ElmoMC Gold Solo Hornet User Manual
Gold Solo Hornet
Digital Servo Drive
Installation Guide
EtherCAT and CAN
July 2014 (Ver. 1.009)
www.elmomc.com
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 Solo Hornet
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.
Elmo Motion Control and the Elmo Motion Control logo are
registered trademarks of Elmo Motion Control Ltd.
EtherCAT Conformance Tested. EtherCAT® is a registered
trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
Catalog Number
Document no. MAN-G-SOLHORIG-EC (Ver. 1.009)
Copyright 2014
Elmo Motion Control Ltd.
All rights reserved.
Notes
• The part number of the Gold Solo Hornet (EtherCAT version) has an E, for example,
G-SOLHOR1/100E whereas the CAN version has an S, for example G-SOLHOR1/100S.
• There are two models of the Gold Solo Hornet: connectors only (for currents of 10 A or
less) and wires only (for currents of 15 A or more). On request, the wires model may be
ordered for currents of 10 A or less.
Cable Kit
• Catalog number: CBL-GSOLHORKIT01 (can be ordered separately)
• For further details, see the documentation for this cable kit (TBD).
Revision History
Version Date Details
1.000 December 2012 Initial release
1.001 December 2012 General corrections
1.002 December 2012 General corrections
1.003 December 2012 General corrections
1.004 December 2012 General corrections
1.005 December 2012 General corrections
Added Section 3.1: Physical Specifications
1.006 March 2013 General corrections
1.007 March 2013 Section 3.2: Technical Data- updated the Power Ratings
table for the 200 VDC option.
1.008 April 2014 Corrections to sections 4.6, 4.7.2.3, 4.7.2.4, and 5.5.2
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-SOLHORI G-EC (Ver. 1.009)
Table of Contents
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
Chapter 1: Safety Information .......................................................................................... 8
1.1. Warnings ......................................................................................................................... 9
1.2. Cautions .......................................................................................................................... 9
1.3. Directives and Standards .............................................................................................. 10
1.4. CE Marking Conformance ............................................................................................. 10
1.5. Warranty Information .................................................................................................. 10
Chapter 2: Product Description ...................................................................................... 11
2.1. Functional Description .................................................................................................. 11
2.2. Product Features .......................................................................................................... 11
2.2.1. High Power Density ....................................................................................... 11
2.2.2. Supply Input ................................................................................................... 11
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. Differential Outputs ....................................................................................... 16
2.2.13. Inputs ............................................................................................................. 16
2.2.14. Differential Inputs .......................................................................................... 16
2.2.15. Analog Input .................................................................................................. 16
2.2.16. Built-In Protection ......................................................................................... 17
2.2.17. Status Indication ............................................................................................ 17
2.2.18. Automatic Procedures ................................................................................... 17
2.2.19. Accessories .................................................................................................... 17
2.3. System Architecture ..................................................................................................... 18
2.4. How to Use this Guide .................................................................................................. 19
5
Chapter 3: Technical Information ................................................................................... 20
3.1. Physical Specifications .................................................................................................. 20
3.2. Technical Data .............................................................................................................. 20
3.2.1. Auxiliary Supply ............................................................................................. 21
Chapter 4: Installation ................................................................................................... 22
4.1. Site Requirements ........................................................................................................ 22
4.2. Unpacking the Drive Components ................................................................................ 22
4.3. Connectors and Indicators ............................................................................................ 24
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4.3.1. Connector Types ............................................................................................ 24
4.3.2. Pinouts ........................................................................................................... 25
4.3.2.1. Power, Motor, Control and Port B Connector (J1) ....................... 25
4.3.2.2. Auxiliary Feedback and IO (J2) ...................................................... 27
4.3.2.3. Communication Connector (J3) .................................................... 29
4.3.3. EtherCAT Indicators ....................................................................................... 30
4.3.3.1. EtherCAT Link Indicators ............................................................... 30
4.3.3.2. EtherCAT Status Indicator ............................................................. 30
4.3.4. Drive Status Indicator .................................................................................... 31
4.4. Mounting the Gold Solo Hornet ................................................................................... 32
4.5. Wiring the Gold Solo Hornet ........................................................................................ 33
4.6. The Gold Solo Hornet Connection Diagrams ................................................................ 34
4.7. Main, Auxiliary and Motor Power ................................................................................ 36
4.7.1. Motor Power (J1) ........................................................................................... 36
4.7.2. Main and Auxiliary Power .............................................................................. 38
4.7.2.1. Main Power (J1) ............................................................................ 38
4.7.2.2. Auxiliary Power Supply (J2) (Optional) ......................................... 39
4.7.2.3. Power Rating 200 V ...................................................................... 40
4.7.2.4. Power Rating 100 V ...................................................................... 41
4.8. STO (Safe Torque Off) Inputs (J2) ................................................................................. 43
4.9. Feedback and Analog Input .......................................................................................... 46
4.9.1. Feedback Port A (J2) ...................................................................................... 46
4.9.1.1. Incremental Encoder .................................................................... 49
4.9.1.2. Absolute Serial Encoder ................................................................ 49
4.9.1.3. Hall Sensors................................................................................... 50
4.9.2. Feedback Port B (J1) ...................................................................................... 51
4.9.2.1. Incremental Encoder .................................................................... 52
4.9.2.2. Interpolated Analog Encoder ........................................................ 53
4.9.2.3. Resolver Connection ..................................................................... 53
4.9.3. Port C – Emulated Encoder Output (J2) ......................................................... 54
4.10. User I/Os (J2) ................................................................................................................ 57
4.10.1. Digital Inputs (J2) ........................................................................................... 57
4.10.2. Digital Output (J2) .......................................................................................... 60
4.10.3. Analog Input (J2) ............................................................................................ 62
4.11. Communications ........................................................................................................... 63
4.11.1. RS-232 (J3) ..................................................................................................... 63
4.11.2. Differential RS-232 Communication (RS-422) – J3 ........................................ 65
4.11.3. USB 2.0 Communication (J3) ......................................................................... 66
4.11.4. EtherCAT Communications Version ............................................................... 67
4.11.4.1. EtherCAT Communication (J3) ...................................................... 67
4.11.4.2. Ethernet Communication (J3) ....................................................... 69
4.11.5. CAN Communications Version ....................................................................... 70
4.12. Powering Up ................................................................................................................. 72
4.13. Initializing the System ................................................................................................... 72
4.14. Heat Dissipation............................................................................................................ 72
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4.14.1. Thermal Data ................................................................................................. 72
4.14.2. Heat Dissipation Data .................................................................................... 73
4.14.3. How to Use the Charts ................................................................................... 74
Chapter 5: Technical Specifications ................................................................................ 75
5.1. Dimension ..................................................................................................................... 75
5.2. Environmental Conditions ............................................................................................ 76
5.3. Control Specifications ................................................................................................... 77
5.3.1. Current Loop .................................................................................................. 77
5.3.2. Velocity Loop ................................................................................................. 78
5.3.3. Position Loop ................................................................................................. 78
5.4. Feedbacks ..................................................................................................................... 79
5.4.1. Feedback Supply Voltage ............................................................................... 79
5.4.2. Feedback Options .......................................................................................... 79
5.4.2.1. Incremental Encoder Input ........................................................... 79
5.4.2.2. Digital Halls ................................................................................... 80
5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 80
5.4.2.4. Resolver ........................................................................................ 81
5.4.2.5. Absolute Serial Encoder ................................................................ 81
5.4.3. Port C Feedback Output ................................................................................ 82
5.5. I/Os ............................................................................................................................... 83
5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 83
5.5.2. Digital Input Interfaces – PLC Mode .............................................................. 84
5.5.3. Digital Output Interface ................................................................................. 85
5.5.4. Analog Input .................................................................................................. 85
5.6. Safe Torque Off (STO) ................................................................................................... 86
5.6.1. STO Input Interfaces – TTL Mode .................................................................. 86
5.6.2. STO Input Interfaces – PLC Mode .................................................................. 86
5.7. EtherCAT Communications Version ............................................................................. 87
5.8. CAN Communications Version ...................................................................................... 88
5.9. Pulse-Width Modulation (PWM) .................................................................................. 88
5.10. Compliance with Standards .......................................................................................... 89
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Table of Contents
Chapter 1: Safety Information
Warning:
Caution:
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
In order to achieve the optimum, safe operation of the Gold Solo Hornet 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 Solo Hornet 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 Solo Hornet servo drive contains electrostatic-sensitive components that can be
damaged if handled incorrectly. To prevent any electrostatic damage, avoid contact with highly
insulating materials, such as plastic film and synthetic fabrics. Place the product on a
conductive surface and ground yourself in order to discharge any possible static electricity
build-up.
8
To avoid any potential hazards that may cause severe personal injury or damage to the product
during operation, keep all covers and cabinet doors shut.
The following safety symbols are used in this manual:
This information is needed to avoid a safety hazard, which might cause
bodily injury.
This information is necessary for preventing damage to the product or to
other equipment.
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Safety Information
1.1. Warnings
• To avoid electric arcing and hazards to personnel and electrical contacts, never
connect/disconnect the servo drive while the power source is on.
• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect
the Gold Solo Hornet from all voltage sources before it is opened for servicing.
• The Gold Solo Hornet 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 Solo Hornet servo drive contains hot surfaces and electrically-charged
components during operation.
9
• The maximum DC power supply connected to the instrument must comply with the
parameters outlined in this guide.
• When connecting the Gold Solo Hornet to an approved isolated 12 to 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 Solo Hornet, 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 Solo Hornet drive's soldering with solvent cleaning fluids of pH
greater than 7 (8 to 14). The solvent corrodes the plastic cover causing cracks and eventual
damage to the drive's PCBs.
Elmo recommends using the cleaning fluid Vigon-EFM which is pH Neutral (7).
For further technical information on this recommended cleaning fluid, select the link:
http://www.zestron.com/fileadmin/zestron.com-usa/daten/electronics/Product_TI1s/TI1VIGON_EFM-US.pdf
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Table of Contents
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Safety Information
1.3. Directives and Standards
The Gold Solo Hornet 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
10
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 Solo Hornet servo drive has been developed, produced, tested and documented in
accordance with the relevant standards. Elmo Motion Control is not responsible for any
deviation from the configuration and installation described in this documentation.
Furthermore, Elmo is not responsible for the performance of new measurements or ensuring
that regulatory requirements are met.
1.4. CE Marking Conformance
The Gold Solo Hornet 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 Solo Hornet meets the provisions outlined in Council Directive 73/23/EEC. The party
responsible for ensuring that the equipment meets the limits required by EMC regulations is
the manufacturer of the end product.
1.5. Warranty Information
The products covered in this manual are warranted to be free of defects in material and
workmanship and conform to the specifications stated either within this document or in the
product catalog description. All Elmo drives are warranted for a period of 12 months from the
time of installation, or 18 months from time of shipment, whichever comes first. No other
warranties, expressed or implied — and including a warranty of merchantability and fitness for
a particular purpose — extend beyond this warranty.
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Table of Contents
Chapter 2: Product Description
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
2.1. Functional Description
The Gold Solo Hornet is an integrated solution designed to simply and efficiently connect
Elmo’s Gold Hornet servo drive directly to the application. The solution consists of the Gold
Hornet together with a convenient connection interface which either eliminates or reduces
development time and resources when designing an application’s PCB board.
The Gold Solo Hornet 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.
Gold Solo Hornet has a fully featured motion controller and local intelligence.
The Gold Solo Hornet operates from a DC power source. The drive can operate as a standalone
device or as part of a multi-axis system in a distributed configuration on a real-time network.
The Gold Solo Hornet drive is easily set up and tuned using 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 about software tools refer to the Elmo Application Studio Software
Manual.
11
The Gold Solo Hornet is available in a variety of options. There are multiple power rating
options, two different communications options – Standard (S suffix in the part number) or
EtherCAT (E suffix in the part number), a variety of feedback selections and I/O configuration
possibilities.
2.2. Product Features
Note: The features described in this chapter relate to the range of Gold Solo Hornet 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 Solo Hornet 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 Solo Hornet delivers up to 1.6 kW of continuous power or 3.2 kW of peak power in a
compact package (73.4 x 46.5 x 35.8 mm or 2.89" x 1.8" x 1.4").
2.2.2. Supply Input
• Gold Solo Hornet Power rating is 12 to 195 VDC
• Two power ratings for Gold Solo Hornet; 100V and 200V:
For power rating 200V
Two power isolated DC power sources are required, main power 12 - 195V and
Auxiliary Power 12-95V for the logic.
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
For power rating of 100V
Single DC Power Supply - Power to the Gold Solo Hornet is provided by a 12–95 VDC
single isolated DC power source (not included with the Gold Solo Hornet). A “smart”
control-supply algorithm enables the Gold Solo Hornet to operate with only one power
supply with no need for an auxiliary power supply for the logic.
Optional Backup (Auxiliary) Supply
If backup functionality is required in case of power loss, e.g., to keep the original
position, a 12–95 VDC external isolated supply should be connected (via the Gold Solo
Hornet’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 two voltage ratings of the Gold Solo Hornet, therefore the correct power
supply must be used, according to the maximum operating voltage of the Gold Solo
Hornet. Refer to Chapter 3: Technical Information.
2.2.3. Servo Control
• Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)
12
• 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
• Current gain scheduling to compensate for the motor’s non-linear characteristics
• Advanced filtering: Low pass, Notch, General Biquad
• Current loop gain scheduling to compensate for bus voltage variations
• Velocity gain scheduling for ultimate velocity loop performance
• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position
• S-curve Profile Smoothing
• Cogging, BEMF and ωxL compensation
• Dual Loop Operation supported by Auto Tuning
• Fast, easy and efficient advanced Auto Tuning
• Incremental encoder frequency of up to 75 Megacounts/sec
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
• Motion profiler numeric range:
9
Position up to ±2 x 10
Velocity up to 2 x 10
Acceleration up to 2 x 10
counts
9
counts/sec
9
counts/sec2
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
13
• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position
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 CAN and CAN over EtherCAT (CoE) protocols,
including Cyclic Position/Velocity modes. Fast (Hardware) event capturing inputs,
supporting < 1 μs latch latency
• Fast (hardware) Output Compare, with < 1 μs latency
• Output compare repetition rate:
Fixed Gap: Unlimited
Table based: 4 kHz
• Motion Commands: Analog, Pulse-Width Modulation (PWM), Software, 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 Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
2.2.7. Feedback Ports Options
• There are Port A and Port B feedback input ports that are flexible and configurable. Each
port can be programmed to serve as:
Commutation feedback and/or
Velocity feedback and/or
Position feedback
• Port A supports the following sensors, depending on the specific model:
Incremental encoder
Incremental encoder and digital Hall
Absolute serial encoder
Absolute serial encoder and digital Hall (for dual loop)
• Port B supports the following sensors, depending on the specific model:
Incremental encoder
Analog encoder
Analog Hall
Resolver
14
• Port C is a flexible and configurable feedback output port. It supports the Encoder
emulation outputs of Port A or Port B or internal variables
• Analog input (±10 V ptp) support:
Velocity feedback (tachometer)
Position feedback (potentiometer)
2.2.8. Feedback Sensor Specifications
• Incremental Quadrature Encoder (with or without commutation halls) up to
75 Megacounts per second (18 MHz PPS (Pulses Per Second))
• Incremental encoder and digital Halls
• Digital Hall
Up to 4 kHz commutation frequency
5 V logic
Input voltage up to 15 VDC
• Interpolated Analog (Sine/Cosine) Encoder:
Supports 1 V PTP Sine/Cosine
Sin-Cos Frequency: up to 500 kHz
Internal Interpolation: up to ×8192
Automatic Correction of amplitude mismatch, phase mismatch, signal offset
Emulated encoder output of the Analog encoder
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
• Analog Halls (commutation & position)
One feedback electrical cycle = one motor's electrical cycle
Supports 1 V PTP Sin/Cos
Sin/Cos Frequency: up to 500 kHz
Internal Interpolation: up to ×8192
Automatic correction of amplitude mismatch, phase mismatch, signal offset
• Absolute serial encoders:
NRZ (Panasonic, Tamagawa, Mitutoyo, etc.)
EnDAT 2.2
BiSS/SSI
Stegmann Hiperface
• Resolver
14 bit resolution
Up to 512 revolutions per second (RPS)
Emulated encoder outputs of the Resolver
15
• Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered
• Tachometer (available on request)
• Potentiometer (available on request)
• The Gold Solo Hornet 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 CAN networking
• EtherCAT Slave:
CoE (CAN over EtherCAT)
EoE (Ethernet over EtherCAT)
FoE (File over EtherCAT) for firmware download
Supports Distributed Clock
EtherCAT cyclic modes supported down to a cycle time of 250 μs
• CAN (DS-301, DS-305, DS-402)
• Ethernet TCP/IP
UDP
Telnet
• USB 2.0
• RS-232
• RS-422
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
2.2.10. Safety
• IEC 61800-5-2, Safe Torque Off (STO)
• Two STO (Safe Torque Off) inputs PLC level which can be configured to 5 V logic (available
on request)
Optically isolated
TTL Level (5 V logic)
Open collector and open emitter
• UL 508C recognition
• UL 60950 compliance
• CE EMC compliance
2.2.11. Outputs
• Two digital isolated output
2.2.12. Differential Outputs
16
• Three differential outputs:
Port C EIA-422 differential output line transmitters
Response time < 1 μs
Output current: ± 15 mA.
2.2.13. Inputs
• Six digital inputs – conforms to PLC Standard
TTL Level (5 V logic)
Optically isolated
Fast digital capture data <5 μs
• The six digital inputs can be configured to TTL mode (available on request, see
Section 5.5.1)
2.2.14. Differential Inputs
• 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
2.2.15. Analog Input
• One Analog Input – up to 14-bit resolution
• One Analog input: ±10 V
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
2.2.16. Built-In Protection
Built-in Protection & Diagnostics:
• Software error handling
• Abort (hard stops and soft stops)
• Extensive status reporting
• Protection against:
Shorts between motor power outputs and power return
Failure of internal power supplies
Over-heating
Overtemperature
• Continuous temperature measurement. Temperature can be read on the fly; a warning can
be initiated x degrees before temperature disable is activated.
Overvoltage/undervoltage
Loss of feedback
Current limits
Following errors
i
2
t motor current
17
2.2.17. Status Indication
• Output for a bi-color LED
2.2.18. Automatic Procedures
• Commutation alignment
• Phase sequencing
• Current loop offset adjustment
• Current loop gain tuning
• Current gain scheduling
• Velocity loop offset adjustment
• Velocity gain tuning
• Velocity gain scheduling
• Position gain tuning
2.2.19. Accessories
Cable Kit, catalog number: CBL-GSOLHORKIT01 (can be ordered separately)
For further details, see the documentation for this cable kit (TBD).
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Table of Contents
Power Stage
Feedback
Port A
Feedback
Port B
Feedback Out
Port C
Communication
User I/O Interface
Motion
Control Logic
Incremental
Encoder,
Hall Sensors
(Options E, R)
Serial Encoder,
Hall Sensors
(Options A, M)
Incremental
Encoder
or
Analog Encoder
(Options E, A)
Resolver
(Options R, M)
Encoder
Emulation,
PWM
Digital
Inputs
Digital
Outputs
Analog
Input
CANopen, USB,
RS-232, RS-422
(Option S)
EtherCAT, USB,
RS-232, RS-422
(Option E)
Main DC Power
Supply
Optional DC
Auxiliary Supply
Motor
PWM
Current
Feedback,
Protection
STO1,
STO2
Or
Or
Or
STO2
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
2.3. System Architecture
18
Figure 1: Gold Solo Hornet System Block Diagram
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description
2.4. How to Use this Guide
In order to install and operate your Elmo Gold Solo Hornet 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 Solo Hornet.
• Chapter 4 - Technical Specifications, lists all the drive ratings and specifications.
Upon completing the instructions in this guide, your Gold Solo Hornet 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 Solo Hornet
• The Gold Product Line Command Reference Manual, which describes, in detail, each
software command used to manipulate the Gold Solo Hornet motion controller
• The Elmo Application Studio Software Manual, which includes explanations of all the
software tools that are part of the Elmo Application Studio software environment.
19
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Chapter 3: Technical Information
Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Information
3.1. Physical Specifications
Feature Units All Types
Weight g (oz) 106 g (3.74 oz)
Dimensions mm (in) 73.4 x 46.5 x 35.8 mm (2.89" x 1.8" x 1.4")
Mounting method PCB mount
3.2. Technical Data
Feature Units 2.5/100 5/100 10/100 15/100 20/100
Minimum supply voltage VDC 12
Nominal supply voltage VDC 85
20
Maximum supply voltage VDC 95
Maximum continuous power
output
Efficiency at rated power (at
nominal conditions)
Maximum output voltage > 95% of DC bus voltage at f = 22 kHz
Auxiliary power supply VDC 12 to 95 VDC
Amplitude sinusoidal/DC
continuous current
Sinusoidal continuous RMS
current limit (Ic)
Peak current limit A 2 x Ic
Digital in/Digital out/Analog in 6/2/1
Note on current ratings: The current ratings of the Gold Solo Hornet 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.
W 200 400 800 1200 1600
% > 99
(up to 6 VA inc. 5 V/2 x 200 mA for encoder)
A 2.5 5 10 15 20
A 1.8 3.5 7 10.6 14.1
Table 1: Power Rating
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Elmo now offers a 200 VDC maximum output rating selection of Gold Solo Hornet, according to
the following technical data:
Feature Units 3/200 6/200 9/200
Minimum supply voltage VDC 12
Nominal supply voltage VDC 170
Maximum supply voltage VDC 195
Maximum continuous power output W 480 960 1450
21
Efficiency at rated power (at
% > 99
nominal conditions)
Maximum output voltage > 95% of DC bus voltage at f = 22 kHz
Auxiliary power supply VDC 12 to 95 VDC
(up to 6 VA inc. 5 V/2 x 200 mA for
encoder)
Amplitude sinusoidal/DC
A 3 6 9
continuous current
Sinusoidal continuous RMS current
A 2.1 4.2 6.3
limit (Ic)
Peak current limit A 2 x Ic
Digital in/Digital out/Analog in 6/2/1
3.2.1. Auxiliary Supply
Feature Details
Auxiliary power supply Isolated DC source only
Auxiliary supply input voltage 12 to 95 V
Auxiliary supply input power ≤ 4 VA without external loading
≤ 6 VA with full external loading
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Chapter 4: Installation
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
The Gold Solo Hornet 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 Solo Hornet by ensuring that it is installed in
an appropriate environment.
Feature Value
Ambient operating temperature -40 °C to +70 °C (-40 °F to 160 °F)
Maximum operating altitude 2,000 m (6562 feet)
Maximum non-condensing humidity 95%
22
Operating area atmosphere No flammable gases or vapors permitted in area
Caution: The Gold Solo Hornet 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 Solo Hornet, verify that you have all of its components,
as follows:
• The Gold Solo Hornet servo drive
• The Elmo Application Studio software and software manual
The Gold Solo Hornet is shipped in a cardboard box with Styrofoam protection.
To unpack the Gold Solo Hornet:
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 Solo Hornet you have unpacked is the appropriate type for your
requirements, locate the part number sticker on the side of the Gold Solo Hornet. It looks
like this:
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation
4. Verify that the Gold Solo Hornet type is the one that you ordered, and ensure that the
voltage meets your specific requirements.
The part number at the top gives the type designation as follows:
23
Notes:
• This manual is the EtherCAT version – for CAN functionality see the CAN version of this
manual. The part number of the Gold Solo Hornet (EtherCAT version) has an E, for example,
G-SOLHOR10/100E whereas the CAN version has an S, for example G- SOLHOR10/100S.
• There are two models of the Gold Solo Hornet: connectors only (for currents of 10 A or
less) and wires only (for currents of 15 A or more). On request, the wires model may be
ordered for currents of 10 A or less.
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation
4.3. Connectors and Indicators
The Gold Solo Hornet has 3 connectors (connectors version).
4.3.1. Connector Types
Port No. Pins Type Function
24
J1 6/12 Nicomatic CMM 220
6 HP/12 P
J2 30 Nicomatic CMM 220
2 x 15P
J3 20 Nicomatic CMM 220
2 x 10P
Motor, Power, Port B, Hall Phases
I/O, Auxiliary Feedback
Communication
Figure 2: Connector Locations
Table 2: Connector Types
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation
4.3.2. Pinouts
The pinouts in this section describe the function of each pin in the Gold Solo Hornet connectors
that are listed in Table 2.
4.3.2.1. Power, Motor, Control and Port B Connector (J1)
J1 consists of a Power, Motor and Control connector (6 pins) and Port B connector (12 pins),
see Section 4.7 for more details.
4.3.2.1.a Power, Motor, and Control Connector (J1)
See Section 4.7.1 for more details.
Pin Signal Function Cable
P1 VP+ Positive Power Input Power
P2 PR Power Return Power
P3 PE Protective Erath Power
25
AC Motor DC Motor
P4 M1 Motor Phase Motor N/C
P5 M2 Motor Phase Motor Motor
P6 M3 Motor Phase Motor Motor
Pin Positions
Table 3: Power, Motor, and Control Connections
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation
4.3.2.1.b Port B Connector (J1)
See Section 4.7.1 for for more details.
Incremental Encoder Absolute Serial Encoder
Pin (J1) Signal Function Signal Function
1 +5V Encoder +5V Supply +5V Encoder +5V Supply
2 COMRET Supply Return SUPRET Supply Return
3 PORTB_ENC_A+/SIN+ Channel A+/Sine+ SIN+ Sine+
4 PORTB_ENC_A-/SIN- Channel A -/Sine- SIN- Sine-
5 PORTB_ENC_B+/COS+ Channel B+/Cosine+ COS+ Cosine+
6 PORTB_ENC_B-/COS- Channel B-/Cosine- COS- Cosine-
26
7 PORTB_ENC_INDEX+/
ANALOG_INDEX+
8 PORTB_ENC_INDEX-/
ANALOG_INDEX-
9 HA Hall Sensor A HA Hall Sensor A
10 HB Hall Sensor B HB Hall Sensor B
11 HC Hall Sensor C HC Hall Sensor C
12 PE Protective Earth PE Protective Earth
Channel_Index+/
Analog_Index+
Channel_Index- /
Analog_Index-
RESOLVER_OUT+ Vref f=1/TS, 50 mA
Max.
RESOLVER_OUT- Vref Complement
f= 1/TS, 50 mA
Maximum
Pin Positions
Table 4: Port B Pin Assignments
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Gold Solo Hornet Installation Guide (EtherCAT and CAN) Installation
4.3.2.2. Auxiliary Feedback and IO (J2)
See Section 4.9.1 for more details.
27
Incremental or Interpolated Analog
Resolver
Encoder
G-SOLHOR XXX/YYYYEX G-SOLHOR XXX/YYYYRX
Pin (J2) Signal Function Signal Function
4 PORTA_ENC_A+ Channel A + ABS_CLK+ Absolute Encoder
Clock+
5 PORTA_ENC_A- Channel A - ABS_CLK- Absolute Encoder
Clock-
6 PORTA_ENC_B+ Channel B+ ABS_DATA+ Absolute Encoder
Data+
7 PORTA_ENC_B- Channel B - ABS_DATA- Absolute Encoder
Data-
8 PORTA_ENC_INDEX+ Index+ RESERVED Reserved
9 PORTA_ENC_INDEX- Index- RESERVED Reserved
10 PORTC_ENCO_A- Buffered Channel A Complement Output
11 PORTC_ENCO_A+ Buffered Channel A Output
12 PORTC_ENCO_B- Buffered Channel B Complement Output
13 PORTC_ENCO_B+ Buffered Channel B Output
14 PORTC_ENCO_INDEX- Buffered INDEX Complement Output
15 PORTC_ENCO_INDEX+ Buffered INDEX Output
16 COMRET Common Return
17 ANALOG1- Analog Input Complement
18 ANALOG1+ Analog Input
19 ANLRET Analog Return
20 INRET Programmable Input 1 – 6 Return
21 IN1 Programmable Input 1 (High Speed)
22 IN2 Programmable Input 2 (High Speed)
23 IN3 Programmable Input 3 (High Speed)
IN4 Programmable Input 4
24
STO1 ST01 Input (Default 24 V)
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