probe/capture (index/strobe).

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.5.2. Digital Input Interfaces – PLC Mode

Feature Details

Option applicable S, 0, or A

Type of input Optically isolated

Input current for all inputs Iin = 2 mA @ Vin = 12 V

High-level input voltage 12 V < Vin < 30 V

Low-level input voltage 0 V < Vin < 7 V

95

Minimum pulse width

Execution time (all inputs):
the time from application of
voltage on input until execution is
complete

High-speed inputs – 1 to 6
minimum pulse width, in high­speed mode

>250 µsec for inputs 1-6, >3 msec for STO

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 42: Digital Input Schematic for S or 0 Option

Figure 43: Digital Input Schematic for A Option

Capture with differential input

Port A, Port B Index

T > 0.1 µsec if the differential input functionality is set

to touch probe/capture (index/strobe).

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.5.3. Digital Output Interface – PLC Mode

Feature Details

Option applicable S or 0

Type of output Optically isolated source

Supply output (VDD) 12 V to 30 V

96

Max. output current
I

(max) (V

out

= Low)

out

VOL at maximum output voltage

(max) ≤ 500 mA for Output 1

I

out

I

(max) ≤ 250 mA for Outputs 2 to 4

out

V

(on) ≤ 0.3 V

out

(low level)

RL The external RL must be selected to limit output

current to no more than 500 mA (Output 1) or 250

mA (Outputs 2 to 4).

Executable time

0 < T < 250 µsec

Figure 44: Digital Output Schematic for S or 0 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.5.4. Digital Output Interface – TTL Mode

Feature Details

Option applicable T or 1

97

Type of output

• Optically isolated

• Source/Sink

Supply output (VDD) 5 V to 15 V

Max. output current
I

(max) (V

out

= Low)

out

VOL at maximum output voltage

7 mA

V

(on) ≤ 0.4 V

out

(low level)

Executable time

0< T< 250 µsec

Figure 45: Digital Output Schematic, for T or 1 Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.5.5. Digital Output Interface – A Mode

Feature Details

Option applicable A

Type of output Optically isolated Sink

Maximum supply output (VDD) 30 V

98

Max. output current
I

(max) (V

out

= Low)

out

VOL at maximum output voltage

(max) ≤ 300 mA for Output 1

I

out

I

(max) ≤ 150 mA for Outputs 2 to 4

out

V

(on) ≤ 0.3 V

out

(low level)

RL The external RL must be selected to limit output

current to no more than 300 mA (Output 1) or

150 mA (Outputs 2 to 4).

Executable time

0 < T < 250 µsec

Figure 46: Digital Output Schematic for A Option

5.5.6. Analog Input

Feature Details

Maximum operating differential voltage ± 10 V

Maximum absolute differential input voltage ± 16 V

Differential input resistance 3.74 kΩ

Analog input command resolution 14-bit

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.6. Safe Torque Off (STO)

The Gold Drum HV (High Voltage) has two STO (Safe Torque Off) inputs.

5.6.1. STO Input Interfaces – PLC and A Modes

Feature Details

Option applicable S, 0, or A

Type of input Optically isolated

Input current for all inputs Iin = 2 mA @ Vin = 12 V

High-level input voltage 12 V < Vin < 30 V

Low-level input voltage 0 V < Vin < 7 V

Minimum pulse width >3 ms

99

Figure 47: STO Input Schematic for S or 0 Option

Figure 48: STO Input Schematic for A Option

|www.elmomc.com

MAN-G-DRUMHV IG-EC (Ver. 1.202)

Table of Contents

Gold Drum HV Installation Guide (EtherCAT and CAN) Technical Specifications

5.6.2. STO Input Interfaces – TTL Mode

Feature Details

Option applicable T or 1

Type of input Optically isolated

Input current for all inputs Iin = 3.8 mA @ Vin = 5 V

High-level input voltage 2.4 V < Vin < 15 V, 5 V typical

Low-level input voltage 0 V < Vin < 0.8 V

Minimum pulse width >3 ms

100

Figure 49: STO Input Schematic, for T or 1 Option

5.7. EtherCAT Communications Version

Specification Details

EtherCAT

Ethernet

Mini USB

• 100base-T

• Baud Rate: 100 Mbit/sec

• CAT5 Cable

• CoE, FoE, EoE

• 100base-T

• Baud Rate: 100 Mbit/sec

• CAT5 Cable

• UDP, Telnet

• USB 2.0 Device mode

|www.elmomc.com