ElmoMC Gold Hawk User Manual

Gold Hawk

Digital Servo Drive

Installation Guide

July 2014 (Ver. 1.001)

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Elmo Motion Control and the Elmo Motion Control logo are

EtherCAT Conformance Tested. EtherCAT® is a registered

Notice

This guide is delivered subject to the following conditions and restrictions:

• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Gold Hawk servo
drive in its installation.

• The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change without
notice.

• Information in this document is subject to change without notice.

registered trademarks of Elmo Motion Control Ltd.

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

Catalog Number

Document no. MAN-G-HAKIG (Ver. 1.001)

Copyright  2014

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Version Date Details

Ver. 1.000 Nov 2013 Initial release

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

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

Tel: [phone] • Fax: [phone] •

[e-mail]

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

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

Europe

Elmo Motion Control GmbH

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

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

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

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

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

Asia Pacific

Elmo Motion Control APAC Ltd.

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

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

MAN-G-HAKIG ( Ver. 1.001)

Table of Contents

Gold Hawk Installation Guide

Chapter 1: Safety Information .......................................................................................... 7

1.1. Warnings ......................................................................................................................... 8

1.2. Cautions .......................................................................................................................... 8

1.3. Directives and Standards ................................................................................................ 9

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

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

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

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

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

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

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

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

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

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

2.2.6. Fully Programmable ....................................................................................... 13

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

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

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

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

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

2.2.12. Inputs ............................................................................................................. 16

2.2.13. Built-In Protection ......................................................................................... 17

2.2.14. Status Indication ............................................................................................ 17

2.2.15. Automatic Procedures ................................................................................... 17

2.3. System Architecture ..................................................................................................... 18

2.4. How to Use this Guide .................................................................................................. 19

4

Chapter 3: Technical Information ................................................................................... 20

3.1. Technical Data .............................................................................................................. 20

3.1.1. Auxiliary Supply ............................................................................................. 21

3.2. Environmental Conditions ............................................................................................ 21

Chapter 4: Installation ................................................................................................... 22

4.1. Site Requirements ........................................................................................................ 22

4.2. Unpacking the Drive Components ................................................................................ 22

4.3. Connectors.................................................................................................................... 24

4.3.1. Connector Types ............................................................................................ 24

4.3.2. Pinouts ........................................................................................................... 24

4.3.2.1. Motor Power ................................................................................. 24

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

................................................... 25

MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Table of Contents

4.3.2.3. Auxiliary Power Connector ........................................................... 25

4.3.2.4. Connector J2 ................................................................................. 26

4.3.2.5. Connector J1 ................................................................................. 29

4.4. Mounting the Gold Hawk ............................................................................................. 31

4.5. Integrating the Gold Hawk on a PCB ............................................................................ 32

4.5.1. Grounds and Returns ..................................................................................... 32

4.6. The Gold Hawk Connection Diagram ............................................................................ 34

4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 35

4.7.1. Motor Power.................................................................................................. 35

4.7.2. Main Power, Motor Power and Auxiliary Power ........................................... 36

4.7.2.1. Motor Power ................................................................................. 36

4.7.2.2. Main Power ................................................................................... 37

4.7.3. Auxiliary Power Supply (Optional) ................................................................. 38

4.7.4. Single Supply .................................................................................................. 39

4.7.5. Separate Auxiliary (Backup) Supply ............................................................... 39

4.7.6. Shared Supply ................................................................................................ 40

4.8. STO (Safe Torque Off) Inputs ........................................................................................ 41

4.9. Feedback ....................................................................................................................... 44

4.9.1. Port A (J2) ...................................................................................................... 45

4.9.1.1. Incremental Encoder .................................................................... 46

4.9.1.2. Absolute Serial Encoder ................................................................ 47

4.9.1.3. Hall Sensors................................................................................... 48

4.9.2. Port B (J2) ....................................................................................................... 49

4.9.2.1. Incremental Encoder .................................................................... 50

4.9.2.2. Interpolated Analog Encoder ........................................................ 51

4.9.2.3. Resolver ........................................................................................ 52

4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 52

4.9.4. Analog Input .................................................................................................. 53

4.10. User I/Os ....................................................................................................................... 54

4.10.1. Digital Inputs (J1) ........................................................................................... 54

4.10.2. Digital Outputs (J1) ........................................................................................ 57

4.10.3. Analog Input .................................................................................................. 58

4.11. Communications ........................................................................................................... 59

4.11.1. RS-232 Communication (J2) ........................................................................... 59

4.11.2. CAN Communication (J2) ............................................................................... 61

4.11.3. USB 2.0 Communication (J2) ......................................................................... 63

4.11.4. EtherCAT Communication (J2) ....................................................................... 64

4.11.5. Ethernet Communication (J2) ........................................................................ 66

4.11.6. EtherCAT/Ethernet Line Interface ................................................................. 68

4.12. Powering Up ................................................................................................................. 68

4.13. Initializing the System ................................................................................................... 68

4.14. Heat Dissipation............................................................................................................ 68

4.14.1. Thermal Data ................................................................................................. 68

4.14.2. Heat Dissipation Data .................................................................................... 69

4.14.3. How to Use the Charts ................................................................................... 70

5

MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Table of Contents

Chapter 5: Technical Specifications ................................................................................ 71

5.1. Dimensions ................................................................................................................... 71

5.2. Control Specifications ................................................................................................... 73

5.2.1. Current Loop .................................................................................................. 73

5.2.2. Velocity Loop ................................................................................................. 74

5.2.3. Position Loop ................................................................................................. 74

5.3. Feedbacks ..................................................................................................................... 75

5.3.1. Feedback Supply Voltage ............................................................................... 75

5.3.2. Feedback Options .......................................................................................... 75

5.3.2.1. Incremental Encoder Input ........................................................... 75

5.3.2.2. Digital Halls ................................................................................... 76

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

5.3.2.4. Resolver ........................................................................................ 77

5.3.2.5. Absolute Serial Encoder ................................................................ 77

5.3.3. Port C Feedback Output ................................................................................ 78

5.4. I/Os ............................................................................................................................... 79

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

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

5.4.2.1. OUT1 and OUT2 ............................................................................ 80

5.4.2.2. OUT3 and OUT4 ............................................................................ 81

5.4.3. Analog Input .................................................................................................. 81

5.5. Safe Torque Off (STO) ................................................................................................... 82

5.5.1. STO Input Interfaces – TTL Mode .................................................................. 82

5.6. Communications ........................................................................................................... 82

5.7. Pulse-Width Modulation (PWM) .................................................................................. 83

6

Chapter 6: Gold Line Standards ...................................................................................... 84

6.1. Functional Safety .......................................................................................................... 84

6.2. Safety ............................................................................................................................ 87

6.3. EMC............................................................................................................................... 87

6.4. EtherCAT Conformance ................................................................................................ 88

6.5. Other Compliant Standards .......................................................................................... 89

6.6. ExtrIQ Series ................................................................................................................. 90

MAN-G-HAKIG ( Ver. 1.001)

Chapter 1: Safety Information

Warning:

Caution:

Gold Hawk Installation Guide

In order to achieve the optimum, safe operation of the Gold Hawk 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 Hawk 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 Hawk 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.

7

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

The following safety symbols are used in this manual:

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

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

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Safety Information

1.1. Warnings

• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.

• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Hawk from all voltage sources before it is opened for servicing.

• The Gold Hawk servo drive contains grounding conduits for electric current protection. Any
disruption to these conduits may cause the instrument to become hot (live) and dangerous.

• After shutting off the power and removing the power source from your equipment, wait at
least 1 minute before touching or disconnecting parts of the equipment that are normally
loaded with electrical charges (such as capacitors or contacts). Measuring the electrical
contact points with a meter, before touching the equipment, is recommended.

1.2. Cautions

• The Gold Hawk servo drive contains hot surfaces and electrically-charged components
during operation.

8

• The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.

• When connecting the Gold Hawk to an approved isolated 12–95 VDC auxiliary power
supply, connect it through a line that is separated from hazardous live voltages using
reinforced or double insulation in accordance with approved safety standards.

• Before switching on the Gold Hawk, 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 Hawk drive's soldering with solvent cleaning fluids of pH
greater than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual
damage to the drive's PCBs.

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

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

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

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Safety Information

1.3. Directives and Standards

The Gold Hawk conforms to the following industry safety standards:

Safety Standard Item

Approved IEC/EN 61800-5-1, Safety Adjustable speed electrical power drive systems

Recognized UL 508C Power Conversion Equipment

In compliance with UL 840 Insulation Coordination Including Clearances and

Creepage Distances for Electrical Equipment

9

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 Hawk also conforms to the following military qualitative standards:

Military Qualitative Standard Item

In compliance with MIL-STD-704 Aircraft, Electric Power Characteristics

In compliance with MIL-STD-810 Environmental Engineering Considerations and

Laboratory Tests

In compliance with MIL-STD-1275 Characteristics of 28 Volt DC Electrical Systems in

Military Vehicles

In compliance with MIL-STD-461 Requirements for the Control of Electromagnetic

Interference Characteristics of Subsystems and
Equipment

In compliance with MIL-HDBK-217 Reliability Prediction of Electronic Equipment

In compliance with ISO-9001:2008 Quality Management

The Gold Hawk 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.

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Safety Information

1.4. CE Marking Conformance

The Gold Hawk 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 Hawk 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.

10

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MAN-G-HAKIG ( Ver. 1.001)

Chapter 2: Product Description

Gold Hawk Installation Guide

2.1. Functional Description

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

The Gold Hawk operates from a DC power source. The drive can operate as a stand-alone
device or as part of a multi-axis system in a distributed configuration on a real-time network.

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

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

11

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Hawk 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 Hawk and use the
product catalog number schematic that appears at the beginning of this manual and on
page 23 to determine which specific features are available to you.

2.2.1. High Power Density

The Gold Hawk delivers up to 4.1 kW of continuous power or 8.2 kW of peak power in a

38.0 cc (2.32 in³) package (55 x 46 x 15 mm or 2.2" x 1.8" x 0.6").

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Product Description

2.2.2. Supply Input

• Single DC Power Supply - Power to the Gold Hawk is provided by a 14 to 195 VDC single
isolated DC power source (not included with the Gold Hawk). A “smart” control-supply
algorithm enables the Gold Hawk to operate with only one power supply with no need for
an auxiliary power supply for the logic.

• Optional Backup Supply - If backup functionality is required in case of power loss, e.g., to
keep the original position, a 14 to 195 VDC external isolated supply should be connected
(via the Gold Hawk’s VL+ terminal). This is more flexible than the requirement for 24 VDC
supply.
If backup is not needed, a single power supply is used for both the power and logic circuits.

There are multiple voltage ratings of the Gold Hawk (14 V to 195 V), so you must use
the correct power supply according to the maximum operating voltage of the Gold
Hawk. Refer to the section 3.1 Technical Data.

2.2.3. Servo Control

12

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

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

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

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

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

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

• Position over velocity, with full dual loop support

• S-curve Profile Smoothing

• Cogging, BEMF and

ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Motion profiler numeric range:

9

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

counts

9

counts/sec

9

counts/sec2

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Gold Hawk Installation Guide Product Description

2.2.4. Advanced Filters and Gain Scheduling

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

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

• Automatic commutation alignment

• Automatic motor phase sequencing

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

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

• 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

13

2.2.5. Motion Control

• Motion control programming environment

• Motion modes: PTP, PT, PVT, ECAM, Follower

• 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 (SW) and Pulse and Direction

• Distributed Motion Control

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

2.2.6. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming

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Gold Hawk Installation Guide Product Description

2.2.7. Feedback Ports Options

• There are Port A and Port B feedback input ports that are flexible and configurable. Each
port can be programmed to serve as:

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

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

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

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

 Incremental encoder
 Analog encoder
 Analog Hall
 Resolver

14

• Port C is a flexible and configurable feedback output port. It supports the Encoder
emulation outputs of Port A or Port B or internal variables

• Analog input (±10 V ptp) support:

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

2.2.8. Feedback Sensor Specifications

• Incremental Quadrature Encoder (with or without commutation halls) up to
75 Megacounts per second (18 MHz PPS (Pulses Per Second))

• Incremental encoder and digital Halls

• Digital Hall

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

• Interpolated Analog (Sine/Cosine) Encoder :

 Supports 1 V PTP Sine/Cosine
 Sin-Cos Frequency: up to 500 kHz
 Internal Interpolation: up to ×8192
 Automatic Correction of amplitude mismatch, phase mismatch, signal offset
 Emulated encoder output of the Analog encoder

• Analog Halls (commutation & position)

 One feedback electrical cycle = one motor's electrical cycle

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Product Description

 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
 Stegmann Hiperface

• Resolver

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

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

• Tachometer (available on request)

15

• Potentiometer (available on request)

• The Gold Hawk provides 5 V supply voltage (5 V, 2 x 200 mA max) for the encoders,

Resolver or Hall supplies

2.2.9. Communications

• Fast and efficient EtherCAT and CANopen networking

• EtherCAT Slave:

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

• CANopen (DS-301, DS-305, DS-402)

• Ethernet TCP/IP

 UDP
 Telnet

• USB 2.0

• RS-232 (TTL logic level)

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Gold Hawk Installation Guide Product Description

2.2.10. Safety

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

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

• UL 508C recognition

• UL 60950 compliance

• CE EMC compliance

2.2.11. Outputs

• Two Digital Outputs

 Optically isolated
 Output level: up to 30 V
 Open collector and open emitter

16

• Three differential outputs:

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

2.2.12. Inputs

• Six digital inputs

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

• One Analog input: ± 10 V

• Six very fast differential event capture inputs 5 V logic

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

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Gold Hawk Installation Guide Product Description

2.2.13. Built-In Protection

• Software error handling

• Abort (hard stops and soft stops)

• Status reporting

• Protection against:

 Shorts between motor power outputs
 Shorts between motor power outputs and power input/return
 Failure of internal power supplies
 Over-heating

• Continuous temperature measurement. Temperature can be read on the fly; a warning can
be initiated x degrees before temperature disable is activated.

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

17

2.2.14. Status Indication

• Output for a bi-color LED

2.2.15. 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

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Gold Hawk Installation Guide Product Description

2.3. System Architecture

18

Figure 1: Gold Hawk System Block Diagram

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Product Description

2.4. How to Use this Guide

In order to install and operate your Elmo Gold Hawk 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 Hawk.

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

Upon completing the instructions in this guide, your Gold Hawk 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 Hawk.

• The Gold Product Line Command Reference Manual, which describes, in detail, each
software command used to manipulate the Gold Hawk motion controller.

19

• The Elmo Application Studio Software Manual, which includes explanations of all the
software tools that are part of the Elmo Application Studio software environment.

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MAN-G-HAKIG ( Ver. 1.001)

Chapter 3: Technical Information

amplitude of sinusoidal current, or DC

Gold Hawk Installation Guide

3.1. Technical Data

Feature Units

20

20/100

Minimum supply voltage VDC 14 23

Nominal supply voltage VDC 85 170

Maximum supply voltage VDC 95 195

Maximum continuous power output W 1600 2800 4000 1650 2800 3240

Efficiency at rated power (at nominal
conditions)

Maximum output voltage VDC 14 V to 96 V 23 V to 195 V

Continuous current limit (Ic)

trapezoidal commutation

Sinusoidal continuous RMS current
limit (Ic)

Peak current limit A 2 x Ic

Weight g (oz) 212 g (7.47 oz)

Dimensions mm (in) 80 x 61 x 31 mm (3.15" x 2.4" x 1.2")

Digital in/
Digital out/
Analog in

% > 98

A 20 35 50 10 17 20

A 14.2 24.7 35.4 7.07 12 14.3

6/4/1

35/100

50/100

10/200

17/200

20/200

Mounting method PCB mount

Note on current ratings: The current ratings of the Gold Hawk 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.

Table 1: Power Ratings

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Technical Information

3.1.1. Auxiliary Supply

Feature Details

Auxiliary power supply Isolated DC source only

Auxiliary supply input voltage 14 to 95 VDC (100 V models)

23 to 195 (200 V models)

Auxiliary supply input power ≤ 5 VA without external loading

≤ 8 VA with full external loading

3.2. Environmental Conditions

Feature Operation Conditions Range

21

Ambient
Temperature
Range

Temperature
Shock

Altitude

Maximum
Humidity

Vibration

Mechanical
Shock

Non-operating conditions -50 °C to +100 °C (-58 °F to 212 °F)

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)

Non-operating conditions Up to 95% non-condensing humidity at 35 °C

(95 °F)

Operating conditions Up to 95% non-condensing humidity at 25 °C

(77 °F), up to 90% non-condensing humidity
at 42 °C (108 °F)

Operating conditions 20 Hz to 2000 Hz, 14.6g

Non-operating conditions ±40g; Half sine, 11 msec

Operating conditions ±20g; Half sine, 11 msec

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MAN-G-HAKIG ( Ver. 1.001)

Chapter 4: Installation

Gold Hawk Installation Guide

The Gold Hawk 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 Hawk by ensuring that it is installed in an
appropriate environment.

Feature Value

Ambient operating temperature -40 °C to +70 °C (-40 °F to 160 °F)

Maximum operating altitude 2,000 m (6562 feet)

Maximum non-condensing humidity 95%

22

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

Caution:
The Gold Hawk 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 Hawk, verify that you have all of its components, as
follows:

• The Gold Hawk servo drive

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

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

To unpack the Gold Hawk:

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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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Installation

3. To ensure that the Gold Hawk you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Hawk. It looks like
this:

4. Verify that the Gold Hawk 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:

23

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Installation

4.3. Connectors

The Gold Hawk has nine connectors.

4.3.1. Connector Types

Port Pins Type Function Connector Location

24

J2 2x24 1.27 mm

pitch

0.41 mm sq

Feedbacks, Digital Halls,

Analog Inputs,
Communications

J1 2x12 I/O, LEDs, STO

VL 2x1 2 mm pitch

VP+ 2x3 Positive power input

0.51 mm sq

Auxiliary supply input

PR 2x3 Power input return

PE 2x2 Protective earth

M1 2x3 Motor power output 1

M2 2x3 Motor power output 2

M3 2x3 Motor power output 3

Table 2: Connector Types

4.3.2. Pinouts

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

4.3.2.1. Motor Power

For full details see Section 4.7.1.

Pin Function Cable Pin Positions

Brushless

Motor

PE Protective earth Motor Motor

M1 Motor phase Motor N/C

M2 Motor phase Motor Motor

M3 Motor phase Motor Motor

Connector Type: 2 mm pitch 0.51 mm sq.

Table 3: Motor Connector

Brushed DC
Motor

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Installation

4.3.2.2. Main Power

For full details see Section 4.7.2.2.

Pin Function Cable Pin Positions

VP+ Pos. Power input Power

PR Power return Power

PE Protective earth Power

Connector Type: 2 mm pitch 0.51 mm sq

Table 4: Connector for Main Power

25

4.3.2.3. Auxiliary Power Connector

For full details see Section 4.7.3.

Pin Function Pin Positions

VL Auxiliary Supply Input

PR Auxiliary Supply Return

Connector Type: 2 mm pitch 0.51 mm sq

Table 5: Auxiliary Supply Pins

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MAN-G-HAKIG ( Ver. 1.001)

Feedback A/B/C, Digital Halls – see

Gold Hawk Installation Guide Installation

4.3.2.4. Connector J2

26

Section 4.9.

Analog Inputs – see Section 4.9.4.

RS-232, EtherCAT, USB – see Section 4.11.

Connector Type: 1.27 mm pitch 0.41 mm
sq

Note regarding the EtherCAT and CAN communication options:

The J2 Connector exports all supported communication links. However, note that CAN and
EtherCAT are not available in the same version of the Gold Hawk and are thus not operational
simultaneously. See the part number diagram in Section 4.2 above for the different Gold Hawk
configurations.

Pin (J2) Signal Function

1 PortA_ENC_A+ /ABS_CLK+ Port A- channel A/ Absolute encoder clock+

2 PortC_ENCO_A- Port C- channel A complement output

3 PortA_ENC_A-/ABS_CLK- Port A- channel A complement / Absolute

4 PortC_ENCO_A+ Port C- channel A output

5 PortA_ENC_B+/ABS_DATA+ Port A - channel B/ Absolute encoder Data+

6 PortC_ENCO_B- Port C - channel B complement output

encoder clock-

7 PortA_ENC_B-/ABS_DATA- Port A - channel B complement / Absolute

encoder Data-

8 PortCENCO_B+ Port C - channel B output

9 PortA_ENC_INDEX+ Port A – index

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MAN-G-HAKIG ( Ver. 1.001)

Gold Hawk Installation Guide Installation

Pin (J2) Signal Function

10 PortC_ENCO_INDEX- Port C - index complement output

11 PortA_ENC_INDEX- Port A - index complement

12 PortC_ENCO_INDEX+ Port C - index output

13 PortB_ENC_A+/SIN+ Port B - channel A

14 HC Hall sensor C input

15 PortB_ENC_A-/SIN- Port B - channel A complement

16 HB Hall sensor B input

17 PortB_ENC_B+/COS+ Port B - channel B

18 HA Hall sensor A input

19 PortB_ENC_B-/COS- Port B - channel B complement

20 ANARET Analog return

27

21 PortB_ENC_INDEX+/ANALOG_I+ Port B – index

RESOLVER_OUT+ Vref

22 ANALOG1+ Analog input 1

23 PortB_ENC_INDEX-/ANALOG_I- Port B – index complement

RESOLVER_OUT- Vref complement

24 ANALOG1- Analog input 1 complement

25 COMRET Common return

26 +3.3V 3.3 V supply voltage for EtherCAT LEDs

Note: The pin connector should only be

used for the 3.3V EtherCAT LED and
EtherCAT RJ-45.

27 PHY_IN_RX+ EtherCAT In receive

28 EtherCAT: PHY_OUT_RX+ EtherCAT Out receive

CAN: Reserved Reserved

29 PHY_IN_RX- EtherCAT In receive complement

30 PHY_OUT_RX- EtherCAT Out receive complement

31 COMRET Common return

32 COMRET Common return

33 PHY_IN_TX+ EtherCAT In transmit

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