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
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: +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 1414, Huawen Plaza, No. 999 Zhongshan West Road, Shanghai (200051) China
Tel: +86-21-32516651 • Fax: +86-21-32516652 • 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-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
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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
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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
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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.
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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
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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.
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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.
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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

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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 10Velocity up to 2 x 10Acceleration 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
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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: UnlimitedTable 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/orVelocity feedback and/orPosition feedback
Port A supports the following sensors, depending on the specific model:
Incremental encoder Incremental encoder and digital HallAbsolute serial encoderAbsolute serial encoder and digital Hall (for dual loop)
Port B supports the following sensors, depending on the specific model:
Incremental encoder Analog encoderAnalog HallResolver
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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 logicInput voltage up to 15 VDC
Interpolated Analog (Sine/Cosine) Encoder :
Supports 1 V PTP Sine/CosineSin-Cos Frequency: up to 500 kHz Internal Interpolation: up to ×8192Automatic 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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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 2.2BiSS/SSIStegmann Hiperface
Resolver
14 bit resolutionUp 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)
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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 ClockEtherCAT 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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2.2.10. Safety

IEC 61800-5-2, Safe Torque Off (STO)
Two STO (Safe Torque Off) inputsOptically 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 isolatedOutput level: up to 30 VOpen collector and open emitter
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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 isolatedFast 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 suppliesOver-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 voltageLoss of feedbackFollowing errorCurrent limits
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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

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Figure 1: Gold Hawk System Block Diagram
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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.
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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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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
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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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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%
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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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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:
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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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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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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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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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Pin (J2) Signal Function
34 EtherCAT: PHY_OUT_TX+ EtherCAT Out transmit
CAN: Reserved Reserved
35 PHY_IN_TX- EtherCAT In transmit complement
36 EtherCAT: PHY_OUT_TX- EtherCAT Out transmit complement
CAN: Reserved Reserved
37 PHY_IN_LINK_ACT EtherCAT In active LED
38 EtherCAT: PHY_OUT_LINK_ACT EtherCAT Out active LED
CAN: CAN_L CAN_L BUS Line(dominant low)
39 PHY_IN_SPEED EtherCAT In Speed LED
40 EtherCAT: PHY_OUT_SPEED EtherCAT Out Speed LED
CAN: CAN_H CAN_H BUS Line(dominant high)
28
41 USBD- USB data complement
42 USBD+ USB data
43 COMRET Common return
44 USB_VBUS USB VBUS 5V
45 RS232_RX RS232 receive
46 COMRET Common return
47 +5VE Encoder +5 V supply
48 RS232_TX RS232 transmit
Table 6: Connector J2 – Feedback and Analog Input
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4.3.2.5. Connector J1
I/O, LEDs, STO (safety)
For full details on user I/Os, see
Section
4.10.
29
For full details on STO, see Section
Connector Type: 1.27 mm pitch 0.41 mm sq
Pin (J1) Signal Function
1 Reserved Reserved
2 Reserved Reserved
4.8.
3 INRET1_6 Programmable digital inputs 1–6 return
4 IN1 Programmable digital input 1
5 IN2 Programmable digital input 2
6 IN3 Programmable digital input 3
7 IN4 Programmable digital input 4
8 IN5 Programmable digital input 5
9 IN6 Programmable digital input 6
10 STO_RET Safety signal return
11 STO2 Safety 2 input
12 STO1 Safety 1 input
13 LED_ETHERCAT ERR LED Status EtherCAT ERR
14 LED_ETHERCAT RUN LED Status EtherCAT RUN
15 OUT2 Programmable output 2
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Pin (J1) Signal Function
16 OUT1 Programmable output 1
17 OUTRET2 OUT 2 return
18 OUTRET1 OUT 1 return
19 LED2 Bi-color indication output 2 (Cathode)
20 LED1 Bi-color indication output 1 (Anode)
21 OUT4 Programmable output 4 not isolated
(3.3V TTL level)
22 OUT3 Programmable output 3 not isolated
(3.3V TTL level)
23 COMRET Common return
24 Reserved Reserved
30
Table 7: Connector J1 – I/O, LEDs
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4.4. Mounting the Gold Hawk

The Gold Hawk was designed for mounting on a printed circuit board (PCB) via 1.27 mm pitch
0.41 mm square pins and 2 mm pitch 0.51 mm square pins. When integrating the Gold Hawk
into a device, be sure to leave about 1 cm (0.4") outward from the heat-sink to enable free air convection around the drive. We recommend that the Gold Hawk be soldered directly to the board. Alternatively, though this is not recommended, the Gold Hawk can be attached to socket connectors mounted on the PCB. If the PCB is enclosed in a metal chassis, we recommend that the Gold Hawk be screw-mounted to it as well to help with heat dissipation. The Gold Hawk has screw-mount holes on each corner of the heat-sink for this purpose – see below.
31
All measurements are in mm
Figure 2: Gold Hawk Dimensions
When the Gold Hawk is not connected to a metal chassis, the application’s thermal profile may require a solution for heat dissipation due to insufficient air convection. In this case, we recommend that you connect an external heat-sink. Elmo has an external heat-sink (Catalog number: WHI-HEAT-SINK-2) that can be ordered for this purpose, see Figure 3 below.
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Figure 3: Gold Hawk External Heat Sink

4.5. Integrating the Gold Hawk on a PCB

The Gold Hawk is designed to be mounted on a PCB, either by soldering its pins directly to the PCB or by using suitable socket connectors. Refer to the Gold Line Guitar Design Guide for further information.
32

4.5.1. Grounds and Returns

The returns in each functional block are listed below:
Functional Block Return Pin
Power PR (Power Return)
Internal Switch Mode P.S. PR (Power Return)
Analog input return ANLRET (J2/20)
Common return COMRET (J2/25,31,32,43,46; J1/23)
STO safety signal return STO_RET (J1/10)
Input Return IN_RET (J1/3)
Table 8: Grounds and Returns
The returns above are all shorted within the Gold Hawk in a topology that results in optimum performance.
Caution:
Follow these instructions to ensure safe and proper implementation. Failure to
meet any of the below-mentioned requirements can result in drive, controller or host failure.
1. When wiring the traces of the above functions, on the Integration Board, the Returns of each function must be wired separately to its designated terminal on the Gold Hawk. DO NOT USE A COMMON GROUND PLANE. Shorting the commons on the Integration Board may cause performance degradation (ground loops, etc.).
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2. Digital Inputs: The six digital inputs are optically isolated from the other parts of the Gold Hawk. All six inputs share one return line, INRET. To retain isolation, the Input Return pin and all other conductors on the input circuit must be laid out separately.
3. STO: The two digital STO inputs are optically isolated from the other parts of the Gold Hawk. The two STO inputs share one return line, STO_RET. To retain isolation, the Input Return pin and all other conductors on the input circuit must be laid out separately
4. Digital Outputs: The two digital outputs are optically isolated from the other parts of the Gold Hawk. To retain isolation, all the output circuit conductors must be laid out separately.
5. Return Traces: The return traces should be as large as possible, but without shorting each other, and with minimal cross-overs.
6. Main Power Supply and Motor Traces: The power traces must be kept as far away as possible from the feedback, control and communication traces.
7. PE Terminal: The PE (Protective Earth) terminal is connected directly to the Gold Hawk’s heat-sink which serves as an EMI common plane. The PE terminal should be connected to the system's Protective Earth. Any other metallic parts (such as the chassis) of the assembly should be connected to the Protective Earth as well.
33
8. Under normal operating conditions, the PE trace carries no current. The only time these traces carry current is under abnormal conditions (such as when the device has become a potential shock or fire hazard while conducting external EMI interferences directly to ground). When connected properly the PE trace prevents these hazards from affecting the drive.
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4.6. The Gold Hawk Connection Diagram

34
Figure 4: The Gold Hawk Connection Diagram
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4.7. Main Power, Auxiliary Power and Motor Power

The Gold Hawk receives power from main and auxiliary supplies and delivers power to the motor.

4.7.1. Motor Power

Note: When connecting several drives to several similar motors, all should be wired in an
identical manner. This will enable the same settings to run on all drives.
Pin Function Cable Pin Positions
35
Brushless Motor
Brushed DC Motor
PE Protective earth Motor Motor
M1 Motor phase Motor N/C
M2 Motor phase Motor Motor
M3 Motor phase Motor Motor
Table 9: Motor Connector
Connect the M1, M2, M3 and PE pins on the Gold Hawk in the manner described in Section
4.3.2.1. The phase connection is arbitrary as the Elmo Application Software (EAS) will
automatically establish the proper commutation during setup. However, if you plan to copy the setup to other drives, then the phase order on all the drives must be the same.
Figure 5: Brushless Motor Power Connection Diagram
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Figure 6: DC Brushed Motor Power Connection Diagram

4.7.2. Main Power, Motor Power and Auxiliary Power

The Gold Hawk receives power from main and auxiliary supplies and delivers power to the motor.
Note: There are multiple voltage ratings of the Gold Guitar (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 Chapter 3: Technical Information for more details.
36
4.7.2.1. Motor Power
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
When connecting several drives to several similar motors, all should be wired in an identical manner. This will enable the same settings to run on all drives.
Connect the M1, M2, M3 and PE pins on the Gold Hawk in the manner described in Section 4.5, Integrating the Gold Hawk on a PCB. The phase connection is arbitrary as the Elmo Application Software (EAS) will automatically establish the proper commutation during setup. However, if you plan to copy the setup to other drives, then the phase order on all the drives must be the same.
Brushed DC Motor
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37
Figure 7: Brushed Motor Power Connection Diagram
Figure 8: DC Brushed Motor Power Connection Diagram
4.7.2.2. Main Power
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
Connect the VP+, PR and PE pins on the Gold Hawk in the manner described in Section 4.5 “Integrating the Gold Hawk on a PCB”.
Note: The source of the Main Power Supply must be isolated.
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Figure 9: Main Power Supply Connection Diagram (no Auxiliary Supply)

4.7.3. Auxiliary Power Supply (Optional)

Note: The source of the Auxiliary Supply must be isolated.
Connect the VL and PR pins on the Gold Hawk in the manner described in Section 4.5 “Integrating the Gold Hawk on a PCB”.
38
Pin Function Pin Positions
VL Auxiliary Supply Input
PR Auxiliary Supply Return
Caution: Power from the Gold Hawk to the motor must come from the Main Supply and not from the Auxiliary Supply.
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4.7.4. Single Supply

A single isolated DC power supply can provide power for both the main power and the Auxiliary (Drive Logic) Supply. The drawing below shows how a single supply is connected.
39
Figure 10: Single Supply for both the Main Power Supply and the Auxiliary Supply

4.7.5. Separate Auxiliary (Backup) Supply

Power to the Auxiliary Supply can be provided by a separate Auxiliary Supply.
Figure 11: Separate Auxiliary Supply Connection Diagram
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4.7.6. Shared Supply

A Main DC Power Supply can be designed to supply power to the drive’s logic as well as to the Main Power (see Figure 10 and the upper portion of Figure 12). If backup functionality is required for continuous operation of the drive’s logic in the event of a main power-out, a backup supply can be connected by implementing “diode coupling” (see the Aux. Backup Supply in Figure 12).
40
Figure 12: Shared Supply Connection Diagram
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4.8. STO (Safe Torque Off) Inputs

Activation of Safe Torque Off causes the drive to stop providing power that can cause rotation (or motion in the case of a linear motor) to the motor.
This function may be used to prevent unexpected motor rotation (of brushless DC motors) without disconnecting the drive from the power supply.
The motor is active only as long as 5 V is provided to both STO1 and STO2. Whenever any input voltage is no longer present, power is not provided to the motor and the motor shaft continues to rotate to an uncontrolled stop.
The STO inputs are latched which means that the motor can be re-enabled by a software command only.
In circumstances where external influences (for example, falling of suspended loads) are present, additional measures such as mechanical brakes are necessary to prevent any hazard.
This function corresponds to an uncontrolled stop in accordance with Stop Category 0 of IEC 60204-1.
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Note: This function does not protect against electrical shock, and additional measures to
turn the power off are necessary.
The following table defines the behavior of the motor as a function of the state of the STO inputs:
Signal – STO1 Signal – STO2 Function
Not Active Not Active Motor is disabled
Not Active Active Motor is disabled
Active Not Active Motor is disabled
Active Active Motor can be enabled
Table 10: Motor Behavior According to Safety Inputs
Note: In the Gold Hawk, STO1 also latches a software disable condition.
Pin (J1) Signal Function
12 STO1 Safety 1 input
11 STO2 Safety 2 input
10 STO_RET STO return
Table 11: STO Inputs Pin Assignments
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Figure 13: STO Input Functionality – Schematic Drawing
The figure below is for the TTL level.
42
Figure 14: STO Input Connection – TTL Level
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The figure below is for PLC.
43
Figure 15: STO Input Connection – PLC
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Port A
Port B
Port C
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4.9. Feedback

Figure 16: Feedback Ports on J2
The Gold Hawk has two configurable motion sensor input ports, namely, Port A and Port B, together with the emulated buffered output Port C. Motion sensors from the motor are controlled from other sources and can be connected to any of the available inputs on Port A or Port B.
44
The software configuration designates a role to each input, e.g., the incremental encoder on port B is the controlled motor position feedback, the Hall sensors on port A are commutation feedback, and the incremental encoder on port A is follower input.
For more information, about sensors and their use refer to the Gold Line Software Manual.
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4.9.1. Port A (J2)

Port A supports the following sensor inputs:
Digital Hall sensors
Incremental encoder or absolute serial encoder, depending on the specific model
Differential pulse-width modulation (PWM) signal input can be connected to port A in the models that support input from an incremental encoder. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.
Differential pulse and direction signal inputs can be connected to port A in the models that support input from an incremental encoder. The signals can be connected to the applicable pair of matching + and – encoder channels and are configurable by software.
45
Port A - Incremental Encoder
Port A - Absolute Serial Encoder
G-GUTXXX/YYYYE/R G-GUTXXX/YYYYE/R
Pin (J2) Signal Function Signal Function
47 +5V Encoder +5V
+5V Encoder +5V supply
supply
25 SUPRET Supply return SUPRET Supply return
1
3
5
7
9
11
14
16
PortA_ENC_A+ Channel A+ ABS_CLK+ Abs encoder clock +
PortA_ENC_A- Channel A- ABS_CLK- Abs encoder clock -
PortA_ENC_B+ Channel B+ ABS_DATA+ Abs encoder data +
PortA_ENC_B- Channel B- ABS_DATA- Abs encoder data -
PortA_ENC_Index+ Index+ Reserved Reserved
PortA_ENC_Index- Index- Reserved Reserved
HC Hall sensor C HC Hall sensor C
HB Hall sensor B HB Hall sensor B
18
HA Hall sensor A HA Hall sensor A
Table 12: Port A Pin Assignments
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4.9.1.1. Incremental Encoder
46
Figure 17: Port A Incremental Encoder Input – Recommended Connection Diagram
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4.9.1.2. Absolute Serial Encoder
47
Figure 18: Absolute Serial Encoder – Recommended Connection Diagram for Sensors
Supporting Data/Clock (e.g., Biss / SSI / EnDAT, etc.)
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Figure 19: Absolute Serial Encoder – Recommended Connection Diagram for Sensors
Supporting Data Line Only (NRZ types, e.g., Panasonic / Mitutoyo / etc.)
4.9.1.3. Hall Sensors
Figure 20: Hall Sensors Connection Diagram
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4.9.2. Port B (J2)

Port B supports any of the following sensors:
Incremental encoder, interpolated analog encoder or analog Hall sensors
Or:
Resolver (separate hardware option)
Differential PWM signal input can be connected to port B in the models that support input from an incremental encoder. The PWM signal can be connected to the applicable pair of matching + and – encoder channels and is configurable by software.
Differential pulse and direction signal inputs can be connected to port B in the models that support input from an incremental encoder. The signals can be connected to the applicable pair of matching + and – encoder channels and are configurable by software.
49
Port B - Incremental or
Port B - Resolver
Interpolated Analog Encoder
G-GUT XXX/YYYYE G-GUT XXX/YYYYR
Pin
Signal Function Signal Function
(J2)
47 +5V Encoder +5V supply NC
25 SUPRET Supply return SUPRET Supply return
13 PortB_ENC_A+/ SIN+ Channel A+ / Sine+ SIN+ Sine+
15 PortB_ENC_A-/ SIN- Channel A- / Sine- SIN- Sine-
17 PortB_ENC_B+/ COS+ Channel B+ / Cosine+ COS+ Cosine+
19 PortB_ENC_B-/ COS- Channel B - / Cosine - COS- Cosine-
21 PortB_ENC_INDEX+/
Analog_Index+
23 PortB_ENC_INDEX-/
Analog_Index-
Index +/ Analog_Index+
Index -/ Analog_Index-
RESOLVER_OUT+
RESOLVER_OUT-
Vref f=1/TS, 50 mA Max.
Vref complement f= 1/TS, 50 mA Maximum
Table 13: Port B Pin Assignments
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4.9.2.1. Incremental Encoder
50
Figure 21: Port B Incremental Encoder Input – Recommended Connection Diagram
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4.9.2.2. Interpolated Analog Encoder
51
Figure 22: Port B - Interpolated Analog Encoder Connection Diagram
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4.9.2.3. Resolver
52
Figure 23: Port B – Resolver Connection Diagram

4.9.3. Port C – Emulated Encoder Output (J2)

Port C provides emulated encoder output derived from port A or port B feedback inputs, or from internal variables. The output options are:
Port A/B daisy chain (1:1) for incremental encoder
Encoder emulation: Emulate any input sensor, digital or analog, or use to emulate an
internal variable such as virtual profiler.
PWM output: any pair of outputs that is used as an encoder channel (e.g. channel A+ and channel A-) can be configured by software to become PWM output.
Pulse & Direction output: The output pins that are assigned as channel A and channel B when used as encoder out can be configured by software to become pulse and direction outputs, respectively.
This port is used when:
The Gold Hawk is used as a current amplifier to provide position data to the position controller.
The Gold Hawk is used in velocity mode to provide position data to the position controller.
The Gold Hawk is used as a master in follower or ECAM mode.
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Pin (J2) Signal Function
2 PortC_ENCO_A- Buffered Channel A- output/Pulse-/PWM-
4 PortC_ENCO_A+ Buffered Channel A+ output / Pulse+/PWM+
6 PortC_ENCO_B- Buffered Channel B- output / Dir-
8 PortC_ENCO_B+ Buffered Channel B+ output / Dir+
10 PortC_ENCO_INDEX- Buffered Channel INDEX- output
12 PortC_ENCO_INDEX+ Buffered Channel INDEX+ output
Table 14: Port C Pin Assignment
53
Figure 24: Emulated Encoder Differential Output – Recommended Connection Diagram

4.9.4. Analog Input

An analog user input can be configured by software to be used as either tachometer velocity sensor input or potentiometer position feedback. For connection diagrams refer to Section 4.10.3.
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4.10. User I/Os

The Gold Hawk has six programmable digital inputs (J1), four digital outputs (J1) and one analog input (J2).

4.10.1. Digital Inputs (J1)

Each of the pins below can function as an independent input. The inputs conform to the TTL level.
Pin (J1) Signal Function
3 INRET1-6 Programmable inputs 1 - 6 return
4 IN1 Programmable digital input 1
(event capture, home, general purpose, RLS, FLS, INH)
5 IN2 Programmable digital input 2
(event capture, home, general purpose, RLS, FLS, INH)
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6 IN3 Programmable digital input 3
(event capture, home, general purpose, RLS, FLS, INH)
7 IN4 Programmable digital input 4
(event capture, home, general purpose, RLS, FLS, INH)
8 IN5 Programmable digital input 5
(event capture, home, general purpose, RLS, FLS, INH)
9 IN6 Programmable digital input 6
(event capture, home, general purpose, RLS, FLS, INH)
Table 15: Digital Input Pin Assignments
See Figure 25 for the TTL connection.
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Figure 25: Digital Input Connection Diagram – TTL Level
See the figure below for the PLC connection.
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56
Figure 26: Digital Input Connection Diagram – PLC
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4.10.2. Digital Outputs (J1)

The outputs conform to the TTL level.
Pin (J1) Signal Function
16 OUT1 High speed programmable digital output 1, output
compare
15 OUT2 High speed programmable digital output 2, output
compare
18 OUTRET1 OUT 1 Return
17 OUTRET2 OUT 2 Return
Table 16: Digital Output Pin Assignment
57
Figure 27: Digital Output Connection Diagram – TTL Connection
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4.10.3. Analog Input

Pin (J2) Signal Function
22 ANALOG1+ Analog input 1+
24 ANALOG1- Analog input 1-
20 ANARET Analog return
Table 17: Analog Input Pin Assignment
58
Figure 28: Analog Input with Single-Ended Source
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4.11. Communications

The communication interface may differ according to the user’s hardware. The Gold Hawk can communicate using the following options:
Standard EtherCAT
G-GUTXXX/YYYSX G-GUTXXX/YYYEX
CAN EtherCAT
USB 2.0 USB 2.0
Ethernet RS-232 (TTL Logic Level)
RS-232 (TTL Logic Level)
Table 18: Gold Hawk Communication Options
For ease of setup and diagnostics of CAN communication, RS-232 and CAN may be used simultaneously.
59
When the EtherCAT is connected, and FoE in operation, the USB cable connection
must be disconnected.

4.11.1. RS-232 Communication (J2)

The Gold Hawk provides RS-232 with TTL voltage level (Refer to the voltage level in the technical specification in section 5.6 Communications). Therefore, to implement standard RS-232, you must add a RS-232 Line Driver/Receiver on the integration board in order to translate the TTL logic level to the standard RS-232 voltage level.
The following table describes the Gold Hawk RS-232 pinout:
Pin (J2) Signal Function
45 RS232_Rx RS-232 receive (TTL logic level)
48 RS232_Tx RS-232 transmit (TTL logic level)
46 RS232_COMRET Communication return
Table 19: RS-232 Pin Assignments
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Figure 29 describes the RS-232 connection diagram:
Figure 29: RS-232 Connection Diagram
Note that Elmo does not recommend a specific manufacturer. The following is an example of an RS-232 Line Driver/Receiver. The RS-232 Line Driver/Receiver operates with 3.3 V to 5 V VCC Supply.
60
Figure 30: RS-232 – Translator Block Diagram
Notes for connecting the RS-232 communication cable:
Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
The RS-232 communication port is non-isolated.
Ensure that the shield of the cable is connected to the shield of the connector used for RS-232 communications. The drain wire can be used to facilitate the connection.
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4.11.2. CAN Communication (J2)

Note that CAN functionality is not available if you have the EtherCAT version.
In order to benefit from CAN communication, the user must have an understanding of the basic programming and timing issues of a CAN network.
Notes for connecting the CAN communication cable:
Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Ensure that the shield of the cable is connected to the shield of the connector used for communications. The drain wire can be used to facilitate the connection.
Make sure to have a 120 Ohms resistor termination at each of the two ends of the network cable.
The Gold Hawk’s CAN port is non-isolated.
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Pin (J2) Signal Function
32 CAN_COMRET CAN Communication Return
38 CAN_L CAN_L bus line (dominant low)
40 CAN_H CAN_H bus line (dominant high)
Table 20: CAN Pin Assignments
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Figure 31: CAN Network Diagram
Caution: When installing CAN communication, ensure that each servo drive is
allocated a unique ID. Otherwise, the CAN network may “hang”.
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4.11.3. USB 2.0 Communication (J2)

The USB network consists of a Host controller and multiple devices. The Gold Hawk is a USB device.
Notes for connecting the USB communication cable:
Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally inside the connector at the PC end. You can use the drain wire to facilitate connection.
Ensure that the shield of the cable is connected to the shield of the connector used for communications. The drain wire can be used to facilitate the connection.
Pin (J2) Signal Function
41 USBD- USB _N line
42 USBD+ USB _P line
43 USB COMRET USB Communication return
63
44 USB VBUS USB VBUS 5 V
Table 21: USB 2.0 Pin Assignments
Figure 32: USB Network Diagram
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4.11.4. EtherCAT Communication (J2)

To use EtherCAT and Ethernet communication with the Gold Hawk, it is required to use an isolation transformer. The most common solution is to use RJ-45 connectors that include transformer isolation.
This section describes how to connect the Gold Hawk’s EtherCAT interface using the above mentioned connectors.
For other available options, please see Section 4.11.6.
Notes for EtherCAT Communication:
The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual.
It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs.
64
Pin (J/2) Signal Function
26 +3.3V 3.3 V for EtherCAT LEDs
27 PHY_IN_RX+ EtherCAT IN RX+ Line
29 PHY_IN_RX- EtherCAT IN RX- Line
31 PHY_IN_COMRET EtherCAT IN Communication Return
33 PHY_IN_TX+ EtherCAT IN TX+ Line
35 PHY_IN_TX- EtherCAT IN TX- Line
37 PHY_IN_LINK_ACT Indicates EtherCAT LINK
39 PHY_IN_SPEED Indicates EtherCAT Speed
28 PHY_OUT_RX+ EtherCAT OUT RX+ Line
30 PHY_OUT_RX- EtherCAT OUT RX- Line
32 PHY_OUT_ COMRET EtherCAT OUT Communication return
34 PHY_OUT_TX+ EtherCAT OUT TX+ Line
36 PHY_OUT_TX- EtherCAT OUT TX- Line
38 PHY_OUT_LINK_ACT Indicates EtherCAT LINK
40 PHY_OUT_SPEED Indicates EtherCAT Speed
Table 22: EtherCAT - Pin Assignments
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Figure 33: EtherCAT Connection Schematic Diagram
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The diagram above ignores line interface for simplicity.
When connecting several EtherCAT devices in a network, the EtherCAT master must always be the first device in the network. The output of each device is connected to the input of the next device. The output of the last device may remain disconnected. If redundancy is required, the output of the last device should be connected to the input of the EtherCAT master.
Figure 34: EtherCAT Network with no Redundancy
66
Figure 35: EtherCAT Network with Redundancy

4.11.5. Ethernet Communication (J2)

To use EtherCAT and Ethernet communication with the Gold Hawk, it is required to use an isolation transformer. The most common solution is to use RJ-45 connectors that include transformer isolation.
This section describes how to connect the Gold Hawk Ethernet interface using the above mentioned connectors.
For other available options, please see Section 4.11.6.
Notes for Ethernet Communication:
The EtherCAT IN port can be configured as an Ethernet port for TCP/IP – see the EtherCAT Manual.
It is recommended to use CAT5e (or higher) cable. Category 5e cable is a high signal integrity cable with four twisted pairs.
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Pin (J2) Signal Function
26 +3.3V 3.3 V supply voltage for LEDs
27 PHY_IN_RX+ Ethernet In receive
29 PHY_IN_RX- Ethernet In receive complement
31 PHY_IN_COMRET Ethernet In Communication return
33 PHY_IN_TX+ Ethernet In transmit
35 PHY_IN_TX- Ethernet In transmit complement
37 PHY_IN_LINK_ACT Ethernet In Link/Active LED
39 PHY_IN_SPEED Ethernet In Speed LED
Table 23: Ethernet - Pin Assignments
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Figure 36: Ethernet Network Schematic Diagram
The diagram above ignores line interface for simplicity.
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4.11.6. EtherCAT/Ethernet Line Interface

Ethernet transceivers require either isolation transformers or capacitor coupling for proper functioning. The Gold Hawk unit does not include such isolation, therefore you must take this into consideration when designing the integration board.
In Sections 4.11.4 and 4.11.5, a schematic connection with a standard RJ-45 connector that includes transformer isolation is described.
Other recommended connection options are:
Gold Hawk to an RJ-45 connector without an integrated magnetic isolation (e.g. M12 connectors). An isolation transformer is required.
Connecting two EtherCAT ports on the same board can be done using capacitive coupling or transformer coupling.
For more detailed explanations, including layout recommendations and component selection guidelines contact Elmo’s technical support.

4.12. Powering Up

68
After the Gold Hawk is connected to its device, it is ready to be powered up.
Caution: Before applying power, ensure that the DC supply is within the specified range and that the proper plus-minus connections are in order.

4.13. Initializing the System

After the Gold Hawk has been connected and mounted, the system must be set up and initialized. This is accomplished using the Composer, Elmo’s Windows-based software application. Install the application and then perform setup and initialization according to the directions in the Composer Software Manual.

4.14. Heat Dissipation

The best way to dissipate heat from the Gold Hawk is to mount it so that its heat-sink faces up. For best results leave approximately 10 mm of space between the Gold Hawk's heat-sink and any other assembly.

4.14.1. Thermal Data

• Heat dissipation capability (θ): Approximately 10 °C/W
Thermal time constant: Approximately 240 seconds (thermal time constant means that the
Gold Hawk will reach 2/3 of its final temperature after 4 minutes)
Shut-off temperature: 86 °C to 88 °C (measured on the heat-sink)
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4.14.2. Heat Dissipation Data

Heat Dissipation is shown in graphically below:
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4.14.3. How to Use the Charts

The charts above are based upon theoretical worst-case conditions. Actual test results show 30% to 50% better power dissipation.
To determine if your application needs a heat-sink:
1. Allow maximum heat-sink temperature to be 80 °C or less.
2. Determine the ambient operating temperature of the Gold Hawk.
3. Calculate the allowable temperature increase as follows:
for an ambient temperature of 40 °C , ΔT= 80 °C – 40 °C = 40 °C
4. Use the chart to find the actual dissipation power of the drive. Follow the voltage curve to the desired output current and then find the dissipated power.
5. If the dissipated power is below 4 W the Gold Hawk will need no additional cooling.
Notes:
70
The chart above shows that no heat-sink is needed when the heat-sink temperature is 80 °C, ambient temperature is 40 °C and heat dissipated is 4 W.
When an external heat-sink is required, you can use the Elmo external heat-sink (Catalog number: WHI-HEAT-SINK-2).
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Chapter 5: Technical Specifications

Gold Hawk Installation Guide
This chapter provides detailed technical information regarding the Gold Hawk. This includes its dimensions, power ratings, the environmental conditions under which it can be used, the standards to which it complies and other specifications.

5.1. Dimensions

71
Figure 37: Gold Hawk Dimension
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Figure 38: Gold Hawk Pin Dimension Details
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5.2. Control Specifications

5.2.1. Current Loop

Feature Details
Controller type Vector, digital
73
Compensation for bus voltage
“On-the-fly” automatic gain scheduling
variations
Motor types
AC brushless (sinusoidal)
DC brushless (trapezoidal)
DC brush
Linear motors
“Voice” coils
Current control
Fully digital
Sinusoidal with vector control
Programmable PI control filter based on a
pair of PI controls of AC current signals and constant power at high speed
Current loop bandwidth > 4 kHz closed loop
Current sampling time
Programmable 40 to 120 µsec
Current sampling rate Up to 25 kHz; default 20 kHz
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5.2.2. Velocity Loop

Feature Details
Controller type PI + Four advanced filters + Two advanced gain
scheduling filters
74
Velocity control
Fully digital
Programmable PI and feed forward control
filters
On-the-fly gain scheduling according to either speed or position command or feedback
Automatic, quick, advanced or expert tuning
Velocity and position feedback options
Incremental Encoder
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Absolute serial encoder
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and derivative).
Velocity loop bandwidth < 500 Hz
Velocity sampling time
80 to 240 µsec (2x current loop sample time)
Velocity sampling rate Up to 12.5 kHz; default 10 kHz
Velocity command options Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.

5.2.3. Position Loop

Feature Details
Controller type “1-2-2” PIP + three advanced filters + one
advanced gain scheduling filter
Position command options
Position loop bandwidth < 200 Hz
Position sampling time
Position sampling rate Up to 12.5 kHz; default 10 kHz
Software
Pulse and Direction
80 to 240 µsec (2x current loop sample time)
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5.3. Feedbacks

5.3.1. Feedback Supply Voltage

The Gold Hawk has two feedback ports (Main and Auxiliary). The Gold Hawk supplies voltage only to the main feedback device and to the auxiliary feedback device if needed
Feature Details
Encoder supply voltage 5 V ± 5% @ 2 x 200 mA (maximum)

5.3.2. Feedback Options

The Gold Hawk can receive and process feedback input from diverse types of devices.
5.3.2.1. Incremental Encoder Input
Feature Details
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Encoder format
A, B and Index
Differential
Quadrature
Interface RS-422
Input resistance
Differential: 120
Maximum incremental encoder frequency Maximum absolute: 75 Megacounts per
second (18 MHz PPS (Pulses Per Second))
Minimum quadrature input period (PIN) 53 nsec
Minimum quadrature input high/low period
26 nsec
(PHL)
Minimum quadrature phase period (PPH) 13 nsec
Maximum encoder input voltage range
Common mode: ± 7 V Differential mode: ± 7 V
Figure 39: Main Feedback - Encoder Phase Diagram
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5.3.2.2. Digital Halls
Feature Details
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Hall inputs
H
, HB, HC
A
Single ended inputs
Built in hysteresis of 1 V for noise immunity
Input voltage Nominal operating range: 0 V < V
Maximum absolute: -1 V < V High level input voltage: V Low level input voltage: V
In_Hall
InHigh
InLow
> 2.5 V
< 1 V
< 5 V
In_Hall
< 15 V
Input current Sink current (when input pulled to the common): 5
mA
Maximum frequency f
MAX
: 4 kHz
5.3.2.3. Interpolated Analog (Sine/Cosine) Encoder
Feature Details
Analog encoder format Sine and Cosine signals
Analog input signal level
Offset voltage: 2.2 V to 2.8 V
Differential, 1 V peak to peak
Input resistance
Maximum analog signal frequency f
Differential: 120
: 500 kHz
MAX
Interpolation multipliers Programmable: x4 to x8192
Maximum “counts” frequency 2 x 10
Automatic error correction
9
counts/sec
Signal amplitudes mismatch
Signal phase shift
Signal offsets
Encoder outputs See Port C Encoder Outputs Specifications, Section
5.3.3.
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5.3.2.4. Resolver
Feature Details
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Resolver format
Sine/Cosine
Differential
Input resistance
Differential 2.49 k
Resolution Programmable: 10 to 15 bits
Maximum electrical frequency (RPS) 512 revolutions/sec
Resolver transfer ratio 0.5
Reference frequency 1/Ts (Ts = sample time in seconds)
Reference voltage Supplied by the Gold Hawk
Reference current up to ±50 mA
Encoder outputs See Port C Encoder Output Specifications,
Section 5.3.3.
5.3.2.5. Absolute Serial Encoder
Feature Details
Encoder format
NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)
EnDAT 2.2
BiSS/SSI
Stegmann Hiperface
Interface
RS-485
Clock – Differential output line
Data – Differential bidirectional line
Input Resistance
Differential 120
Transmission Rate Up to 2.5 MHz
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5.3.3. Port C Feedback Output

Feature Details
78
Emulated output
A, B, Index
Differential
Interface
RS-422
Output current capability Maximum output current: IOH (max) = 2 mA
> 3.0 V
OH
= 2 mA
OL
< 0.4 V
OL
Available as options
High level output voltage: V
Minimum output current: I
Low level output voltage: V
Emulated encoder output of any sensor on Port A or Port B
Daisy chain Port A or Port B
Emulated encoder output of internal
variables
Emulated encoder outputs of the tachometer
Emulated encoder outputs of the
potentiometer
Maximum frequency f
Edge separation between A & B
: 8 MHz pulses/output
MAX
Programmable number of clocks to allow adequate noise filtering at remote receiver of emulated encoder signals (default 2 MHz)
Index (marker) Length of pulse is one quadrature (one quarter of
an encoder cycle) and synchronized to A&B
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5.4. I/Os

The Gold Hawk has:
6 Digital Inputs
2 Digital Outputs
1 Analog Input

5.4.1. Digital Input Interfaces – TTL Mode

Feature Details
Type of input Optically isolated
Input current for all inputs Iin = 3.8 mA @ Vin = 5 V
High-level input voltage 2.4 V < Vin < 15 V, 5 V typical
Low-level input voltage 0 V < Vin < 0.8 V
79
Minimum pulse width
Execution time (all inputs): the time from application of voltage on input until execution is complete
High-speed inputs – 1–6 minimum pulse width, in high-speed mode
> 250 µsec
0 < T < 250 µsec
T > 5 µsec if the input functionality is set to latch/capture (index/strobe).
Notes:
Home mode is high-speed mode and can be used for fast capture and precise homing.
Highest speed is achieved when turning on optocouplers.
Capture with differential input
Port A, Port B Index
Figure 40: Digital Input Schematic
T > 0.1 µsec if the differential input functionality is set to touch probe/capture (index/strobe).
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5.4.2. Digital Output Interface – TTL Mode

There are 2 types of outputs:
OUT1 and OUT2 are optically isolated outputs
OUT3 and OUT4 are TTL 3.3V non isolated outputs
5.4.2.1. OUT1 and OUT2
The following table describes the electrical specification of theOUT1 and OUT2 outputs:
Feature Details
80
Type of output
Optically isolated
Source/Sink
Maximum supply output (VCC) 30 V
Max. output current I
(max) (V
out
= Low)
out
VOL at maximum output voltage
7 mA
V
(on) ≤ 0.4 V
out
(low level)
RL The external resistor RL must be selected to limit the
output current to no more than 7 mA.
Executable time
0 < T < 250 µsec
Figure 41: Digital Output Schematic
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5.4.2.2. OUT3 and OUT4
These outputs are 3.3V TTL outputs. The following table describes the electrical specification of the outputs:
Feature Details
Type of output 3.3V TTL
81
VOL max (low level) V
(on) ≤ 0.4 V
out
VOH min (High level) 2.5V
Max. output current I
(max)
outH
8 mA

5.4.3. Analog Input

Feature Details
Maximum operating differential voltage ± 10 V
Maximum absolute differential input voltage ± 16 V
Differential input resistance 3.74 kΩ
Analog input command resolution 14-bit
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Electrical Characteristic
Min
Type
Max
Unit
VIH
High-level input voltage
2 3.3 V VIL
Low-level input voltage
0.8 V VOH
High-level output voltage
2.4 V VOL
Low-level output voltage
0.4
V
Gold Hawk Installation Guide Technical Specifications

5.5. Safe Torque Off (STO)

The Gold Hawk has two STO (Safe Torque Off) inputs.

5.5.1. STO Input Interfaces – TTL Mode

Feature Details
Type of input Optically isolated
Input current for all inputs Iin = 3.8 mA @ Vin = 5 V
High-level input voltage 2.4 V < Vin < 15 V, 5 V typical
Low-level input voltage 0 V < Vin < 0.8 V
Minimum pulse width >3 ms
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Figure 42: STO Input Schematic

5.6. Communications

Specification Details
RS-232
Signals:
RS232_Rx, RS232_Tx COMRET
Full duplex, serial communication for setup and control
Baud Rate of 9,600 to 57,600 bit/sec
CAN
CAN bus Signals:
CAN_H, CAN_L, CAN_RET
Maximum Baud Rate of 1 Mbit/sec.
Version:
DS 301 v4.01
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Specification Details
Layer Setting Service and Protocol Support:
DS 305
Device Profile (drive and motion control):
DS 402
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EtherCAT
100base-T
Baud Rate: 100 Mbit/sec
CAT5 Cable
CoE, FoE, EoE
Ethernet
100base-T
Baud Rate: 100 Mbit/sec
CAT5 Cable
UDP, Telnet
USB
USB 2.0 Device mode

5.7. Pulse-Width Modulation (PWM)

Feature Details
PWM resolution Minimum 10-bit
Default 12-bit
Maximum 14-bit
PWM switching frequency on the load 2/Ts (factory default 40 kHz on the motor)
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Chapter 6: Gold Line Standards

Gold Hawk Installation Guide Gold Line Standards
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.

6.1. Functional Safety

84
Safe Torque Off (STO)
Item
Safety Standard
The related standards below apply to the performance of the servo drives as stated in the environmental conditions section 3.2
IEC 61800-5-2:2007 SIL 3 Adjustable speed electrical power drive systems –
Safety requirements – Functional
EN ISO 13849-1:2008 Cat 3, PL e Safety of machinery — Safety-related parts of control
systems.
EN 61508-1:2010 SIL 3 Functional safety of electrical/electronic/
programmable electronic safety-related systems
EN 61508-2:2010 SIL 3 Functional safety of electrical/electronic/
programmable electronic safety-related systems
EN 61508-3:2010 SIL 3 Functional safety of electrical/electronic/
programmable electronic safety-related systems
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The following GOLD LINE system components are covered by Certificate no. Z10 13 08 84596
Gold Hawk Installation Guide Gold Line Standards
85
Safe Torque Off (STO) Safety Standard
Item
001 and the report to the certificate, report no. EP85169C.
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Gold BELL
Model Name Model Part Number Version
Gold Bell G-BEL V03
Gold DC Bell G-DCBEL V03
Gold Solo Bell G-SOLBEL V03
Gold DRUM
Model Name Model Part Number Version
Gold Drum G-DRU V03
Gold Eagle G-EAG V03
Gold GUITAR / Gold CELLO
Model Name Model Part Number Version
Gold Guitar G-GUT V03
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Gold Solo Guitar G-SOLGUT V03
Gold Cello G-CEL V03
Gold Falcon G-FAL V03
Gold Hawk G-HAK V03
Gold Solo Hawk G-SOLHAK V03
Gold WHISTLE
Model Name Model Part Number Version
Gold Whistle G-WHI V03
Gold DC Whistle G-DCWHI V03
Gold Solo Whistle G-SOLWHI V03
Gold Hornet G-HOR V03
Gold Solo Hornet G-SOLHOR V03
Gold DC Hornet G-DCHOR V03
Gold Duo G-DUO V03
Gold Duo AMBA G-DUO-AMBA V03
Gold Uno AMBA G-UNO-AMBA V03
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The related standards below apply to the performance of the servo drives as stated in the
Approved IEC/EN 61800-5-1
Adjustable speed electrical power drive
Approved IEC60068-2-27
Basic environmental testing procedures -
Gold Hawk Installation Guide Gold Line Standards

6.2. Safety

Specification Details
environmental conditions section 3.2
systems
Safety requirements – Electrical, thermal and energy
Shock
Recognized UL 508C Power Conversion Equipment
In compliance with UL 840 Insulation Coordination Including Clearances
and Creepage Distances for Electrical Equipment
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In compliance with UL 60950 Safety of Information Technology Equipment
Including Electrical Business Equipment
In compliance with EN 60204-1 Low Voltage Directive 2006/95/EC
Conformity with CE 2006/95/EC Low-voltage directive 2006/95/EC

6.3. EMC

Specification Details
Approved IEC/EN 61800-3 Adjustable speed electrical power drive
systems
In compliance with EN 55011 Class A with EN 61000-6-2: Immunity for industrial environment, according to:
IEC 61000-4-2 / criteria B IEC 61000-4-3 / criteria A IEC 61000-4-4 / criteria B IEC 61000-4-5 / criteria B IEC 61000-4-6 / criteria A IEC 61000-4-8 / criteria A IEC 61000-4-11 / criteria B/C
Electromagnetic compatibility (EMC)
Approved IEC 61326-3-1 Electrical equipment for measurement,
control and laboratory use. Standard required for STO.
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6.4. EtherCAT Conformance

EtherCAT Conformance Test – certification
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6.5. Other Compliant Standards

Quality Assurance
ISO 9001:2008 Quality Management
Design
89
IPC-D-275
IPC-SM-782
Printed wiring for electronic equipment (clearance, creepage, spacing, conductors sizing, etc.)
IPC-CM-770
Reliability
MIL-HDBK- 217F Reliability prediction of electronic equipment
(rating, de-rating, stress, etc.)
Workmanship
In compliance with IPC-A-610, level 3 Acceptability of electronic assemblies
PCB
In compliance with IPC-A-600, level 3 Acceptability of printed circuit boards
Packing
In compliance with EN 100015 Protection of electrostatic sensitive devices
Environmental
In compliance with 2002/96/EC Waste Electrical and Electronic Equipment
regulations (WEEE)
In compliance with 2002/95/EC (effective July 2006)
Note: Out-of-service Elmo drives should be
sent to the nearest Elmo sales office.
Restrictions on Application of Hazardous Substances in Electric and Electronic Equipment (RoHS)
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6.6. ExtrIQ Series

The Gold Hawk is also designed as part of the ExtriQ series drives that support extended environmental conditions described in section 3.2. These ExtrIQ drives conform to the following standards:
Military Qualitative Standard Item
In compliance with Mil- STD-1275 28V DC Electrical Systems
In compliance with Mil- STD-704 Air Craft Electric Power
In compliance with Mil- STD-1399 Electrical Power, Alternating current
In compliance with MiL-STD-810 Environmental Engineering Considerations and
Laboratory Tests
In compliance with MiL-STD-461 Requirements for the Control of Electromagnetic
Interference Characteristics of Subsystems and Equipment
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In compliance with MiL-HDBK-217 Reliability Prediction of Electronic Equipment
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