ElmoMC Gold Solo Trombone User Manual

Gold Solo Trombone

Digital Servo Drive

Installation Guide

September 2012 (Ver. 1.3)

www.elmomc.com

EtherCAT Conformance Tested. EtherCAT® is a registered

Notice

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

• This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such

information is supplied solely for the purpose of assisting users of the Gold Solo
Trombone 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.

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

Catalog Number

Document no. MAN-G-SOLTROIG (Ver. 1.3)

Copyright  2012

Elmo Motion Control Ltd.

All rights reserved.

Cable Kit

Catalog number: CBL-GDCWHIKIT02 (can be ordered separately)

For further details, see the documentation for this cable kit (MAN-CBLKIT-GOLD.pdf).

Revision History

Version Date Details

Ver. 1.0 Feb 2011 Initial Release

Ver. 1.1 Nov 2011 Inserted references to the applicable cable kit, an

addition to the site requirements in Section 4.1,
changes in Sections 4.3 and 4.3.1 (Auxiliary
Supply Voltage range: 18 V to 30 V), and
information about LED indicators in Section 3.3.3

Ver. 1.2 Jan 2012 Added update P/N details on Feedbacks Absolute

- included as standard.

Ver. 1.3 Sep 2012 Removal of 800 V without the S option

Approved UL standards

Pinouts were changed.

Mini USB was added

Elmo Worldwide

Head Office

Elmo Motion Control Ltd.

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

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

North America

Elmo Motion Control Inc.

42 Technology Way, Nashua, NH 03060
USA

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

Europe

Elmo Motion Control GmbH

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

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

China

Elmo Motion Control Technology (Shanghai) Co. Ltd.

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

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

Asia Pacific

Elmo Motion Control

#807, Kofomo Tower, 16-3, Sunae-dong, Bundang-gu, Seongnam-si, Gyeonggi-do,
South Korea

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

MAN-G-SOLTROIG (Ver. 1.3)

Table of Contents

Gold Solo Trombone Installation G uide

Chapter 1: Safety Information .......................................................................................... 8

1.1. Warnings ......................................................................................................................... 9

1.2. Cautions .......................................................................................................................... 9

1.3. Directives and Standards .............................................................................................. 10

1.4. Warranty Information .................................................................................................. 10

1.5. CE Marking Conformance ............................................................................................. 11

Chapter 2: Product Description ...................................................................................... 12

2.1. Drive Description .......................................................................................................... 12

2.2. Product Features .......................................................................................................... 13

2.2.1. Servo Control ................................................................................................. 13

2.2.2. Motion Control .............................................................................................. 14

2.2.3. Communications ............................................................................................ 14

2.2.4. Safe Torque Input (STO) ................................................................................ 14

2.2.5. Outputs .......................................................................................................... 15

2.2.6. Inputs ............................................................................................................. 15

2.2.7. Feedback Options .......................................................................................... 16

2.2.8. Feedback Sensor Specifications ..................................................................... 16

2.2.9. Protection ...................................................................................................... 17

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

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

5

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

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

3.1.1. 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

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

4.3.2. Pinouts ........................................................................................................... 25

4.3.2.1. Main Power and Motor Power Connector ................................... 25

4.3.2.2. Auxiliary Power Connector ........................................................... 26

4.3.2.3. STO Connector – Safety ................................................................ 27

4.3.2.4. Port A Connector .......................................................................... 28

4.3.2.5. Port B Connector .......................................................................... 30

4.3.2.6. Port C and I/O Connector ............................................................. 32

4.3.2.7. CANopen In/Out Connectors ........................................................ 34

4.3.2.8. USB 2.0 Connector ........................................................................ 35

4.3.2.9. EtherCAT IN/Ethernet Connector ................................................. 36

MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation Guide Table of Contents

4.3.2.10. EtherCAT OUT Connector ............................................................. 37

4.3.3. Indicators ....................................................................................................... 38

4.3.3.1. Drive Status Indicator ................................................................... 38

4.3.3.2. EtherCAT Link Indicators ............................................................... 38

4.3.3.3. EtherCAT Status Indicator ............................................................. 38

4.4. Mounting the Gold Solo Trombone .............................................................................. 39

4.5. Wiring the Gold Solo Trombone ................................................................................... 39

4.6. Connection Diagrams ................................................................................................... 40

4.7. Main Power, Auxiliary Power and Motor Power .......................................................... 45

4.7.1. Motor Power.................................................................................................. 45

4.7.2. Main Power.................................................................................................... 47

4.7.2.1. Direct-to-Mains Power Source (Non-Isolated Rectifier) ............... 48

4.7.2.2. Battery Power Supply ................................................................... 51

4.7.3. Control and Backup Supply ............................................................................ 51

4.8. STO (Safe Torque Off) Inputs ........................................................................................ 53

4.9. Feedback and Analog Input .......................................................................................... 57

4.9.1. Feedback Port A ............................................................................................. 57

4.9.1.1. Incremental Encoder .................................................................... 58

4.9.1.2. Absolute Serial Encoder ................................................................ 59

4.9.1.3. Hall Sensors................................................................................... 60

4.9.2. Feedback Port B ............................................................................................. 61

4.9.2.1. Incremental Encoder .................................................................... 63

4.9.2.2. Interpolated Analog Encoder ........................................................ 64

4.9.2.3. Resolver ........................................................................................ 65

4.9.3. Port C – Emulated Encoder Output ............................................................... 65

4.10. User I/Os ....................................................................................................................... 68

4.10.1. Digital Inputs .................................................................................................. 68

4.10.2. Digital Output ................................................................................................ 72

4.10.3. Analog Input .................................................................................................. 76

4.11. Communications ........................................................................................................... 77

4.11.1. CANopen Communication ............................................................................. 78

4.11.2. USB 2.0 Communication ................................................................................ 81

4.11.3. EtherCAT Communication ............................................................................. 82

4.11.4. Ethernet Communication .............................................................................. 86

4.12. Power Up ...................................................................................................................... 87

4.12.1. Initializing the System .................................................................................... 87

4.13. Heat Dissipation............................................................................................................ 87

4.13.1. Gold Solo Trombone Thermal Data ............................................................... 87

4.13.2. Heat Dissipation Data .................................................................................... 88

4.13.3. How to Use the Charts ................................................................................... 89

6

Chapter 5: Technical Specifications ................................................................................ 90

5.1. Features ........................................................................................................................ 90

5.1.1. Motion Control Modes .................................................................................. 90

5.1.2. Advanced Positioning Control Modes ........................................................... 90

MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation Guide Table of Contents

5.1.3. Advanced Filters and Gain Scheduling........................................................... 90

5.1.4. Fully Programmable ....................................................................................... 91

5.1.5. Feedback Options .......................................................................................... 91

5.1.6. Input/Output ................................................................................................. 92

5.1.7. STO (Safe Torque Off) Inputs ......................................................................... 92

5.1.8. Built-In Protection ......................................................................................... 93

5.1.9. Status Indication ............................................................................................ 93

5.1.10. Automatic Procedures ................................................................................... 93

5.1.11. Accessories .................................................................................................... 93

5.2. Gold Solo Trombone Dimensions ................................................................................. 94

5.3. Environmental Conditions ............................................................................................ 95

5.4. Control Specifications ................................................................................................... 95

5.4.1. Current Loop .................................................................................................. 95

5.4.2. Velocity Loop ................................................................................................. 96

5.4.3. Position Loop ................................................................................................. 96

5.5. Feedbacks ..................................................................................................................... 97

5.5.1. Feedback Supply Voltage ............................................................................... 97

5.5.2. Feedback Options .......................................................................................... 97

5.5.2.1. Incremental Encoder Input ........................................................... 97

5.5.2.2. Digital Halls ................................................................................... 98

5.5.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 98

5.5.2.4. Resolver ........................................................................................ 99

5.5.2.5. Absolute Serial Encoder ................................................................ 99

5.5.3. Port C Feedback Output .............................................................................. 100

5.6. I/Os ............................................................................................................................. 101

5.6.1. Digital Input Interfaces – TTL Mode ............................................................ 101

5.6.2. Digital Input Interfaces – PLC Mode ............................................................ 102

5.6.3. Digital Output Interface – PLC Mode ........................................................... 103

5.6.4. Digital Output Interface – TTL Mode ........................................................... 104

5.6.5. Digital Output Interface – AP Mode ............................................................ 105

5.6.6. Analog Input ................................................................................................ 105

5.7. Safe Torque Off (STO) ................................................................................................. 106

5.7.1. STO Input Interfaces – PLC and AP Modes .................................................. 106

5.7.2. STO Input Interfaces – TTL Mode ................................................................ 107

5.8. Communications ......................................................................................................... 108

5.9. Pulse-Width Modulation (PWM) ................................................................................ 108

5.10. Compliance with Standards ........................................................................................ 109

7

MAN-G-SOLTROIG (Ver. 1.3)

Chapter 1: Safety Information

Warning:

Caution:

Gold Solo Trombone Installation G uide

In order to achieve the optimum, safe operation of the Gold Solo Trombone 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 Trombone 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 Trombone 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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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Safety Information

1.1. Warnings

• Cleaning after soldering. To avoid damage to the product’s acrylic coating, the Gold Solo

Trombone must not be cleaned after soldering with soluble solvents or water-based
cleaners. For further details, see www.elmomc.com/applications/article/Soldering-and-

Cleaning_Application-Note.pdf

• Power cables can carry a high voltage, even when the motor is not in motion. Disconnect

the Gold Solo Trombone from all voltage sources before it is opened for servicing.

• The Gold Solo Trombone 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.

.

9

1.2. Cautions

• The Gold Solo Trombone servo drive contains hot surfaces and electrically-charged

components during operation.

• The maximum DC power supply connected to the instrument must comply with the

parameters outlined in this guide.

• When connecting the Gold Solo Trombone to an approved isolated auxiliary power supply,

connect it through a line that is separated from hazardous live voltages using reinforced or
double insulation in accordance with approved safety standards.

• Before switching on the Gold Solo Trombone, verify that all safety precautions have been

observed and that the installation procedures in this manual have been followed.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Safety Information

1.3. Directives and Standards

The Gold Solo Trombone 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 Trombone 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. 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-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide

1.5. CE Marking Conformance

The Gold Solo Trombone 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 Trombone 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.

11

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MAN-G-SOLTROIG (Ver. 1.3)

Chapter 2: Product Description

Gold Solo Trombone Installation G uide Product Description

This installation guide describes the Gold Solo Trombone servo drive and the steps for its
wiring, installation and power-up. Following these guidelines ensures optimal performance of
the drive and the system to which it is connected.

2.1. Drive Description

The Gold Solo Trombone series of digital servo drives are highly resilient and designed to
deliver the highest density of power and intelligence. The Gold Solo Trombone 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 permanent­magnet 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 Solo Trombone can operate as a stand-alone device or as part of a multi-axis system
in a distributed configuration on a real-time network.

12

The drives are easily set up and tuned using Elmo Application Studio software tools. This
Windows-based application enables users to quickly and simply configure the servo drive for
optimal use with their motor. The Gold Solo Trombone, 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 Solo
Trombone).

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, T or AP-model Gold Solo Trombone 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 18–30 VDC.

Whenever backup functionality is not required, Gold Solo Trombone models that have the 0 or
1 suffix in the catalog number (see page 23) 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 Solo Trombone 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 Solo Trombone is a stand-alone version of the Gold Trombone module (PCB­mounted). Another pluggable version, the Gold DC Trombone is also available.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Solo Trombone

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 Trombone 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. Servo Control

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

• Current/Torque sampling rate: up to 20 kHz (50 μs)

• Velocity sampling rate: up to 10 kHz (100 μs)

• Position sampling rate: up to 10 kHz (100 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

13

• 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

• Motion profiler numeric range:

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

9

counts

9

counts/sec

9

counts/sec2

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.2. Motion Control

• Motion control programming environment

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

• Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE)

protocols, including Cyclic Position/Velocity modes. Fast (Hardware) event capturing
inputs, supporting < 1 μs latch latency

• Fast (hardware) Output Compare, with < 1 μs latency

• Output compare repetition rate:

 Fixed Gap: Unlimited
 Table based: 4 kHz

• Motion Commands: Analog, Pulse-Width Modulation (PWM), Software, Pulse and Direction

• Distributed Motion Control

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

14

2.2.3. Communications

• Fast and efficient EtherCAT networking

• EtherCAT Slave:

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

• Ethernet TCP/IP

 UDP
 Telnet

• USB 2.0

2.2.4. Safe Torque Input (STO)

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

 Two STO inputs PLC level which can be configured to 5 V logic

• UL 508C recognition

• UL 60950 compliance

• CE EMC compliance

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.5. Outputs

• Four high voltage outputs related to VDD and VDDRET:

 Conforms to IEC 61131-2
 Up to 30 VDC
 High side logic (Source)
 Low side logic (Sink) - AP
 Opto-isolated
 For S, 0 suffix, Digital Outputs 2,3,4 up to 250 mA
 For AP suffix, Digital Outputs 2,3,4 up to 150 mA
 For T, 1 suffix, Digital Outputs 2,3,4 up to 7 mA
 For S, 0 suffix, Digital Output 1 brake output: 500 mA
 For AP suffix, Digital Output 1 brake output: 300 mA
 For T, 1 suffix, Digital Output 1: 7 mA
 Short circuit protection
 Thermal protection
 Reverse polarity protection

15

• Three additional differential outputs can be configured through Port C:

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

2.2.6. Inputs

• Six Digital Inputs – optically isolated, sharing a single common INRET

• Six Digital Inputs - optically isolated sharing a single common positive supply - AP

• The six digital inputs can be configured to PLC or TTL, depending on the part number

definition

• All six inputs are fast capture data <5 μs

• One Analog Input: ±10 V

• Six additional fast differential event capture inputs 5 V logic cab be configured through

Ports A and B:

 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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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.2.7. Feedback 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

16

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))

• Digital Hall

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

• Incremental encoder and digital Halls

• Analog encoders

 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

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide 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

• Resolver up to 512 rps with 14-bit resolution

• Tachometer (available on request)

• Potentiometer (available on request)

• The Gold Solo Trombone provides 5 V supply voltage (5 V, 400 mA max) for the encoders

supplies

17

2.2.9. Protection

Built-in Protection & Diagnostics:

• Software error handling

• Abort

• Extensive status reporting

• Protection against:

 Shorts between motor power outputs and power return
 Over temperature
 Over/under voltage
 Loss of feedback
 Motor current
 Current limits
 Following errors

2

 i

t motor current

• STO

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MAN-G-SOLTROIG (Ver. 1.3)

Isolated 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 E, R)

Incremental

Encoder

Or

Analog Encoder

(Options E)

Resolver

(Options R)

Encoder

Emulation,

PWM

Digital
Inputs

Digital

Outputs

Analog

Input

CANopen, USB,

(Option S)

EtherCAT, USB,

(Option E)

Main DC Power

Supply

Optional DC

Auxiliary Supply

Motor

PWM

Current

Feedback,

Protection

STO1,

STO2

Or

Or

Or

STO2

Isolation

Boundary

Isolation

Boundary

Gold Solo Trombone Installation G uide Product Description

2.3. System Architecture

18

Figure 1: Gold Solo Trombone System Block Diagram

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Product Description

2.4. How to Use this Guide

In order to install and operate your Elmo Gold Solo Trombone 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 Trombone.

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

Upon completing the instructions in this guide, your Gold Solo Trombone 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 Trombone

• The Gold Product Line Command Reference Manual, which describes, in detail, each

software command used to manipulate the Gold Solo Trombone motion controller

19

• The Elmo Application Studio Software Manual, which includes explanations of all the

software tools that are part of the Elmo Application Studio software environment

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MAN-G-SOLTROIG (Ver. 1.3)

Chapter 3: Technical Information

Gold Solo Trombone Installation G uide

20

3.1. 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

Maximum supply
voltage

Maximum continuous
power output

Efficiency at rated
power (at nominal
conditions)

Auxiliary supply
voltage option

Auxiliary power
supply

Continuous current
limit (Ic) Amplitude
sinusoidal/DC
trapezoidal
commutation

VDC S, T, or AP suffix in P/N*: 50

0 or 1 suffix in P/N: 100

VDC 325 560 for 400 VAC

VDC 400 780

W Up to 10 kW of continuous qualitative power

% > 98

VDC 18 V to 30 V

Only for Control Supply S suffix Model

VA ≤5 VA without external loading

≤8 VA with full external loading

A 12 16 17 22 8 12 11 16

S, T, or AP suffix in P/N*: 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

Weight g

Dimensions mm

Digital in/Digital out/
Analog in

Mounting method Panel / Wall Mounted

A 8.5 11.3 12 15.5 5.7 8.5 7.8 11.3

362 g (12.8 oz)

(oz)

111 x 76 x 60 (4.37" x 3" x 2.36")

(in)

6/4/1

*See page 23 for details on the part number. The S, T, or AP suffix appears in models where
there is a 24 V control supply. If there is a 0 or 1 suffix, the control power supply operates from
the main power.

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Trombone Installation G uide Technical Information

Note on current ratings: The current ratings of the Gold Solo Trombone 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.

3.1.1. 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)

21

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MAN-G-SOLTROIG (Ver. 1.3)

Chapter 4: Installation

Gold Solo Trombone Installation G uide Installation

Warning: The Gold Solo Trombone must be:

• installed in a suitable environment and properly connected to its voltage supplies

and the motor.

• mounted and confined within a metal enclosure.

4.1. Site Requirements

You can guarantee the safe operation of the Gold Solo Trombone by ensuring that it is installed
in an appropriate environment.

Feature Value

Ambient operating temperature 0 °C to 40 °C (32 °F to 104 °F)

Maximum non-condensing humidity 90%

22

Maximum Altitude 10,000 m

Operating area atmosphere No flammable gases or vapors permitted in area

Models for extended environmental conditions are available.

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

• The Gold Solo Trombone servo drive

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

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

To unpack the Gold Solo Trombone:

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 Trombone you have unpacked is the appropriate type for your

requirements, locate the part number sticker on the side of the Gold Solo Trombone. It
looks like this:

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4. Verify that the Gold Solo Trombone type is the one that you ordered, and ensure that the

voltage meets your specific requirements.

The part number at the top gives the type designation as follows:

23

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3. Connectors and Indicators

The Gold Solo Trombone has 11 connectors (connectors version).

4.3.1. Connector Types

No. Pins Type Function

7 8 mm Phoenix high current Main Power and Motor Connector

2 5.08 mm Phoenix high current 24 V Auxiliary Supply

12 2.54 mm Pitch Feedback port A

8 2.54 mm Pitch Feedback port B

24 2.54 mm Pitch Port C and I/O

3 2.54 mm Pitch STO (Safety Torque Off)

8 RJ-45 EtherCAT in

8 RJ-45 EtherCAT out

24

4 USB Device Type Mini B USB Communication

4 2.54 mm Pitch CAN

4 2.54 mm Pitch CAN

Table 1: Connector Types

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3.2. Pinouts

The pinouts in this section describe the function of each pin in the Gold Solo Trombone
connectors that are listed in Table 1.

4.3.2.1. Main Power and Motor Power Connector

See Section 4.7.2 for full details on Main Power.

See Section 4.7.1 for full details on Motor Power.

Pin Function Cable

Brushless Motor Brushed DC Motor

M3 Motor phase Motor Motor

M2 Motor phase Motor Motor

M1 Motor phase Motor N/C

PE Protective Earth Motor Motor

25

PE Protective Earth DC Power

VN- DC Negative Power input DC Power

VP+ DC Positive Power input DC Power

Pin Positions

Connector Type

7-Pin Pluggable 8 mm Phoenix High Current

Table 2: Connectors for Main Power and Motor Power

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3.2.2. Auxiliary Power Connector

See Section 4.7.3 for full details.

Optional Back-up Supply in S, T, or AP type drives.

Pin Function Cable

In S, T or AP type:

VL+ +24 V Auxiliary Supply Input Positive DC Power

VL- 24 V RET Auxiliary Supply Return DC Power

Pin Positions

26

Cable Connector

2-Pin Pluggable 5.08 mm Phoenix High Current

Table 3: Connectors for Auxiliary Power

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3.2.3. STO Connector – Safety

For full details about connecting STO inputs, see Section 4.8.

Pin Signal Function

1 STO1 STO 1 input

2 STO2 STO 2 input

3 STO_RET STO signal return

Pin Positions

27

Cable Connector

3-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 4: STO Connector

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3.2.4. Port A Connector

For full details about connecting feedback Port A, see Section 4.9.1.

Incremental Encoder Absolute Serial Encoder

Pin Signal Function Signal Function

1 +5V Encoder +5V supply +5V Encoder +5V supply

2 SUPRET Supply return SUPRET Supply return

3 PortA_ENC_A+ Channel A + ABS_CLK+ Absolute encoder clock+

4 PortA_ENC_A- Channel A - ABS_CLK- Absolute encoder clock-

5 PortA_ENC_B+ Channel B+ ABS_DATA+ Absolute encoder data+

6 PortA_ENC_B- Channel B - ABS_DATA- Absolute encoder data -

7 PortA_ENC_INDEX+ Index+ Reserved Reserved

8 PortA_ENC_INDEX- Index - Reserved Reserved

9 HA Hall sensor A HA Hall sensor A

28

10 HB Hall sensor B HB Hall sensor B

11 HC Hall sensor C HC Hall sensor C

12 COMRET Common Return COMRET Common Return

Pin Positions

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

Cable Connector

12-Pin Molex Plug

This cable is included in the cable kit described in Section 5.1.11.

Table 5: Port A Connector

29

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MAN-G-SOLTROIG (Ver. 1.3)

Gold Solo Tromb on e Installation Guide Installation

4.3.2.5. Port B Connector

For full details about connecting feedback Port B, see Section 4.9.2.

30

Incremental or

Resolver

Interpolated Analog Encoder

G-SOLTROXX/YYYYEX G-SOLTRO XX/YYYYRX

Pin Signal Function Signal Function

1 +5V Encoder +5V supply NC

2 SUPRET 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-

7 PortB_ENC_INDEX+/

Analog_Index+

8 PortB_ENC_INDEX-/

Analog_Index-

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

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