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Gold Panther
User Manual
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ElmoMC Gold Panther User Manual

Gold Panther
Digital Servo Drive
Installation Guide
EtherCAT and CAN
February 2014 (Ver. 1.000) www.elmomc.com
Table of Contents
Notice
This guide is delivered subject to the following conditions and restrictions:
• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Gold Panther servo drive in its installation.
• The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.
• Information in this document is subject to change without notice.
Document no. MAN-G-PANIG-EC (Ver. 1.000)
Copyright  2014
Elmo Motion Control Ltd.
All rights reserved.
Catalog Number
Table of Contents
Revision History
Version Date Details
Ver. 1.000 February 2014 Initial release
Table of Contents
Table of Contents
MAN-G-PANIG-EC (V er. 1.000)
Chapter 1: This Installation Guide ..................................................................................... 6
Chapter 2: Product Description ......................................................................................... 6
Chapter 3: Technical Information ...................................................................................... 7
3.1. Physical Specifications .................................................................................................... 7
3.2. Technical Data ................................................................................................................ 7
3.2.1. Auxiliary Supply ............................................................................................... 8
3.2.2. Product Features ............................................................................................. 8
Chapter 4: Installation ...................................................................................................... 9
4.1. Unpacking the Drive Components ................................................................................. 9
4.2. Connectors ................................................................................................................... 10
4.2.1. Connector Types ............................................................................................ 10
4.2.2. Pinouts ........................................................................................................... 11
4.2.2.1. Motor Power ................................................................................ 11
4.2.2.2. Main Power .................................................................................. 11
4.2.2.3. Auxiliary Power Connector (J3) .................................................... 12
4.2.2.4. Connector J2 ................................................................................. 13
4.2.2.5. Connector J1 ................................................................................. 16
4.3. Mounting the Gold Panther ......................................................................................... 18
4.4. Integrating the Gold Panther on a PCB ........................................................................ 19
4.5. Connection Diagrams ................................................................................................... 19
4
Chapter 5: Wiring ........................................................................................................... 24
5.1. Main Power, Motor Power and Auxiliary Power .......................................................... 26
5.1.1. Motor Power ................................................................................................. 26
5.1.2. Main Power ................................................................................................... 26
5.1.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 27
5.1.2.2. Battery Power Supply ................................................................... 31
5.1.3. +24 V Auxiliary Supply (J3) ............................................................................. 31
5.2. STO (Safe Torque Off) Inputs (J1) ................................................................................. 33
5.3. Feedback ...................................................................................................................... 35
5.3.1. Port A (J2, J1) ................................................................................................. 35
5.3.1.1. Incremental Encoder Connection Diagram .................................. 37
5.3.1.2. Absolute Serial Encoder Connection Diagram .............................. 38
5.3.1.3. Hall Sensor Connection Diagram .................................................. 39
5.3.2. Port B (J2, J1) ................................................................................................. 40
5.3.2.1. Incremental Encoder Connection Diagram .................................. 41
5.3.2.2. Interpolated Analog Encoder Connection Diagram...................... 42
5.3.2.3. Resolver Connection Diagram ...................................................... 43
5.3.3. Port C – Emulated Encoder Output (J2)......................................................... 43
5.4. User I/Os .......................................................................................................................
45
Table of Contents
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
5.4.1. Digital Inputs (J1) ........................................................................................... 45
5.4.2. Digital Outputs (J1) ........................................................................................ 48
5.4.3. Input (J2) ........................................................................................................ 51
5.5. Communications ........................................................................................................... 52
5.5.1. CAN Communication (J2) ............................................................................... 52
5.5.2. USB 2.0 Communication (J2) ......................................................................... 54
5.5.3. EtherCAT Communication (J2) ....................................................................... 55
5.5.4. Ethernet Communication (J2) ........................................................................ 57
5.5.5. EtherCAT/Ethernet Line Interface ................................................................. 59
Chapter 6: Powering Up ................................................................................................. 60
6.1. Initializing the System .................................................................................................. 60
Chapter 7: Heat Dissipation ............................................................................................ 61
7.1. Gold Panther Thermal Data .......................................................................................... 61
7.2. Heat Dissipation Data ................................................................................................... 61
7.3. How to Use the Charts ................................................................................................. 62
5
Chapter 8: Dimensions ................................................................................................... 63
|Physical Specifications|www.elmomc.com
Gold Panther Installation Guide
Table of Contents

Chapter 1: This Installation Guide

Chapter 2: Product Description

MAN-G-PANIG -EC (Ver. 1.000)
6
This installation Guide details the technical data, pinouts, and power connectivity of the Gold Panther. For a comprehensive detailed description of the functions and connections of the drive, refer to the MAN-G-Drive Hardware manual, and especially the sections in Chapter 7 which describe PCB Mounted products.
The Gold Panther series of digital servo drives are highly resilient and designed to deliver the highest density of power and intelligence. The Gold Panther delivers up to 10 kW of continuous power or 16 kW of peak power in a compact package.
The digital drives are part of Elmo’s advanced Gold Line. They operate from a DC power source in current, velocity, position and advanced position modes, in conjunction with a permanent-magnet synchronous brushless motor, DC brush motor, linear motor or voice coil. They are designed for use with any type of sinusoidal and trapezoidal commutation, with vector control. The Gold Panther can operate as a stand-alone device or as part of a multi-axis system in a distributed configuration on a real-time network.
The drives are easily set up and tuned using Elmo Application Studio software tools. This Windows­based application enables users to quickly and simply configure the servo drive for optimal use with their motor. The Gold Panther, as part of the Gold Line, is fully programmable with Elmo’s motion control language.
Power to the drives is provided by a DC power source (not included with the Gold Panther).
Since the power stage is fully isolated from the control stage, the DC rectifier can be fed directly from the mains, without the need for a bulky and expensive transformer.
If backup functionality is required to store control parameters in the event of a mains power outage, then an S or T-model Gold Panther should be used, with an external 24 VDC isolated supply connected to it.
Note: The backup functionality can operate from an isolated voltage source within the range of
18 to 30 VDC.
Whenever backup functionality is not required, Gold Panther models that have 0 or 1 suffix (only for 400V models) in the catalog number (see page 9) can be used, i.e., they do not have a 24 V control supply. In these models, a smart control-supply algorithm enables the Gold Panther to operate with only the main power supply VP+ and VN-, with no need for a 24 VDC auxiliary power supply for the logic.
The Gold Panther is a PCB-mounted device which enables efficient and cost-effective implementation. However, stand-alone integrated products (the Gold DC Trombone and Gold Solo Trombone) are also available, using pluggable connections.
Gold Panther Installation Guide
Table of Contents

Chapter 3: Technical Information

MAN-G-PANIG -EC (Ver. 1.000)
7

3.1. Physical Specifications

Feature Units All Types
Weight g (oz) 300 g (10.6 oz)
Dimension mm (in) 111 x 76 x 34 (4.37" x 3" x 1.34")
Mounting method PCB Mounted

3.2. Technical Data

Feature Units 12/400 16/400 R17/400 R22/400 8/800 12/800 R11/800 R16/800
Minimum supply voltage
Nominal supply voltage VDC 325 560 for 400 VAC
Maximum supply voltage
Maximum continuous power output
Efficiency at rated power (at nominal conditions)
Auxiliary supply voltage option
Auxiliary power supply VA ≤5 VA without external loading
Continuous current limit (Ic) Amplitude sinusoidal/DC trapezoidal commutation
VDC
VDC 400 780
W Up to 10 kW of continuous qualitative power
% > 98
VDC 18 to 30 VDC (only in S or T type)
A 12 16 17 22 8 12 11 16
*For S or T type = 50
For 0 or 1 suffix type = 100
≤8 VA with full external loading
*For S or T type = 95
680 for 480 VAC
Sinusoidal continuous RMS current limit (Ic)
Peak current limit A 2 x Ic No peak 2 x Ic No peak
A 8.5 11.3 12 15.5 5.7 8.5 7.8 11.3
*See page 9 for details on the part number. The S or T suffix appears in models where there is a 24 V control supply. If there is an 0 or 1 suffix, the control power supply operates from the main power.
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
Note on current ratings: The current ratings of the Gold Panther 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.

3.2.1. Auxiliary Supply

Feature Details
Auxiliary power supply Isolated DC source only
Auxiliary supply input voltage 18 VDC to 30 VDC
Auxiliary supply input power < 4 VA (this includes the 5 V/200 mA load for the main
encoder only)
< 5.5 VA (this includes the 5 V/400 mA load on the main encoder and feedback B)

3.2.2. Product Features

8
Main Feature Details Presence and No.
STO
TTL √
PLC Source √
Digital Input Option
TTL 6
PLC Source 6
Digital Output Option
TTL 4
PLC Source 4
Analog Input
Feedback
Communication Option
Differential ±10V/Single Ended 1/1
Standard Port A, B, & C √
USB √
EtherCAT √
CAN √
RS-232 TTL level √
|Technical Data|www.elmomc.com
Gold Panther Installation Guide
Table of Contents

Chapter 4: Installation

MAN-G-PANIG -EC (Ver. 1.000)
The Gold Panther must be installed in a suitable environment and properly connected to its voltage supplies and the motor.

4.1. Unpacking the Drive Components

Before you begin working with the Gold Panther, verify that you have all of its components, as follows:
• The Gold Panther servo drive
• The Elmo Application Studio (EAS) software and software manual
The Gold Panther is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Panther:
1. Carefully remove the servo drive from the box and the Styrofoam.
2. Check the drive to ensure that there is no visible damage to the instrument. If any damage
has occurred, report it immediately to the carrier that delivered your drive.
3. To ensure that the Gold Panther you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Panther. It looks like this:
9
4. Verify that the Gold Panther type is the one that you ordered, and ensure that the voltage
meets your specific requirements. The part number at the top provides the type designation. Refer to the appropriate part number in the section Catalog Number at the beginning of the installation guide.
|Unpacking the Drive Components|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)

4.2. Connectors

The Gold Panther has 9 connectors.

4.2.1. Connector Types

Port Pins Type Function
10
J1 2x13 1.27 mm
J2 2x24 Communications
pitch 0.41
Analog Input, Feedback
mm sq
J3/1 1 2 mm pitch
0.51 mm sq
24 VDC Auxiliary power input positive (Only in Trombones with the S or T suffix)
J3/2 1 24 VDC Auxiliary supply input return (Only in Trombones
with the S or T suffix)
VP+ 2 2.54 mm
VN- 2 Negative DC power input
pitch
Positive DC power input
0.64 mm sq
PE 2 Protective earth
M1 2 Motor power output 1
M2 2 Motor power output 2
M3 2 Motor power output 3
Connector Location
Table 1: Connector Types
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
11

4.2.2. Pinouts

The pinouts in this section describe the function of each pin in the Gold Panther connectors that are listed in Table 1.
4.2.2.1. Motor Power
For full details see Section 7.3 in the manual: MAN-G-Drive Hardware.
Pin Function Cable Pin Positions
Brushless
Motor
Brushed DC Motor
M3 Motor phase Motor Motor
M2 Motor phase Motor Motor
M1 Motor phase Motor N/C
PE Protective
Power and Motor
Earth
Connector Type: 2.54 mm pitch 0.64 mm sq
Table 2: Connector for Motor
4.2.2.2. Main Power
For full details about connecting main power see Section 5.1.2.
Pin Function Cable Pin Positions
PE Protective Earth Power and Motor
VN- DC Negative Power
Power
input
VP+ DC Positive Power
Power
input
Connector Type: 2.54 mm pitch 0.64 mm sq
Table 3: Connector for Main Power
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
4.2.2.3. Auxiliary Power Connector (J3)
For full details about connecting auxiliary power, see Section 5.1.3.
Pin (J3) Function Pin Positions
1 +24 V Auxiliary Supply Input Positive
2 24 V RET Auxiliary Supply Input Return
Connector Type: 2 mm pitch 0.51 mm sq
12
Table 4: Auxiliary 24 VDC Backup Supply Pins and Polarity
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
Feedback, Analog input,
MAN-G-PANIG -EC (Ver. 1.000)
4.2.2.4. Connector J2
communications– see Section 7.5 in the manual: MAN-G-Drive Hardware.
Connector Type: 1.27 mm pitch
0.41 mm sq
For full details about connecting feedback port A see Section 7.6.1 in the MAN-G-Drive Hardware manual for full details.
For full details about connecting feedback port B see Section 7.6.2 in the MAN-G-Drive Hardware manual for full details.
13
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 Panther and are thus not operational simultaneously. See the part number diagram in Section 4.1 above for the different Gold Panther configurations.
For full details about connecting feedback port C see Section 7.6.3 in the MAN-G-Drive Hardware manual.
Analog Inputs – see Section 7.7.3 in the manual: MAN-G-Drive Hardware.
For full details about connecting communication see Section 7.8 in the manual: MAN-G-Drive Hardware.
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
1
PortA_ENC_A+ /ABS_CLK+
Port A- channel A/ Absolute encoder clock+
2
PortC_ENCO_A-
Port C- channel A complement output
encoder clock-
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 Data-
8
PortC_ENCO_B+
Port C - channel B output
9
PortA_ENC_INDEX+
Port A – index
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
ANLRET
Analog return
PortB_ENC_INDEX+/ANALOG_I+
Port B – index+/ Analog_Index+
f= 1/TS, 50 mA Maximum
22
ANALOG1+
Analog input 2
PortB_ENC_INDEX-/ANALOG_I-
Port B – index -/ Analog _Index-
f= 1/TS, 50 mA Maximum
24
ANALOG1-
Analog input 1 complement
25
COMRET
Common return
26
+3.3V
3.3 V supply voltage for EtherCAT LEDs
27
PHY_IN_RX+
EtherCAT In receive
28
EtherCAT: PHY_OUT_RX+
EtherCAT Out receive
29
PHY_IN_RX-
EtherCAT In receive complement
MAN-G-PANIG -EC (Ver. 1.000)
Pin (J2) Signal Function
3 PortA_ENC_A-/ABS_CLK- Port A- channel A complement / Absolute
7 PortA_ENC_B-/ABS_DATA- Port A - channel B complement / Absolute
14
21
RESOLVER_OUT+ Vref complement
23
RESOLVER_OUT- Vref complement
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
30
EtherCAT: PHY_OUT_RX-
EtherCAT Out receive complement
32
COMRET
Common return
33
PHY_IN_TX+
EtherCAT In transmit
34
EtherCAT: PHY_OUT_TX+
EtherCAT Out transmit complement
35
PHY_IN_TX-
EtherCAT In transmit complement
36
EtherCAT: PHY_OUT_TX-
EtherCAT Out transmit complement
37
PHY_IN_LINK_ACT
EtherCAT In active LED
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
EtherCAT: PHY_OUT_SPEED
EtherCAT Out speed LED
CAN: CAN_H
CAN_H bus line (dominant high)
41
USBD-
USB data complement
42
USBD+
USB data
43
COMRET
Common return
44
USB_VBUS
USB VBUS 5V
I/O (refer to G-Drive Hardware manual)
46
COMRET
Common return
47
N/A
N/A – Not in use, keep unconnected
(refer to G-Drive Hardware manual)
MAN-G-PANIG -EC (Ver. 1.000)
Pin (J2) Signal Function
31 COMRET Common return
38
40
15
45 RS232_RX /SB_OUT There are two options for this pin:
Option 1: RS232 receive (default)
Option 2: Serial Bus output for extended
48 RS232_TX /SB_IN There are two options for this pin:
Option 1: RS232 transmit (Default)
Option 2: Serial Bus IN for extended I/O
Table 5: Connector J2 – Feedback and Analog Input
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
Digital Inputs, Digital Outputs, STO,
MAN-G-PANIG -EC (Ver. 1.000)
4.2.2.5. Connector J1
16
Amplifier and Communication LEDs, Encoder Supply
Connector Type: 1.27 mm pitch 0.41 mm sq
For full details about connecting digital input see Section 7.7.1 in the MAN-G-Drive Hardware manual
For full details about connecting digital output see Section 7.7.2 in the MAN-G-Drive Hardware manual.
Pin (J1) Signal Function
1 COMRET Common Return
2 +5VE Encoder +5V supply
3 SB_Load Serial Bus Load for extended IO (refer to G-Drive
4 SB_Clock Serial Bus_Clock (9.375Mhz) for extended IO (refer to
5
6
7
8
9
10
INRET1_6 Programmable digital inputs 1–6 return
IN1 Programmable digital input 1
IN2 Programmable digital input 2
IN3 Programmable digital input 3
IN4 Programmable digital input 4
IN5 Programmable digital input 5
Hardware manual)
G-Drive Hardware manual)
11
12
13
14
IN6 Programmable digital input 6
STO_RET Safety signal return
STO2 Safety 2 input (default 24 V)
STO1 Safety 1 input (default 24 V)
15 LED_ETHERCAT ERR LED Status EtherCAT ERR (Cathode)
16 LED_ETHERCAT RUN LED Status EtherCAT RUN (Cathode)
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
Pin (J1) Signal Function
17
17
18
19
LED2 Bi-color indication output 2 (Cathode)
LED1 Bi-color indication output 1 (Cathode)
COMRET Common return
20 ANALOG_IN2 Analog input 2
21
22
23
24
OUT2 Programmable output 2
OUT1 Programmable output 1
OUT4 Programmable output 4
OUT3 Programmable output 3
25 VDDRET VDD Supply Return
26 VDD VDD Supply (5V up to 30V)
Table 6: Connector J1 – Communication
|Connectors|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
18

4.3. Mounting the Gold Panther

The Gold Panther is designed for mounting on a printed circuit board (PCB). It is connected by
1.27 mm pitch 0.41 mm square pins and 2.54 mm pitch 0.64 mm square pins. When integrating the
Gold Panther into a PCB, be sure to leave about 1 cm (0.4") outward from the heat-sink to enable free convection of the air around the Gold Panther. We recommend that the Gold Panther be soldered directly to the board. Alternatively, though this is not recommended, the Gold Panther can be attached to socket connectors mounted on the PCB. However, if the PCB is enclosed in a metal chassis, we recommend that the Gold Panther be screw-mounted to it as well to help with heat dissipation. The Gold Panther has screw-mount holes on each corner of the heat-sink for this purpose.
Figure 1: Gold Panther Footprint
|Mounting the Gold Panther|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
19

4.4. Integrating the Gold Panther on a PCB

The Gold Panther is designed to be mounted on a PCB, either by soldering its pins directly to the PCB. Refer to the Gold Line Trombone Design Guide MAN-G-TROIDG for further information.

4.5. Connection Diagrams

There are two connection diagrams for EtherCAT and two for CAN that show the two different ways of connecting the power supply:
• 400 V and 800 V S or T -models (the catalog number has an S or T suffix) that feature backup functionality and require an auxiliary 24 V backup supply. The drive will not be operative without the external 24 VDC supply.
• 400 V model without backup functionality (0 or 1 suffix). The drive’s internal DC/DC converter is fed from the VP+ and VN- of the internal drive’s bus line.
|Integrating the Gold Panther on a PCB|www.elmomc.com
Gold Panther Installation Guide
Table of Contents
MAN-G-PANIG -EC (Ver. 1.000)
20
Figure 2: Gold Panther Connection Diagram for EtherCAT – with Backup Functionality
(S or T Model Drive)
|Connection Diagrams|www.elmomc.com
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