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: +972 (3) 929-2300 • Fax: +972 (3) 929-2322 • info-il@elmomc.com
North America
Elmo Motion Control Inc.
42 Technology Way, Nashua, NH 03060
USA
Tel: +1 (603) 821-9979 • Fax: +1 (603) 821-9943 • info-us@elmomc.com
Europe
Elmo Motion Control GmbH
Hermann-Schwer-Strasse 3, 78048 VS-Villingen
Germany
Tel: +49 (0) 7721-944 7120 • Fax: +49 (0) 7721-944 7130 • info-de@elmomc.com
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: +86-13-570712041 • Fax: +XX-XX-XXXXXXXX • info-asia@elmomc.com
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: +82-31-698-2010 • Fax: +82-31-801-8078 • info-asia@elmomc.com
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 ...........................................................................................................
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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
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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
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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.
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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
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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.
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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.
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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
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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
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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).
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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)
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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
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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
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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
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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
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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
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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
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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.
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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
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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.
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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
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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
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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
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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
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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
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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
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