ElmoMC Gold Eagle User Manual
Table of Contents
Gold Eagle
Digital Servo Drive
Installation Guide
June 2014 (Ver. 1.000) www.elmomc.com
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Table of Contents
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 servo drive in
its installation.
• The text and graphics included in this manual are for the purpose of illustration and reference
only. The specifications on which they are based are subject to change without notice.
• Information in this document is subject to change without notice.
Document no. MAN-G-EAGIG-EC (Ver. 1.000)
Copyright 2014
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Revision History
Version Date Details
Ver. 1.000 June 2014 Initial document
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Table of Contents
Table of Contents
MAN-G-EAGIG-EC (V er. 1.000)
Chapter 1: This Installation Guide ..................................................................................... 5
Chapter 2: Safety Information .......................................................................................... 5
2.1. Warnings ........................................................................................................................ 6
2.2. Cautions .......................................................................................................................... 6
2.3. CE Marking Conformance ............................................................................................... 6
2.4. Warranty Information .................................................................................................... 6
Chapter 3: Product Description ......................................................................................... 7
Chapter 4: Technical Information ...................................................................................... 8
4.1. Environment Conditions ................................................................................................. 8
4.2. Physical Specifications .................................................................................................... 9
4.3. Technical Data ................................................................................................................ 9
4.3.1. VL Logic Supply .............................................................................................. 10
4.3.2. Product Features ........................................................................................... 10
3
Chapter 5: Unpacking the Drive Components .................................................................. 11
Chapter 6: Gold Eagle Connectors and Indicators ............................................................ 12
6.1. Connector Types ........................................................................................................... 12
Chapter 7: Mounting the Gold Eagle ............................................................................... 14
Chapter 8: Gold Eagle Connection Diagrams .................................................................... 15
Chapter 9: Wiring ........................................................................................................... 17
9.1. Introduction .................................................................................................................. 17
9.2. Basic Recommendations .............................................................................................. 19
9.2.1. General .......................................................................................................... 19
9.2.2. Feedback Cable Port A and Port B Connector ............................................... 20
9.2.3. Feedback Cable Port C Connector ................................................................. 21
9.2.4. IO Cable Connector ........................................................................................ 21
9.2.5. STO (Port C) Cable Connector ........................................................................ 22
9.3. Motor Power Connector Pinouts ................................................................................. 23
9.4. Main Power Input and Motor Connections.................................................................. 25
9.5. Connecting the DC Power and the Motor Power Cables ............................................. 26
9.6. Main Power .................................................................................................................. 27
9.6.1. Power Supply Connections ............................................................................ 27
9.6.1.1. Gold Drum Power Supply Connections ........................................ 28
9.6.1.2. Multiple Connections Topology .................................................... 28
9.7. VL Logic Supply(P2) ....................................................................................................... 29
9.7.1. VL Logic Supply(P2) ........................................................................................ 29
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9.8. Drive Status Indicator ................................................................................................... 30
9.9. Port A and Port B (P1)................................................................................................... 31
9.9.1. Incremental Encoder(P1) ............................................................................... 33
9.9.2. Hall Sensor(P1) .............................................................................................. 33
9.9.3. Absolute Serial Type Encoder(P1) ................................................................. 34
9.9.4. Interpolated Analog Encoder(P1) .................................................................. 36
9.9.5. Resolver(P1) ................................................................................................... 37
9.10. Port C Connector - Port C, Analog, and STO (P3) ......................................................... 38
9.10.1. Port C(P3) ....................................................................................................... 40
9.10.2. Analog Input(P3) ............................................................................................ 40
9.10.3. STO(P3) .......................................................................................................... 41
9.10.3.1. Source Mode PLC Voltage Level Input .......................................... 41
9.10.3.2. TTL Mode TTL Voltage Level Input ............................................... 41
9.10.3.3. SINK Mode – PLC Voltage Level Input .......................................... 42
9.10.3.4. STO Output(P2) ............................................................................. 43
9.11. Digital Inputs and Outputs (P2) .................................................................................... 44
9.11.1. Digital Input and Output TTL Mode(P2) ........................................................ 46
9.11.2. Digital Input and Output PLC Source Mode(P2) ............................................ 48
9.11.3. Digital Input and Output Sink Mode(P2) ....................................................... 50
9.12. Communications (P4) ................................................................................................... 52
9.12.1. USB 2.0(P4) .................................................................................................... 55
9.12.2. EtherCAT Communications Version .............................................................. 56
9.12.2.1. EtherCAT Wiring(P4) ..................................................................... 56
9.12.2.2. EtherCAT Status Indicator............................................................. 57
9.12.2.3. EtherCAT Address Switches .......................................................... 58
9.12.3. CAN Communications Version ....................................................................... 59
9.12.3.1. CAN Wiring(P4) ............................................................................. 59
9.12.4. RS-232(P4) ..................................................................................................... 61
9.12.5. RS-422 (Differential RS-232) Communication(P4) ......................................... 62
4
Chapter 10: Powering Up ................................................................................................. 63
10.1. Initializing the System .................................................................................................. 63
Chapter 11: Heat Dissipation ............................................................................................ 64
11.1. Gold Eagle Thermal Data .............................................................................................. 64
11.2. Heat Dissipation Data ................................................................................................... 65
11.3. How to Use the Charts ................................................................................................. 66
Chapter 12: Gold Eagle Dimensions .................................................................................. 67
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Gold Eagle Installation Guide
Table of Contents
Chapter 1: This Installation Guide
Chapter 2:
Safety Information
Warning:
Caution:
Important:
MAN-G-EAGIG-EC (Ver. 1.000)
This installation Guide details the technical data, pinouts, and power connectivity of the Gold Eagle.
For a comprehensive detailed description of the functions refer to the MAN-G-Panel Mounted
Drives Hardware manual which describes Panel Mounted products.
5
In order to achieve the optimum, safe operation of the Gold Eagle, 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 Eagle 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 Eagle contains electrostatic-sensitive components that can be damaged if handled
incorrectly. To prevent any electrostatic damage, avoid contact with highly insulating materials,
such as plastic film and synthetic fabrics. Place the product on a conductive surface and ground
yourself in order to discharge any possible static electricity build-up.
To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this and all Elmo Motion Control manuals:
This information is needed to avoid a safety hazard, which might cause bodily injury
or death as a result of incorrect operation.
This information is necessary to prevent bodily injury, damage to the product or to
other equipment.
Identifies information that is critical for successful application and understanding of
the product.
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Gold Eagle Installation Guide
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MAN-G-EAGIG-EC (Ver. 1.000)
6
2.1. Warnings
• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Eagle from all voltage sources before servicing.
• The high voltage products within the Gold Line range contain grounding conduits for electric
current protection. Any disruption to these conduits may cause the instrument to become
hot (live) and dangerous.
• After shutting off the power and removing the power source from your equipment, wait at
least 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.
2.2. Cautions
• The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
• When connecting the Gold Eagle to an approved isolated 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 Eagle, verify that all safety precautions have been observed
and that the installation procedures in this manual have been followed.
• Make sure that the Safe Torque Off is operational
2.3. CE Marking Conformance
The Gold Eagle 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 2006/42/EC as amended, and with those of the most recent versions of
standards EN 60204-1 and
Concerning electrical equipment designed for use within certain voltage limits, the Gold Eagle
meets the provisions outlined in 2006/95/EC. The party responsible for ensuring that the
equipment meets the limits required by EMC regulations is the manufacturer of the end product.
EN ISO 12100 at the least, and in accordance with 2006/95/EC.
2.4. 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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Gold Eagle Installation Guide
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Chapter 3: Product Description
MAN-G-EAGIG-EC (Ver. 1.000)
7
The Gold Eagle series is a standard "off-the-shelf" series of durable servo drives designed, verified,
manufactured and tested for applications operating under extreme environmental conditions. The
Gold Eagle delivers up to 8.0 kW of continuous /16.0 kW peak power , and 9.6 kW of continuous
power with R type drives, in a compact package.
This advanced, high power density servo drive operates from a DC power source in current, velocity,
position and advanced position modes, in conjunction with a permanent-magnet 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 Eagle can operate as
a stand-alone device or as part of a multi-axis system in a distributed configuration on a real-time
network.
The drives are easily set up and tuned using Elmo Application Studio software tools. This Windowsbased application enables users to quickly and simply configure the servo drive for optimal use with
their motor. The Gold Eagle, as part of the Gold Line, is fully programmable with Elmo’s motion
control language.
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.
The Gold Eagle is available in a variety of options. There are multiple power rating options, two
different communications options, a variety of feedback selections and I/O configuration
possibilities.
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Gold Eagle Installation Guide
Table of Contents
Chapter 4: Technical Information
MAN-G-EAGIG-EC (Ver. 1.000)
This chapter describes the relevant technical data applicable to the Gold Eagle servo drive. For
further details of the Gold ExtrIQ Line EMC and Safety standards, refer to the MAN-G-Panel
Mounted Drives Hardware Manual Chapter 15: Gold Line Standards.
4.1. Environment Conditions
The ExtrIQ products are designed, manufactured and tested to meet extreme environmental
conditions. The ExtrIQ durability is qualified, verified and tested according to the most severe
environmental, EMC and safety standards exceeding the traditional and senior military
Standards.
The ExtrIQ series of drives support the following extended environmental conditions.
8
Feature Operation Conditions Range
Ambient
Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F)
Temperature
Range
Temperature
Shock
Altitude
Operating conditions -40 °C to +70 °C (-40 °F to 160 °F)
Non-operating conditions -40 °C to +70 °C (-40 °F to 160 °F)
within 3 min
Non-operating conditions Unlimited
Operating conditions -400 m to 12,000 m (-1312 to 39370 feet)
Maximum
Humidity
Non-operating conditions Up to 95% relative humidity
non-condensing at 35 °C (95 °F)
Operating conditions Up to 95% relative humidity non-
condensing at 25 °C (77 °F), up to 90%
relative humidity non-condensing at 42 °C
(108 °F)
Vibration
Mechanical
Shock
Operating conditions 20 Hz to 2,000 Hz, 14.6g
Non-operating conditions ±40g; Half sine, 11 msec, 3 per direction
(overall 18)
Operating conditions ±20g; Half sine, 11 msec, 3 per direction
(overall 18)
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Gold Eagle Installation Guide
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MAN-G-EAGIG-EC (Ver. 1.000)
4.2. Physical Specifications
Feature Units All Types
Weight g (oz) 700 g (24.7 oz)
Dimensions mm (in) 134 x 95 x 72 (5.3" x 3.7" x 2.84")
Mounting method Wall/Panel Mount
4.3. Technical Data
Feature
Units
70/60
Minimum supply voltage VDC 14 46 92
50/100
100/100
R150/100
35/200
R60/200
18/400
9
R26/400
Nominal supply voltage VDC 50 85 170 340
Maximum supply voltage VDC 59 95 195 390
Maximum continuous
W 3400 4000 8000 12000 5600 9600 5600 11500
power output
Efficiency at rated power
% > 99
(at nominal conditions)
Max output voltage 97% of DC bus voltage at f=22 kHz
VL Logic supply input
VDC 14 to 72
voltage
VL Logic supply input
power
Amplitude sinusoidal/DC
VA ≤ 4 VA without external loading of 5V (Encoders)
≤ 6 VA with full external loading of 5V (2 encoders)
A 70 50 100 150 35 60 18 26
continuous current
Sinusoidal continuous
A 50 35 70 106 25 42 12.7 18.4
RMS current limit (Ic)
Peak current limit A 2 x Ic 2 x Ic 2 x Ic No Peak 2 x Ic No Peak 2 x Ic No Peak
Table 1: Power Ratings
Notes: The current ratings of the Gold Eagle 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.
The “Minimum supply voltage” of the XXX/100 is 14 VDC, to allow operation at 24 VDC with
the 100 VDC products.
The VL of the XXX/100 is 14 – 72 VDC, to improve the ruggedness of the products and to allow
more flexibility with the VL.
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Gold Eagle Installation Guide
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MAN-G-EAGIG-EC (Ver. 1.000)
4.3.1. VL Logic Supply
Feature Details
Logic power supply Isolated DC source only
Logic supply input voltage 14 to 72 VDC
Logic supply input power ≤ 4 VA without external loading of 5V (Encoders)
≤ 6 VA with full external loading of 5V (2 Encoders)
The Gold Eagle is available in a variety of options. There are multiple power rating options, two
different communications options, a variety of feedback selections and I/O configuration
possibilities.
4.3.2. Product Features
10
Main Feature Details Presence and No.
STO
TTL or √
PLC Source √
Digital Input
Option
TTL or 6
PLC Source or 6
PLC Sink 6
Digital Output
Option
TTL or 4
PLC Source or 4
PLC Sink 4
Analog Input
Feedback
Communication
Option
Differential ±10V 1
Standard Port A, B, & C √
USB √
EtherCAT √
CAN √
RS-232 √
Differential RS-232 (RS-422) √
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MAN-G-EAGIG-EC (Ver. 1.000)
Table of Contents
Chapter 5: Unpacking the Drive Components
Gold Eagle Installation Guide
11
Before you begin working with the Gold Eagle, verify that you have all of its components, as follows:
• The Gold Eagle servo drive
• The Elmo Application Studio (EASII) software and software manual
The Gold Eagle is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Eagle:
1. Carefully remove the servo drive from the box and the Styrofoam.
2. Check the drive to ensure that there is no visible damage to the instrument. If any damage
has occurred, report it immediately to the carrier that delivered your drive.
3. To ensure that the Gold Eagle you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Eagle. It looks like this:
4. Verify that the Gold Eagle type is the one that you ordered, and ensure that the voltage
meets your specific requirements.
The part number at the top provides the type designation. Refer to the appropriate part
number in the section Catalog Number at the beginning of the installation guide.
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Chapter 6: Gold Eagle Connectors and Indicators
MAN-G-EAGIG-EC (Ver. 1.000)
6.1. Connector Types
The Gold Eagle has four connector types as follows:
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Type
Barrel Connector
+ M6 Spring
Washer + M6 Nut
Barrel Connector
+ M5 Flat Washer
+ M5 Spring
Washer + M5
screw
Pins
Name Type Function
Function
Port
Power VP+, VN-
Motor M1, M2, M3
Earth
PE, PE, PE, PE
Connection
Connector Location
Rear Connectors
15 P3 D-Type High Density, female Port C, Analog and STO
26 P1 D-Type High Density, female Port A and Port B
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MAN-G-EAGIG-EC (Ver. 1.000)
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Pins
Name Type Function
Front Connectors
15 P4 D-Type, High Density, male Communications
26 P2 D-Type, High Density, male I/Os
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Gold Eagle Installation Guide
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Chapter 7: Mounting the Gold Eagle
MAN-G-EAGIG-EC (Ver. 1.000)
The Gold Drum has been designed for standard mounting by wall mounting along the back.
Use M5 round head screws, one through each opening in the heat sink, to mount the Gold Drum
(see the diagrams below).
14
Figure 1: Mounting the Gold Eagle
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Chapter 8: Gold Eagle Connection Diagrams
MAN-G-EAGIG-EC (Ver. 1.000)
15
Figure 2: Gold Eagle Connection Diagram - EtherCAT
Note: The drive requires an external VL Logic power supply; the drive cannot operate without it.
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MAN-G-EAGIG-EC (Ver. 1.000)
16
Figure 3: Gold Eagle Connection Diagram - CAN
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Chapter 9: Wiring
MAN-G-EAGIG-EC (Ver. 1.000)
9.1. Introduction
Once the product 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 drive.
The following table legend describes the wiring symbols detailed in all installation guides.
Wiring Symbol Description
Earth connection (PE)
Protective Earth Connection
Common at the Controller
17
Shielded cable with drain wire.
The drain wire is a non-insulated wire
that is in direct contact with the braid
(shielding).
Shielded cable with drain wire
significantly simplifies the wiring and
earthing.
Shielded cable braid only, without drain
wire.
Twisted-pair wires
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Gold Eagle Installation Guide
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MAN-G-EAGIG-EC (Ver. 1.000)
Wiring Symbol Description
D-type Connector: The cable`s braid
(Shield) must be connected to the Dsub shell (metal housing)
Encoder Earthing.
The cable`s shield is connected to the
chassis (PE) in the connector.
Earthing the Encoder and connecting
the Earth (PE) to the drive COMRET is
mandatory to insure reliable
operation, high noise immunity and
rejection of voltage common mode
interferences.
18
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MAN-G-EAGIG-EC (Ver. 1.000)
19
9.2. Basic Recommendations
9.2.1. General
1. Use shielded cables. For best results, the cable should have an aluminum foil shield covered
by copper braid, and should contain a drain wire.
Use 24, 26 or 28 AWG twisted-pair shielded with drain wire cables.
2. Keep the cable as short as possible.
Do not mount the power cables of the motor and power bus in the proximity of the control
and feedback cables.
3. Ensure that in normal operating conditions, the “earth connection” wires and shield of the
control cables 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 might result in
drive/controller/host failure.
4. After completing the wiring, carefully inspect all wires to ensure tightness, good solder of
joints and general safety.
Figure 4: D-Type Cable Assemblies
5. Use only a D-Sub connector with a metal housing (Figure 4).
6. Make sure the braid shield is in tight contact with the metal housing of the D-type
connector (Figure 4).
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MAN-G-EAGIG-EC (Ver. 1.000)
9.2.2. Feedback Cable Port A and Port B Connector
1. On the motor side connections, ground the shield to the motor chassis.
2. At least One COMRET (Common Return) must be connected to the PE.
Implement the following steps to connect the COMRET to the PE:
a. At the drive, connect the feedback drain wire to one of the COMRET terminals in the
D-Type feedback connector (Figure 5).
b. At the motor, connect the feedback cable drain wire to the GND motor chassis
terminal of the feedback connector.
The drawings below display two earth connections.
20
Figure 5: Feedback Port A and B Cable Assemblies
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MAN-G-EAGIG-EC (Ver. 1.000)
9.2.3. Feedback Cable Port C Connector
1. At the controller side connections, follow the controller manufacturer’s recommendations
concerning the shield.
2. The connection of the Drain wire to the Port C is not mandatory.
21
Figure 6: Feedback Port C Cable Assemblies
9.2.4. IO Cable Connector
It is recommended to use shielded cable, but is not mandatory.
Figure 7: Feedback IO Cable Assemblies
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